Detection method for lidar, and lidar and carrier

Abstract

A detection method for a LiDAR (P100), and a LiDAR (100) and a carrier (300), which relate to the field of photoelectric technology. The detection method (P100) comprises: controlling a LiDAR (100) to perform detection at a first detection angle in a first time window (P110); controlling the LiDAR (100) to perform detection at a second detection angle in a second time window (P130), wherein the length of the first time window is greater than the length of the second time window; and the LiDAR (100) sending detection time window information to a carrier (300) (P150). The laser detection method (P100) rationally allocates time resources of the LiDAR (100) by means of configuring time windows of different lengths for different detection angles.

Description

A detection method of a laser radar, a laser radar and a vehicle

[0001] The present disclosure claims priority to the Chinese patent application No. 202410835239.4 filed on June 25, 2024, and entitled "A detection method of a laser radar, a laser radar and a vehicle", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of optoelectronic technology, and in particular to a detection method of a laser radar, a laser radar and a vehicle. BACKGROUND

[0003] A laser in a laser radar (light detection and ranging, LiDAR) can emit a laser beam, and a detector can receive a return wave of the laser beam reflected by surrounding objects. The laser radar can determine object information such as position, speed, attitude, etc. of the objects through the return wave.

[0004] The laser radar can generally detect objects at multiple detection angles. In order to reduce crosstalk, the laser radar can set a detection window when detecting, so that the detector at the detection angle is turned on and receives the return wave within the detection window. How to reasonably allocate the detection resources of the laser radar is an important problem.

[0005] The content in the background section is only the information known by the applicant, and does not represent that the above information has entered the public domain before the filing date of the present disclosure, nor that it can be prior art of the present disclosure. SUMMARY

[0006] The present disclosure provides a detection method of a laser radar, which can meet the detection requirements of different detection angles by configuring different lengths of time windows for different detection angles, so as to reasonably allocate the time resources of the laser radar.

[0007] In a first aspect, the present disclosure provides a detection method of a laser radar. The detection method comprises: controlling the laser radar to detect at a first detection angle with a first time window; and controlling the laser radar to detect at a second detection angle with a second time window, wherein the length of the first time window is greater than the length of the second time window.

[0008] Optionally, the laser radar comprises a first detection channel, the first detection angle comprises a detection angle of the first detection channel at a first horizontal angle, and the second detection angle comprises a detection angle of the first detection channel at a second horizontal angle.

[0009] Optionally, the laser radar comprises a first detection channel and a second detection channel, the first detection angle comprises a detection angle of the first detection channel, and the second detection angle comprises a detection angle of the second detection channel.

[0010] Optionally, a length of the first time window is related to a maximum detection distance of the laser radar.

[0011] Optionally, the length of the first time window is related to a maximum flight time corresponding to the maximum detection distance of the laser radar.

[0012] Optionally, the first detection angle is adjacent to the second detection angle, and the controlling the laser radar to detect at the second detection angle with the second time window comprises: controlling the laser radar to detect at the second detection angle with the second time window according to a detection result of the laser radar at the first detection angle.

[0013] Optionally, the controlling the laser radar to detect at the second detection angle with the second time window according to the detection result of the laser radar at the first detection angle comprises: determining that there is an object within a first distance of the laser radar according to the detection result of the laser radar at the first detection angle, wherein the first distance is less than the maximum detection distance; and controlling the laser radar to detect at the second detection angle with the second time window.

[0014] Optionally, a length of the second time window is related to a flight time corresponding to the first distance.

[0015] Optionally, the controlling the laser radar to detect at the second detection angle with the second time window according to the detection result of the laser radar at the first detection angle comprises: determining that the laser radar has detected an object according to the detection result of the laser radar at the first detection angle; and controlling the laser radar to detect at the second detection angle with the second time window.

[0016] Optionally, the second time window is related to a flight time corresponding to a distance between the object and the laser radar.

[0017] Optionally, the controlling the laser radar to detect at the second detection angle with the second time window comprises: controlling the laser radar to detect at the second detection angle with the second time window based on angle information of the second detection angle.

[0018] Optionally, the control of the laser radar to perform the detection at the second detection angle and the second time window based on the information of the second detection angle comprises at least one of the following: when it is determined that an included angle between the second detection angle and a preset direction is less than a preset included angle threshold, and a moving speed of the laser radar in the preset direction is less than a preset speed threshold, the control of the laser radar to perform the detection at the second detection angle and the second time window; when it is determined that there is no object in a detection region of the second detection angle within a maximum detection distance, the control of the laser radar to perform the detection at the second detection angle and the second time window; when it is determined that the second detection angle points to a sky region, the control of the laser radar to perform the detection at the second detection angle and the second time window; or when it is determined that a distance between the second detection angle and a boundary of a field of view of the laser radar is less than a second distance, the control of the laser radar to perform the detection at the second detection angle and the second time window.

[0019] Optionally, the control of the laser radar to perform the detection at the second detection angle and the second time window comprises: determining an available detection time of the second detection angle based on an angular velocity of the swing mirror; and when the available detection time is less than a length of the first time window, controlling the laser radar to perform the detection at the second detection angle and the second time window.

[0020] Optionally, the available detection time of the second detection angle is less than or equal to a swing time required for the swing mirror to rotate from the second detection angle to a position corresponding to a next detection angle.

[0021] Optionally, a length of the second time window is less than or equal to the available detection time.

[0022] Optionally, the length of the first time window is a first preset value; or the length of the second time window is a second preset value; or the length of the first time window is the first preset value and the length of the second time window is the second preset value.

[0023] Optionally, the detection method further comprises: the laser radar sends a detection time window message to a carrier, wherein the detection time window message carries a first identifier of the first time window and a second identifier of the second time window, and the first identifier is different from the second identifier.

[0024] In a second aspect, the present disclosure provides a laser radar. The laser radar comprises a detection channel and a processor. The detection channel detects at a first detection angle and a second detection angle. The processor is in communication connection with the detection channel and is configured to, when in operation, control the detection channel to detect at the first detection angle with a first time window, and control the detection channel to detect at the second detection angle with a second time window, wherein a length of the first time window is greater than a length of the second time window.

[0025] Optionally, the laser radar comprises a first detection channel, the first detection angle comprises a detection angle of the first detection channel at a first horizontal angle, and the second detection angle comprises a detection angle of the first detection channel at a second horizontal angle.

[0026] Optionally, the laser radar comprises a first detection channel and a second detection channel, the first detection angle comprises a detection angle of the first detection channel, and the second detection angle comprises a detection angle of the second detection channel.

[0027] Optionally, the laser radar comprises a wobble mirror, and the control of the laser radar to detect at the second detection angle with the second time window comprises: determining an available detection time of the second detection angle based on an angular velocity of the wobble mirror; and when the available detection time is less than the length of the first time window, controlling the laser radar to detect at the second detection angle with the second time window.

[0028] Optionally, the available detection time of the second detection angle is less than or equal to a wobble time required for the wobble mirror to rotate from the second detection angle to a position corresponding to a next detection angle.

[0029] Optionally, the length of the second time window is less than or equal to the available detection time.

[0030] In a third aspect, the present disclosure provides a vehicle. The vehicle comprises a main body and the laser radar of any one of the second aspect, and the laser radar is installed on the main body.

[0031] According to the above technical solutions, the laser radar detection method provided by the present disclosure can meet the detection requirements at different detection angles by configuring different time windows for different detection angles, thereby reasonably allocating the time resources of the laser radar.

[0032] Other functions of the detection method, the lidar and the vehicle provided by the present disclosure will be listed in part in the following description. According to the description, the following numbers and examples will be apparent to those of ordinary skill in the art. The creative aspects of the detection method, the lidar and the vehicle provided by the present disclosure can be fully explained by practicing or using the methods, devices and combinations provided in the following detailed examples. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those of ordinary skill in the art without creative labor on the basis of these drawings.

[0034] FIG. 1 shows a schematic diagram of a lidar according to some embodiments of the present disclosure;

[0035] FIG. 2A shows a schematic diagram of channel distribution in a lidar according to some embodiments of the present disclosure;

[0036] FIG. 2B shows a schematic diagram of N channel distribution in a lidar according to some embodiments of the present disclosure;

[0037] FIG. 2C shows a schematic diagram of a lidar with a rotating device according to some embodiments of the present disclosure;

[0038] FIG. 3A shows a point cloud data diagram of a lidar including at least two detection channels at a horizontal direction angle according to some embodiments of the present disclosure;

[0039] FIG. 3B shows a point cloud data diagram of a lidar including at least three detection channels at a horizontal direction angle according to some embodiments of the present disclosure;

[0040] FIG. 3C shows a point cloud data diagram of a lidar including at least one detection channel at two horizontal direction angles according to some embodiments of the present disclosure;

[0041] FIG. 3D shows a point cloud data diagram of a lidar including at least one detection channel at three horizontal direction angles according to some embodiments of the present disclosure;

[0042] FIG. 3E shows a point cloud data diagram of a lidar including at least two detection channels at two horizontal direction angles according to some embodiments of the present disclosure;

[0043] FIG. 4 shows a flowchart of a detection method according to some embodiments of the present disclosure;

[0044] FIG. 5 shows a sub-flow diagram of a detection method according to some embodiments of the present disclosure;

[0045] FIG. 6 shows a sub-flow diagram of another detection method according to some embodiments of the present disclosure;

[0046] FIG. 7 shows a schematic diagram of a vehicle-mounted laser radar for detection according to some embodiments of the present disclosure; and

[0047] FIG. 8 shows a schematic diagram of a vehicle structure according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0048] The following description provides specific applications and requirements of the present disclosure, which is intended to enable a person skilled in the art to manufacture and use the content of the present disclosure. Various local modifications to the disclosed embodiments are apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments shown, but is consistent with the widest scope of the claims.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure; the terms "include" and "have" and any variations thereof in the specification and claims of the present disclosure and the above description of drawings are intended to cover non-exclusive inclusion.

[0050] In the description of the embodiments of the present disclosure, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0051] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. The appearance of the phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0052] These and other features, and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings. The drawings are intended for illustrative purposes only and are not intended to limit the scope of the present disclosure. It should be understood that the drawings are not drawn to scale.

[0053] The flow diagrams used in the present disclosure show the operations according to the implementation of the system of some embodiments of the present disclosure. It should be clearly understood that the operations of the flow diagrams can not be implemented in order. Instead, the operations can be implemented in reverse order or simultaneously. In addition, one or more other operations can be added to the flow diagram. One or more operations can be removed from the flow diagram.

[0054] In the present disclosure, the meaning expressed by "X includes at least one of A, B, or C" is that X includes at least A, or X includes at least B, or X includes at least C. That is, X can include only A, B, or C, or any combination of A, B, and C, as well as other possible contents or elements. The combination of A, B, and C can be A, B, C, AB, AC, BC, or ABC.

[0055] In the present disclosure, "or" and "and / or" describe the association relationship between the associated objects, and represent a non-exclusive inclusion. For example, "A and / or B" and "A or B" each can include: only "A" exists, only "B" exists, and "A" and "B" both exist, where "A" and "B" can be singular or plural. For example, "A, B, and / or C" and "A, B, or C" each can include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" both exist, "A" and "C" both exist, "B" and "C" both exist, and "A", "B", and "C" all exist, where "A", "B", and "C" can be singular or plural.

[0056] In the present disclosure, unless specifically stated, the association relationship between structures can be a direct association relationship or an indirect association relationship. For example, when describing "A is connected with B", unless it is specifically stated that A is directly connected with B, it should be understood that A can be directly connected with B or indirectly connected with B; for example, when describing "A is on B", unless it is specifically stated that A is directly on B (AB is adjacent and A is on B), it should be understood that A can be directly on B, or A can be indirectly on B (there are other elements between AB, and A is on B). By analogy, when describing "A is in B", unless it is specifically stated that A is completely inside B, it should be understood that all of A can be inside B, or part of A can be inside B.

[0057] In addition, the terms "mount", "set", "provided with", "connected", "linked" should be understood broadly. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication between two devices, elements or components. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] The laser radar can be applied in various scenarios, such as vehicle driving scenarios, robot walking scenarios, unmanned aerial vehicle flying scenarios, industrial application scenarios, etc. Taking the vehicle driving scenario as an example, the laser radar can help the vehicle to perceive the surrounding environment, identify objects in the road, and improve the safety of vehicle driving. The application scenarios of the laser radar are not limited in the present disclosure, and it can also be applied in other scenarios besides the above-mentioned scenarios. For the convenience of understanding, the vehicle driving scenario is taken as an example for illustration when examples are involved hereinafter.

[0059] Next, the structure and detection principle of the laser radar will be described in combination with FIG. 1.

[0060] FIG. 1 shows a schematic diagram of a laser radar 100 according to some embodiments of the present disclosure. As shown in FIG. 1, the laser radar 100 can include a detection channel 110 and a detection system 130. The detection system 130 and the detection channel 110 are communicatively connected. The detection channel 110 can include a laser 111 and a detector 113. The detection system 130 can include a processor 131. The processor 131 can be communicatively connected with the laser 111, and also can be communicatively connected with the detector 113.

[0061] The detection channel 110 can represent a path for the lidar 100 to emit laser and receive the corresponding echo. The detection channel 110 can be referred to as channel 110. In the present disclosure, detection channel and channel can represent the same meaning. In some embodiments, one channel 110 can include one or more lasers 111 and one or more detectors 113. The laser 111 corresponds to the detector 113, for example, the laser beam emitted by the laser 111 is reflected by an object, and part of the echo reflected by the object can be incident on the detector 113 to generate a detection signal. For example, one laser 111 can be one or more vertical cavity surface emitting lasers (VCSEL), and the corresponding one detector 113 can be a silicon photomultiplier (SiPM). For another example, one laser 111 can be one or more VCSEL, and the corresponding one detector 113 can be a 4*4 single-photon avalanche diode (SPAD) array. In some embodiments, one channel 110 can include multiple lasers 111 and one detector 113. The multiple lasers 111 correspond to the detector 113, for example, the laser beams emitted by the multiple lasers 111 are reflected by an object, and part of the echo reflected by the object can be incident on the detector 113 to generate an echo signal. For example, the multiple lasers 111 can be a dual-pulse laser, and the corresponding one detector 113 can be a SiPM. In some embodiments, one channel 110 can include one laser 111 and multiple detectors 113. The laser 111 corresponds to the multiple detectors 113, for example, the laser beam emitted by the laser 111 is reflected by an object, and part of the echo reflected by the object can be incident on the multiple detectors 113 to generate an echo signal. For example, one laser 111 can be a VCSEL, and the corresponding multiple detectors 113 can be a detector group composed of multiple SPAD arrays. For another example, one laser 111 can be a VCSEL, and the corresponding multiple detectors 113 can be multiple SiPMs. For example, the laser 111 is a long strip laser, and the working light spot is a long strip light spot. The receiver 113 can have two receivers 113 working together to receive the corresponding echo signal. The present disclosure does not limit the specific number of lasers 111 or detectors 113 in one channel 110, nor does it limit whether the number of lasers 111 and detectors 113 in different channels is consistent.

[0062] For convenience of description, we take the laser 111 and the receiver 113 as a 1:1 configuration as an example in the following. As shown in FIG. 1, there are N channels 110. One laser 111 and one detector 113 are shown in one channel 110. In some embodiments, the lidar 100 can include a first detection channel (CH1) 110A. The first detection channel 110A can include a first laser 111A and a first detector 113A. In some embodiments, the lidar 100 can include both the first detection channel (CH1) 110A and a second detection channel (CH2) 110B. The second detection channel 110B can include a second laser 111B and a second detector 113B. In some embodiments, the lidar 100 can include the first detection channel (CH1) 110A, the second detection channel (CH2) 110B, and a third detection channel (CH3) 110C. The third detection channel 110C can include a third laser 111C and a second detector 113C. The lidar 100 can include other channels 110 in addition to the first detection channel 110A, the second detection channel 110B, and the third detection channel 110C, and the disclosure does not limit the specific number of channels.

[0063] The detection field of view corresponding to a channel of the lidar can be the detection range of the channel in space. In some embodiments, the detection field of view can be represented by the opening angle of the detection range in a preset direction (e.g., horizontal direction or vertical direction). The detection fields of view of multiple channels can collectively constitute the detection field of view of the lidar. In some embodiments, one channel 110 in the lidar 100 can correspond to one detection field of view. The laser 111 in the channel 110 can emit a laser beam in the direction of the detection field of view, and the detector 113 can receive the echo generated after the laser beam is reflected by an object in the detection field of view. In this way, the lidar 100 can detect the object in the detection field of view. In a similar manner, other channels 110 in the lidar 100 can respectively detect object information in their respective detection fields of view. In this way, the processor 131 can generate point cloud data 150 based on the object information detected by the channels 110 and output the point cloud data 150. The point cloud data 150 can reflect the object information in the total detection field of view of the lidar 100.

[0064] The detection method of the lidar is described below in conjunction with FIGS. 2A-2C.

[0065] FIG. 2A illustrates a partial point cloud data diagram of a lidar according to some embodiments of the present disclosure. The point cloud data can include object information obtained by the lidar 100. Based on the point cloud data, the lidar 100 can perceive the relevant information of the object, so that the lidar 100 can perceive the surrounding environment. For example, the lidar 100 includes N channels 130, and detects in M horizontal field of view (HFOV) angles. Referring to FIG. 2A, at t1, the corresponding horizontal angle of the lidar 100 is a1, the processor 130 controls the channels i to i+N-1 to detect, and the first column of point cloud data can be obtained. In some embodiments, t1 can be a time point or a time range, and a1 can be a horizontal angle or a horizontal angle range. At t2, the corresponding horizontal angle of the lidar 100 is a2, the processor 130 controls the channels i to i+N-1 to detect, and the second column of point cloud data can be obtained. At t3, the corresponding horizontal angle of the lidar 100 is a3, the processor 130 controls the channels i to i+N-1 to detect, and the third column of point cloud data can be obtained. Similarly, at t M-1 , the corresponding horizontal angle of the lidar 100 is a M-1 , the processor 130 controls the channels i to i+N-1 to detect, and the M-1th column of point cloud data can be obtained. At t M , the corresponding horizontal angle of the lidar 100 is a M , the processor 130 controls the channels i to i+N-1 to detect, and the Mth column of point cloud data can be obtained. The intervals between the horizontal angles can be the same. For example, a3-a2=a2-a1. For another example, the intervals between the horizontal angles can be different. For example, a3-a2≠a2-a1.

[0066] In some other embodiments, at each horizontal angle, the processor 130 can control part of the N channels 130 to detect. For example, N≥11. At t1, the corresponding horizontal angle of the lidar 100 is a1, the processor 130 controls the channels i to i+2 to detect, and the first column of point cloud data can be obtained. At t2, the corresponding horizontal angle of the lidar 100 is a2, the processor 130 controls the channels i+3 to i+10 to detect, and the second column of point cloud data can be obtained. By controlling different channels 130 to detect at different horizontal angles, the lidar 100 can obtain different horizontal angle resolutions.

[0067] When the lidar 100 works, a channel 110 at a horizontal angle can detect object information at a horizontal detection angle of the lidar 100.

[0068] The plurality of channels 110 can be arranged in sequence along a first direction. For example, the first direction can be a vertical direction. For another example, the first direction can be a horizontal direction. In some embodiments, the plurality of lasers 111 can be arranged in sequence along the first direction, which can be uniform arrangement or non-uniform arrangement. In some embodiments, the plurality of lasers 111 can also be arranged in multiple columns, which can be arranged at equal intervals or non-equal intervals, or which can be arranged in the same direction or in multiple directions. For example, some lasers 111 are arranged in columns along a first direction, and some lasers 111 are arranged in rows along a second direction. For example, the first direction can be a vertical direction, and the second direction can be a horizontal direction. In this way, the plurality of channels 110 in the lidar 100 can achieve a certain two-dimensional detection field of view range. For another example, the angle between the first direction and the second direction is an acute angle or an obtuse angle. In some embodiments, the detectors 113 can be arranged in the same arrangement as the corresponding lasers 111, or in a different arrangement from the corresponding lasers 111.

[0069] FIG. 2B shows a schematic diagram of the distribution of N channels 110 in a lidar 100 according to some embodiments of the present disclosure. A gray rectangular box in FIG. 2B can represent a channel 110. As shown in FIG. 2B, the plurality of channels 110 can be arranged in sequence along a vertical direction. One channel 110 can correspond to one vertical field of view (VFOV). During the operation of the lidar 100, the laser 111 in one channel 110 emits a laser beam in one vertical direction, which can achieve the detection of an object. For example, the first channel corresponds to a vertical direction angle of +20 degrees. The last channel corresponds to a vertical direction angle of -25 degrees. The plurality of channels 110 can be uniformly distributed. The intervals between the angles corresponding to the channels 110 can be the same or different. For example, the plurality of channels 110 of the lidar shown in FIG. 2B are not uniformly distributed in the vertical direction, and the middle beams are more densely distributed than the beams on the two sides. For another example, the bottom beams are more densely distributed than the top beams.

[0070] The first, second, and third detection channels 110A, 110B, and 110C can correspond to different vertical direction angles. In some embodiments, the first, second, and third detection channels 110A, 110B, and 110C can be physically adjacent as shown in FIG. 2. In other embodiments, the first, second, and third detection channels 110A, 110B, and 110C can not all be physically adjacent. For example, the first and second detection channels 110A and 110B can be physically adjacent, and the third detection channel 110C can not be physically adjacent to them. For another example, the first, second, and third detection channels 110A, 110B, and 110C can all not be physically adjacent.

[0071] When the lidar 100 is in operation, one channel 110 can detect object information at one vertical detection angle of the lidar 100. In some embodiments, multiple channels 110 in the lidar 100 can be arranged in sequence along a horizontal direction. One channel 110 can correspond to one horizontal direction angle. For example, the first channel can correspond to a horizontal direction angle of -60 degrees, and the last channel can correspond to a horizontal direction angle of +60 degrees. For another example, the first channel can correspond to a horizontal direction angle of -70 degrees, and the last channel can correspond to a horizontal direction angle of +70 degrees. For yet another example, the first channel can correspond to a horizontal direction angle of -90 degrees, and the last channel can correspond to a horizontal direction angle of +90 degrees. When the lidar 100 is in operation, one channel 110 can detect object information at one horizontal detection angle of the lidar 100. The first, second, and third detection channels 110A, 110B, and 110C can correspond to different horizontal direction angles.

[0072] Different detection angles of the lidar 100 can be achieved by different channels 110 as described above, or by the same channel 110 with scanner angle deflection. In some embodiments, the lidar 100 shown in FIG. 2 can further include a scanner (not shown in FIG. 2B). The scanner can include one or more of mechanical rotation, rotating prism, microelectronic scanning, galvanometer, rotating mirror, or phased array. The scanner can cause the detection laser to scan a detection field of view in a certain direction, such as at least one of a horizontal direction or a vertical direction. During the movement of the scanner, the lidar 100 can perform object detection at different direction angles, forming a two-dimensional detection field of view range in the horizontal direction and the vertical direction. In some embodiments, the lidar 100 can include one scanner. Alternatively, one scanner can implement one-dimensional scanning. Or, one scanner can implement two-dimensional scanning. In some embodiments, the lidar can include multiple scanners. Alternatively, different scanners can implement scanning of a field of view in different directions.

[0073] In some embodiments, the point cloud data graph in FIG. 2A can be obtained by deflecting the N channels 110 through the reflecting surface of the scanner in the lidar 100 for M times.

[0074] In some embodiments, the lidar 100 can further include a rotating device 200. FIG. 2C shows a structural schematic diagram of a lidar 100 with a rotating device 200 according to some embodiments of the present disclosure. As shown in FIG. 2C, the rotating device 200 can drive the lidar 100 to rotate in a horizontal plane in the direction of the arrow, so that the channels 110 detect at different horizontal azimuth angles. Through rotation, the lidar 100 can include a horizontal detection angle A and a horizontal detection angle B.

[0075] In some embodiments, the point cloud data graph in FIG. 2A can be obtained by rotating the N channels 110 through the rotating device 200. For example, at time t1, when the corresponding horizontal direction angle of the lidar 100 is a1, the channel 110 can detect the object information of the lidar 100 at the horizontal detection angle A, and obtain the first column of point cloud data. At time t2, when the corresponding horizontal direction angle of the lidar 100 is a2, the channel 110 can detect the object information of the lidar 100 at the horizontal detection angle B, and obtain the second column of point cloud data.

[0076] FIGS. 3A-3E respectively show schematic diagrams of partial point cloud data output by different lidars 100 when running.

[0077] FIG. 3A shows a point cloud data graph of a lidar 100 including at least two detection channels 110 at a horizontal direction angle according to some embodiments of the present disclosure. For example, the lidar 110 can include the first detection channel 110A and the second detection channel 110B described above. The point cloud data of FIG. 3A can be obtained by the first detection channel 110A and the second detection channel 110B of the lidar 100 at the horizontal direction angle j.

[0078] FIG. 3B shows a point cloud data graph of a lidar 100 including at least three detection channels 110 at a horizontal direction angle according to some embodiments of the present disclosure. For example, the lidar 110 can include the first detection channel 110A, the second detection channel 110B, and the third detection channel 110C described above. The point cloud data of FIG. 3B can be obtained by the first detection channel 110A, the second detection channel 110B, and the third detection channel 110C of the lidar 100 at the horizontal direction angle j.

[0079] FIG. 3C illustrates a point cloud data plot of a laser radar 100 including at least one detection channel 110 at two horizontal direction angles, according to some embodiments of the present disclosure. For example, the laser radar 110 can include the first detection channel 110A described above. The first column of point cloud data from the left in FIG. 3C is detected by the laser radar 100 through the first detection channel 110A at a horizontal direction angle j, and the second column of point cloud data is detected by the laser radar at a horizontal direction angle j+1 through the first detection channel 110A.

[0080] FIG. 3D illustrates a point cloud data plot of a laser radar 100 including at least one detection channel 110 at three horizontal direction angles, according to some embodiments of the present disclosure. For example, the laser radar 110 can include the first detection channel 110A described above. The first column of point cloud data from the left in FIG. 3D is detected by the laser radar 100 through the first detection channel 110A at a horizontal direction angle j, the second column of point cloud data is detected by the laser radar at a horizontal direction angle j+1 through the first detection channel 110A, and the third column of point cloud data is detected by the laser radar at a horizontal direction angle j+2 through the first detection channel 110A.

[0081] FIG. 3E illustrates a point cloud data plot of a laser radar 100 including at least two detection channels 110 at two horizontal direction angles, according to some embodiments of the present disclosure. For example, the laser radar 110 can include the first detection channel 110A and the second detection channel 110B described above. The first column of point cloud data from the left in FIG. 3E can be detected by the laser radar 100 through the first channel to the second channel at a horizontal direction angle j, and the second column of point cloud data can be detected by the laser radar through the first channel to the second channel at a horizontal direction angle j+1.

[0082] In some embodiments, when the laser radar includes multiple channels 110, the multiple channels 110 of the laser radar 100 can be detected in a certain time sequence. That is, the multiple channels 110 can perform round-robin detection. For example, channel 1 performs detection in a first time window, and after the end, channel 2 performs detection in a second time window. The time window of a channel 110 is usually T cH . T CH Usually related to ToF. ToF can represent the time required for the echo corresponding to the measured distance of the laser radar 100 to be received by the detector 113, that is, the flight time of the laser radar 100 corresponding to the detection distance. ToF can be ToF max . Where ToF maxThe required laser flight time for a return corresponding to the nominal measurement range of the lidar 100 is received by the detector 113. The nominal measurement range of the lidar 100, which can also be referred to as the maximum measurement range of the lidar 100, can represent the distance to the farthest object that the lidar 100 is expected to detect. For example, if the nominal measurement range of the lidar 100 is 300 meters, then the laser needs to reserve about 2us for laser flight time to detect, i.e., ToF max ≈ 2us. In some embodiments, each detection channel 110 needs to wait for the ToF max before stopping receiving the reflected light (return) reflected by the object to ensure that the object at the maximum measurement range can also be detected. The object beyond the nominal measurement range of the lidar cannot be detected by the lidar 100. In some embodiments, the nominal measurement range of the lidar 100 can be 500 meters, 400 meters, 200 meters, 100 meters, 75 meters, 50 meters, 30 meters, 10 meters, etc. In some embodiments, T CH may also be related to the channel switching time. For example, T CH = ToF + T tran . Wherein, T tran may represent the channel switching time. The processor 131 can apply a voltage at both ends of the detector 113 and disconnect the voltage to complete the switching between channels. The value range of T tran may be 10ns-1000ns, 50ns-500ns, 100ns-300ns, or 180ns-220ns, etc. T tran may also take other values. In some embodiments, T CH may also be related to the multi-pulse coding time in addition to ToF, T tran . For example, T CH = ToF + T en + T tran . T en may represent the multi-pulse coding time. In one measurement, one laser 111 can only emit one pulse, or can emit multiple pulses in a certain time sequence. The time interval between multiple pulses can be different, thereby realizing coding. T en = 100ns*number of pulses. T en may also take other values.

[0083] As described above, the processor 131 can generate point cloud data based on the object information detected by the channels 110. The increase of the channel rotation time can make the frequency of the channels 110 obtaining the point cloud data lower. The point frequency can represent the number of point cloud points output by the lidar 100 per second, in other words, the number of detection points detected and obtained by the lidar 100 per second. The point frequency can effectively reflect the resolution and comprehensive imaging capability of the lidar 100. As the number of beams of the lidar 100 increases, the time required to complete all channel rotations also increases. In particular, the lidar 100 can also have requirements for detecting objects at a farther distance, resolution, field of view, and the like. These all put higher requirements on the time resources of the lidar 100.

[0084] In some embodiments, multiple channels 110 of the lidar 100 can perform detection in parallel to improve the point frequency without shortening the rated measurement distance of the lidar 100. For example, the lidar includes 64 channels, which can be divided into 8 groups, and each group includes 8 channels. The 8 channels in the same group can perform parallel detection in the same time window (for example, the parallel degree is 8, the lasers in the 8 channels emit beams in the same time window, and the detectors in the 8 channels receive echoes in the same time window), and the channels in different groups can perform detection in different time windows. However, this also increases the cost and system complexity, and there is a problem of channel 110 crosstalk when multiple channels 110 are in parallel (for example, a detector in the 8 channels in the same group can receive echoes generated by beams emitted by lasers in other channels in the 8 channels), which affects the ranging accuracy of the lidar 100.

[0085] Therefore, the present disclosure provides a detection method of a lidar (referred to as a detection method). The detection method can meet the detection requirements at different detection angles by configuring different time windows for different detection angles, thereby reasonably allocating the time resources of the lidar. Take the lidar 100 including the first detection channel 110A, the second detection channel 110B, and the third detection channel 110C as an example for detailed description, and other detection angles of the lidar 100 can also use the detection method.

[0086] FIG. 4 shows a flow diagram of a probing method P100 according to some embodiments of the present disclosure. The probing method P100 can be performed by the probing system 130. For example, the probing method P100 can be performed by the processor 131. The processor 131 can perform all the steps included in the probing method P100. In some embodiments, the processor 131 can be integrated in the lidar 100. For example, the processor 131 can be the main controller of the lidar 100. In some embodiments, the processor 131 can be independent of the lidar 100. For example, the processor 131 can be located in a domain controller of a vehicle, a server, etc. During the probing, the processor 131 can obtain the electrical signal output by the detector 113. The processor 131 can be communicatively connected with the detector 113, which can be achieved by wired or wireless communication. In some embodiments, the processor 131 can control the laser 111 to emit the laser beam. For example, the processor 131 can output a control signal to the driving circuit of the laser 111 to control the laser 111 to emit the laser beam. In some embodiments, the processor 131 can control the detector 113 to receive the echo. For example, the processor 131 can output a control signal to the driving circuit of the detector 113 to control the detector to receive the echo. The processor 131 can include a unit for controlling the laser 111, a unit for controlling the detector 113, a unit for processing the signal, and other logical judgment units.

[0087] The processor 131 can be in the form of one or more processors. In some embodiments, the processor 131 can include one or more hardware processors, such as a microcontroller, a microprocessor, a reduced instruction set computer (RISC), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a central processing unit (CPU), a graphics processing unit (GPU), a physics processing unit (PPU), a microcontroller unit, a digital signal processor (DSP), a field programmable gate array (FPGA), an advanced RISC machine (ARM), a programmable logic device (PLD), any circuit or processor capable of executing one or more functions, or the like, or any combination thereof. For the sake of illustration only, only one processor 131 is described in the lidar 100 in the present disclosure. However, it should be noted that the lidar 100 in the present disclosure can also include multiple processors 131, and thus the operations and / or method steps disclosed in the present disclosure can be performed by one processor as described in the present disclosure, or jointly performed by multiple processors. For example, if the processor 131 in the present disclosure performs step A and step B, it should be understood that step A and step B can also be jointly or separately performed by two different processors 131 (e.g., a first processor performs step A, a second processor performs step B, or the first and second processors jointly perform steps A and B).

[0088] As shown in FIG. 4, the detection method P100 can include steps P110-P130.

[0089] P110: Control the laser radar 100 to detect at a first detection angle with a first time window.

[0090] P130: Control the laser radar 100 to detect at a second detection angle with a second time window

[0091] The processor 131 can control the laser radar 100 to detect. The detection here can include the processor 131 controlling the laser 111 to emit a laser beam at a corresponding detection angle, and controlling the detector 113 to receive a return wave at the corresponding detection angle. The length of the time window at the first detection angle and the second detection angle is different. For example, the length of the first time window is greater than the length of the second time window. For another example, the length of the first time window is less than the length of the second time window. The values of the first time window and the second time window can be fixed or not fixed. When the values are not fixed, the length of the first time window can be greater than or equal to the length of the second time window, or the length of the first time window can be less than or equal to the length of the second time window. For example, in the first detection, the laser radar 100 is controlled to detect at the first detection angle and the second detection angle with the same length of the time window, and in the second detection, the laser radar 100 is controlled to detect at the first detection angle with a longer length of the time window than at the second detection angle.

[0092] As mentioned before, the different detection angles of the laser radar 100 can be realized by the different channels 110 mentioned above. The different detection angles of the laser radar 100 can also be realized by the same channel 110 through the scanner angle deflection. The laser radar 100 can also include the rotating device 200. When the laser radar 100 works, the rotating device 200 drives the laser 111 and the corresponding detector 113 to rotate at the same time, so as to realize different detection angles.

[0093] For example, the detection channels 110 in the lidar 100 can include the aforementioned first detection channel 110A and second detection channel 110B. The first detection angle can include the detection angle of the first detection channel 110A. The second detection angle can include the detection angle of the second detection channel 110B. The processor 131 controlling the lidar 100 to detect at the first detection angle can be that the processor 131 controls the first laser 111A and the first detector 113A of the first detection channel 110A to detect. The processor 131 controlling the lidar 100 to detect at the second detection angle can be that the processor 131 controls the second laser 111B and the second detector 113B of the second detection channel 110B to detect. The first detection channel 110A and the second detection channel 110B can correspond to different vertical direction angles (e.g., FIG. 2), respectively. The point cloud data diagram output by the lidar 100 when running can refer to FIG. 3A. The first detection channel 110A and the second detection channel 110B can also correspond to different horizontal direction angles, respectively.

[0094] For another example, the detection channels 110 of the lidar 100 can include the aforementioned first detection channel 110A. The first detection angle can include the detection angle of the first detection channel 110A at a first horizontal angle. The second detection angle can include the detection angle of the first detection channel 110A at a second horizontal angle. The processor 131 controlling the lidar 100 to detect at the first detection angle can be that the processor 131 controls the first laser 111A and the first detector 113A of the first detection channel 110A to detect at the first horizontal angle with a first time window. The processor 131 controlling the lidar 100 to detect at the second detection angle can be that the processor 131 controls the first laser 111A and the first detector 113A of the first detection channel 110A to detect at the second horizontal angle with a second time window. The point cloud data diagram output by the lidar 100 when running can refer to FIG. 3C.

[0095] In other embodiments, the first detection angle can also include the detection angle of the first detection channel 110A at a first vertical angle. The second detection angle can include the detection angle of the first detection channel 110A at a second vertical angle.

[0096] In some embodiments, the first time window is related to the detection distance of the lidar 100. For example, the first time window is related to the maximum detection distance of the lidar 100. For example, the first time window corresponds to the maximum flight time ToF max related to the maximum detection distance of the lidar 100. For example, the length of the first time window can be represented as T CH1 = ToF CH + T max + T en + Ttran Since the channel switching time T tran is generally fixed, the multi-pulse encoding T en is also generally pre-set, and both are of the order of nanoseconds. The main factor affecting the length of the time window is the laser flight time, i.e., the length of ToF. It is of the order of microseconds. Therefore, the present disclosure mainly takes adjusting the length of the time window by adjusting the time for waiting for the laser to fly ToF as an example, and other detection methods that cause the length of the time window to be adjusted are also within the protection scope of the present disclosure.

[0097] The length of the second time window is less than the length of the first time window. In some embodiments, the length of the second time window can be represented as T CH2 = ToF re + T en + T tra , wherein ToF re < ToF max . The time for waiting for the laser to fly at the second detection angle is shortened. That is, the distance of the farthest object that can be detected at the second detection angle is shortened. For example, the first detection angle can detect an object at 300 meters in the first time window, and the second detection angle can only detect an object less than 300 meters, such as 200 meters, in the second time window.

[0098] As mentioned earlier, some detection angles do not need to detect the rated measurement distance of the laser radar 100, and the time window corresponding to these detection angles does not need to reserve the length of the maximum flight time for the laser to fly. By shortening the length of the time window at these detection angles, for example, the processor 131 controls the second detection angle to detect in the second time window, without improving the parallelism of the detection channels of the laser radar 100, the time resources of the laser radar 100 can be saved, and a higher point frequency can be achieved.

[0099] In other embodiments, the length T CH1 of the first time window can be greater than T CH , and the length T CH2 of the second time window can also be greater than T CH . In other embodiments, the length T CH1 of the first time window can be greater than T CH , and the length T CH2 of the second time window can be less than T CH . In other embodiments, the length T CH1 of the first time window can be less than T CH , and correspondingly, the length T CH2 of the second time window is also less than T CH . When the length of the time window corresponding to the detection angle is greater than TCH When the length of the time window corresponding to the detection angle is less than T, the lidar 100 can save time resources at the detection angle. CH When the length of the time window corresponding to the detection angle is less than T, the lidar 100 can save time resources at the detection angle.

[0100] The lidar 100 can meet the detection requirements at different detection angles by detecting at different lengths of time windows at different detection angles, thereby achieving more flexible and more reasonable allocation of time resources of the lidar. Further, the length of the time window of a part of the detection angles of the lidar 100 can be shortened, thereby saving time resources of the lidar 100 and achieving a higher point frequency. The time windows of the remaining detection angles of the lidar 100 can have different lengths, which are not limited in the present disclosure.

[0101] One object can cover the field angles corresponding to multiple detection channels of the lidar, and the detection results at different detection angles can have certain relevance. The detection results at multiple detection angles that have completed detection, in addition to the detection angle to be detected, can be of reference significance to the detection results at the detection angle to be detected. Especially when the detection angles are adjacent, the relevance can be greater. For example, for two adjacent detection angles, when an object is detected at a far distance at a previously detected detection angle, the object is probably detected at the far distance at a subsequently detected detection angle. For another example, when an object is detected at a close distance at a previously detected detection channel, the object is probably detected at the close distance at a subsequently detected detection angle. FIG. 5 shows a subflow diagram of a detection method P100 according to some embodiments of the present disclosure.

[0102] Therefore, in some embodiments, when the first detection angle is adjacent to the second detection angle, referring to FIG. 5, step P130 can include step P131: controlling the lidar 100 to detect at the second detection angle with a second time window according to the detection result of the lidar 100 at the first detection angle.

[0103] The first detection angle and the second detection angle being adjacent can mean that the physical positions of different channels are adjacent, or the difference between different horizontal angles corresponding to one channel is small, thereby making the detection results between different detection angles have relevance, and the detection result of a previously detected detection angle having reference significance to a subsequently detected detection angle.

[0104] For example, the first horizontal angle and the second horizontal angle can be adjacent, that is, the angle difference between the horizontal angles is small, and the processor 131 can control the first detection channel 110A to detect at the second horizontal angle with the second time window according to the detection result of the first detection channel 110A at the first horizontal angle. For another example, the physical positions of the first detection channel 110A and the second detection channel 110B are adjacent, and the processor 131 can control the second detection channel 110B to detect with the second time window according to the detection result of the first detection channel 110A.

[0105] In some embodiments, continuing to refer to FIG. 5, step P131 can further include the following steps executed in sequence according to the arrangement order:

[0106] Step P131A1: determining that there is an object within a first distance of the lidar 100 according to the detection result of the lidar 100 at the first detection angle.

[0107] Step P131A3: controlling the lidar 100 to detect at the second detection angle with a second time window.

[0108] The first distance can be less than the maximum detection distance. For example, the maximum detection distance of the lidar 100 is 300 meters, and the first distance can be 250 meters. For another example, the maximum detection distance of the lidar 100 is 300 meters, and the first distance can be 150 meters. The first distance can be pre-set according to an empirical value. The existence of an object within the first distance of the lidar 100 can be considered as the existence of an object at a relatively close distance of the lidar 100.

[0109] In some embodiments, the first distance can be determined based on the detection result of the lidar 100 at the first detection angle. For example, the lidar 100 detects an object at a distance of 200 meters at the first detection angle, and then determines that the first distance is 200 meters or other values (such as 201 meters, 210 meters, or 220 meters, etc.) greater than 200 meters and less than 300 meters.

[0110] When the lidar 100 detects at the first detection angle, it can first detect with a detection length of TOF = TOF max to ensure that the lidar 100 can detect an object within the maximum detection distance. After the lidar 100 determines that an object is detected at a relatively close distance according to the detection result at the first detection angle, the lidar 100 can shorten the ToF of the second detection angle from TOF max to TOF reThis shortens the time window of the second detection angle, increases the spot frequency, and saves time resources for the lidar 100. When the lidar 100 determines that there is no object nearby based on the detection results of the first detection angle, the lidar 100 can maintain the Time-of-Flight (ToF) of the second detection angle at the Time-of-Flight (TOF) setting. max This is to ensure the accuracy of the detection results from the lidar 100.

[0111] In some embodiments, the length of the second time window is related to the flight time corresponding to the first distance. For example, the Time-of-Flight (ToF) in the second time window. re This could be the time of flight corresponding to the first distance. For example, after processor 131 determines that an object has been detected within the first distance based on the detection results from the first detection angle, processor 131 can use Time-of-Flight (ToF)... re =ToF d1 The second detection angle is controlled for detection. Among them, ToF... d1 This can be the flight time corresponding to the detection range of the lidar 100 at a first distance. For example, when the first distance is 250 meters, the Time-of-Flight (ToF)... d1 It is 1.7us.

[0112] The lidar 100 can also dynamically allocate a time window for the detection angle in real time based on the detection results. In some other embodiments, continuing to refer to Figure 5, step P131 may also include steps executed sequentially according to the aforementioned arrangement:

[0113] Step P131B1: Based on the detection results of the lidar 100 at the first detection angle, it is determined that the lidar 100 has detected an object;

[0114] Step P131B3: Control the lidar 100 to perform detection at the second detection angle within the second time window.

[0115] After processor 131 determines that lidar 100 has detected an object, it can control the second detection angle to perform detection within a second time window. In some embodiments, the second time window is related to the time of flight corresponding to the distance between the object and lidar 100. For example, the Time of Flight (ToF) within the second time window. re This could be the time of flight (ToF) corresponding to the distance between the object and the lidar 100. For example, if the lidar 100 detects an object at a distance of 200 meters from its first detection angle, then the detection time (ToF) corresponding to the second detection angle is... re It can be approximately 1.4 µs. For example, if a lidar 100 detects an object at a distance of 100 meters from its first detection angle, then the detection time (ToF) for the second detection angle is... remay be about 0.7us. After the processor 131 determines that the lidar 100 does not detect an object, the processor 131 can keep the ToF of the second detection angle at the ToF max to ensure the accuracy of the detection result of the lidar 100.

[0116] According to the detection result of the detection angle that has completed detection, the time window of the detection angle is allocated in real time and dynamically, which can improve the point frequency and save the time resources of the lidar 100.

[0117] In some embodiments, the length of the first time window can be a first preset value, and / or the length of the second time window can be a second preset value. For example, the length of the first time window and the length of the second time window are both preset values. For another example, the length of the first time window is a preset value, and the length of the second time window is dynamically configured in the detection process. In some embodiments, the lengths of the first time window and the second time window can be pre-configured in the lidar 100. For example, the lengths of the first time window and the second time window are configured in the lidar 100 before the lidar 100 is shipped. In other embodiments, the lengths of the first time window and the second time window can also be obtained in the process of device upgrading of the lidar 100. For example, when the user or the staff upgrades the device, new parameters are input into the lidar 100. The new parameters can include the lengths of the first time window and the second time window.

[0118] For example, the first preset value can be a value determined based on the ToF corresponding to the maximum detection distance of the lidar 100. max The first preset value can be pre-configured in the lidar 100. The first preset value can also be obtained in the process of device upgrading of the lidar 100. For example, the second preset value can be any value less than the first preset value. The second preset value can also be pre-configured in the lidar 100. The second preset value can also be obtained in the process of device upgrading of the lidar 100. The second preset value can be a value determined based on the ToF corresponding to less than the maximum detection distance. For example, the second preset value can be a value determined based on the ToF corresponding to 1 / 2 of the maximum detection distance.

[0119] According to the detection result of the detection angle that has completed detection, the processor 131 can directly call the information of the pre-configured time window, so as to save the CPU resources of the lidar 100.

[0120] In addition to configuring the length of the time window of the second detection angle according to the detection result of the first detection angle, the processor 131 can also configure the length of the time window of the second detection angle according to information of the second detection angle itself. Therefore, in some embodiments, the control of the laser radar 100 to detect at the second detection angle with the second time window can include: based on the information of the second detection angle, control the laser radar 100 to detect at the second detection angle with the second time window.

[0121] The information of the second detection angle can include the scene, region, and detection object, etc. detected by the second detection angle. For example, the control of the laser radar 100 to detect at the second detection angle with the second time window based on the angle information of the second detection angle can include at least one of the following exemplary cases:

[0122] Case one: when it is determined that the included angle between the second detection angle and the preset direction is less than a preset included angle threshold, control the laser radar 100 to detect at the second detection angle with the second time window, wherein the moving speed of the laser radar 100 in the preset direction is less than a preset speed threshold.

[0123] In some embodiments, the laser radar is arranged on a vehicle and moves with the vehicle, thereby having a moving speed in a preset direction. The preset direction can be different from the moving direction of the laser radar. The preset included angle threshold can be set by a tester according to experience, which is not limited in the present disclosure. The preset speed threshold can be the speed in the driving direction of the vehicle, or can be set according to experience. The speed threshold can be a certain numerical value or a numerical range. The moving speed in the preset direction being less than the preset speed threshold can mean that the vehicle has no fast speed in the preset direction, and therefore, the object information obtained by the laser radar 100 in the preset direction is less important for the vehicle than the object information obtained in the driving direction of the vehicle.

[0124] For example, when the vehicle is driving on a flat road, the driving direction of the vehicle is the front direction, and the preset direction can be the sky direction (the direction directly above the vehicle). When the second detection angle is directed to the sky direction and the directions near the sky direction, since there are few valuable objects in the sky direction (e.g., the lidar 100 does not need to remind the user that there are objects in this place), or the laser beams directed to the sky direction are rarely reflected by objects to generate echoes, the lidar 100 is unlikely to obtain object information that is helpful for the vehicle driving in the area directly above the vehicle and the nearby area. Therefore, the processor 131 can control the lidar to detect at the second detection angle in the second time window, so as to save the time resources of the lidar 100 and improve the point frequency. The length of the second time window can be compressed compared to the length of the first time window, so that the length of the second time window can be shorter than the length of the first window. For another example, when the vehicle is climbing a slope, the driving direction of the vehicle is the direction of the slope, and the preset direction can be the front direction (the chassis close to the bottom of the vehicle). The lidar 100 is unlikely to obtain object information that is helpful for the vehicle driving in the area directly below the vehicle and the nearby area. Therefore, the processor 131 can also control the second detection angle to detect in the second time window, so as to save the time resources of the lidar 100 and improve the point frequency. The length of the second time window can be compressed compared to the length of the first time window, so that the length of the second time window can be shorter than the length of the first window.

[0125] Case two: when it is determined that the detection area of the second detection angle does not have objects within the maximum detection distance, the lidar is controlled to detect at the second detection angle in the second time window.

[0126] When the detection area of the second detection angle does not have objects within the maximum detection distance, it means that there are objects or no objects in the near distance, and the processor 131 detects again in the ToF max The detection in the second time window will waste time resources, so the processor 131 can control the second detection angle to detect in the compressed second time window, so as to save the time resources of the lidar 100 and improve the point frequency. Whether the detection area of the second detection angle has objects within the maximum detection distance can be determined by the test personnel in advance according to the working environment of the lidar 100 and the related information is configured into the lidar 100.

[0127] Case three: when it is determined that the second detection angle is directed to the sky area, the lidar is controlled to detect at the second detection angle in the second time window.

[0128] As mentioned above, when the second detection angle points to the sky region, the sky region is less likely to obtain object information that is helpful for the vehicle to drive. Therefore, the processor 131 can control the second detection angle to detect in the second time window, so as to save the time resource of the lidar 100 and improve the point frequency. The length of the second time window can be compressed compared with the length of the first time window, so that the length of the second time window can be shorter than the length of the first window. Whether the second detection angle points to the sky region can be determined by the tester in advance according to the working environment of the lidar 100 and the related information is configured into the lidar 100.

[0129] Case four: when it is determined that the distance between the second detection angle and the boundary of the field of view of the lidar is less than the second distance, the lidar 100 is controlled to detect in the second detection angle in the second time window.

[0130] When the distance between the second detection angle and the boundary of the field of view is less than the second distance, the processor 131 can consider that the laser beam emitted by the second detection angle is located at the edge position of the field of view. The detection laser located at the edge position of the field of view is less likely to obtain valuable detection information. Therefore, the processor 131 can control the lidar 100 to detect in the second detection angle in the second time window. The length of the second time window can be compressed compared with the length of the first time window, so that the length of the second time window can be shorter than the length of the first window.

[0131] Taking a vehicle as an example, FIG. 7 shows a schematic diagram of a vehicle-mounted lidar 100 detecting according to some embodiments of the present disclosure. The vehicle is provided with a lidar on the top. The field of view range of the lidar 100 is bounded by e1 and e2. The lidar 100 includes emitted laser beams L1-L6. Among them, L1 and L6 can be regarded as laser beams located at the edge position of the field of view, and L2-L5 can be considered as laser beams located at the non-edge position of the field of view.

[0132] When the second detection angle is located near the non-field of view boundary, the laser beam is usually directed to the front of the vehicle (for example, L2-L5), and the information in front of the vehicle can be detected. This part of the information detected by the laser beam is very important to ensure the safety of the vehicle driving. Therefore, the processor 131 can control the second detection angle to detect in the ToF max detection time, so as to obtain accurate detection information.

[0133] When the second detection angle is near the boundary of the field of view, the laser beam of the second detection angle is usually directed to the ground or to the sky (e.g., L1 and L6). When the laser beam is directed to the sky (e.g., L1), as previously described, the lidar 100 has a high probability of not obtaining valid object information. When the laser beam is directed to the ground (e.g., L6), because the height between the vehicle body and the ground is usually 1.4-1.9 meters, the laser beam will hit the ground early and the detector 113 does not need to wait for the laser to fly at the maximum detection distance, and the processor 131 will process the ToF max The detection will waste time resources. Therefore, the processor 131 can control the second detection angle to detect in a second time window, thereby saving time resources of the lidar 100 and improving the point frequency. The length of the second time window can be compressed compared to the length of the first time window, so that the length of the second time window can be shorter than the length of the first window.

[0134] As previously described, the lidar 100 can include a wobble mirror. During the movement of the wobble mirror, the lidar 100 can detect objects in different direction angles. FIG. 6 shows a subflow diagram of another detection method according to some embodiments of the present disclosure. In some embodiments, continuing to refer to FIG. 6, the step P130 can further include the steps executed in sequence according to the arrangement order:

[0135] Step P133: determining an available detection time of the second detection angle based on the angular velocity of the wobble mirror;

[0136] Step P135: controlling the lidar to detect in the second detection angle in the second time window when the available detection time is less than the length of the first time window.

[0137] The detection angle of the lidar 100 and the angular velocity of the wobble mirror can usually be set in advance. Therefore, the time required for the wobble mirror to rotate from one detection angle to the position corresponding to the next detection angle is also determined. The processor 131 can determine the available detection time of the second detection angle based on the required time. For example, the available detection time can be less than or equal to the wobble time required for the wobble mirror to rotate from the second detection angle to the position corresponding to the next detection angle. When the actual time required by the wobble mirror is less than the time window of ToF = ToF max , the processor 131 can configure the length of the second time window with the available detection time or configure the length of the second time window to be less than the available detection time. In some embodiments, the length of the second time window is less than or equal to the available detection time.

[0138] For example, the maximum detection distance of the lidar 100 is 300 meters; ToF max= 2us; the angular velocity of the wobble of the mirror is 0.002° per second. The tester or user pre-configures the laser beams of the first detection channel 110A of the lidar 100 to exit at a horizontal 0°; the laser beams of the second detection channel 110B to exit at a horizontal 0.004°; and the laser beams of the third detection channel 110C to exit at a horizontal 0.007°. It takes 2us for the mirror to rotate from the horizontal 0° to the horizontal 0.004°. The 2us can be the available detection time for the first detection channel 110A. The available detection time for the first detection channel 110A is equal to the ToF max .

[0139] It takes 1.4us for the mirror to rotate from the horizontal 0.004° to the horizontal 0.007°. The available detection time for the second detection channel 110B can be 1.4us. The available detection time can also be less than 1.4us. For example, the available detection time is 1.3us, 1.2us, 1.1us, 1us, etc. Since the available detection time is less than the ToF max , the processor 131 can configure the length of the second time window with the available detection time or configure the length of the second time window with a value less than the available detection time. For example, when the lidar 100 only needs to detect a distance of 80 meters at the horizontal 0.004°, the processor 131 can configure the length of the second time window as 0.7us.

[0140] In some embodiments, when the lidar 100 uses the mirror to detect at different detection angles, a microcontroller unit (MCU) can control the angular velocity of the mirror. The MCU can communicate with the FPGA. For example, the MCU can send the angular velocity of the mirror to the FPGA. After the FPGA obtains the angular velocity of the mirror, the FPGA can configure the length of the time window at different detection angles based on the above method.

[0141] In some embodiments, continuing to refer to FIG. 4, the method P100 of probing can further include P150: the lidar 100 sends a probing time window message to the vehicle. Taking the vehicle as an example, the vehicle needs to know the emitting time of the laser 111 at each probing angle to determine the position of the laser beam or the position of the light spot. The light spot can be an irradiation area formed by the echo on the detector 113, or a cross section of the laser beam in a direction perpendicular to the emitting direction. For example, the lidar 100 includes a first probing channel 110A, a second probing channel 110B, and a third probing channel 110C. The three probing channels 110 can probe objects in different vertical direction angles through the movement of the scanner. For example, the scanner can scan 0.1° every 55us, so the scanner can move 0.002° every 1us. Assuming that the three probing channels 110 emit laser beams at intervals of 1.4us in turn, and the laser beam of the first probing channel 110A is emitted along the horizontal 0°. Then the laser beam of the second probing channel 110B is approximately emitted along the horizontal 0.003°, and the laser beam of the third probing channel 110C is approximately emitted along the horizontal 0.006°.

[0142] When the lidar 100 dynamically configures the time window at the probing angle, the length of the time window is compressed. For example, the three probing channels 110 emit laser beams at intervals of 1us in turn. For example, the emitting time of the second probing channel 110B and the third probing channel 110C relative to the first probing channel 110A has changed. Then the laser beam of the second probing channel 110B is approximately emitted along the horizontal 0.002°, and the laser beam of the third probing channel 110C is approximately emitted along the horizontal 0.004°.

[0143] Therefore, it can be known that due to the change of the time window corresponding to the probing angle, the angle of the laser beam emitted at the probing angle has changed, the position of the light spot has also changed, and the field of view range of the lidar 100 will also change as a whole. Therefore, the lidar 100 needs to send a probing time window message to the vehicle to inform the vehicle of the change of the field of view range of the lidar 100, so as to output point cloud data correct relative to the position of the vehicle.

[0144] The lidar 100 can send a probe time window message to the vehicle. The probe time window message can carry an identifier of the probe time window. Different time windows can have different identifiers. For example, the probe time windows can include the first time window and the second time window. The probe time window message carries a first identifier of the first time window and a second identifier of the second time window. The first identifier is different from the second identifier. The identifier can be included in a point cloud package sent by the lidar 100 to the vehicle. The vehicle can identify the identifier after receiving and parsing the point cloud package. The identifier can occupy less data storage bits than the direct time window information, thereby reducing the bandwidth requirement of the lidar 100 when transmitting data to the vehicle and saving CPU resources of the lidar 100.

[0145] In some embodiments, the time windows of different probe angles of the lidar 100 are not dynamically configured, but are preconfigured between operations and do not change. The vehicle can also be preconfigured with information related to the time windows, thereby reducing the bandwidth requirement of the lidar 100 when transmitting data to the vehicle and saving CPU resources of the lidar 100. For example, the length of the first time window can be a first preset value. The length of the second time window can be a second preset value. The first preset value and the second preset value can be preconfigured in the lidar 100 and the vehicle, thereby reducing the bandwidth requirement of the lidar 100 when transmitting data to the vehicle and saving CPU resources of the lidar 100.

[0146] In other embodiments, the processor 131 can also control the lidar 100 to probe at a third probe angle with a third time window.

[0147] In some embodiments, when the lidar 100 includes the first probe channel 110A as described above, the third probe angle can also include a probe angle of the first probe channel 110A at a third horizontal angle. The point cloud data graph output by the lidar 100 when operating can refer to FIG. 3D.

[0148] The processor 131 can control the lidar 100 to probe at a third horizontal angle with a third time window according to the probe result of the second horizontal angle.

[0149] For example, the processor 131 can determine, according to the detection result of the second horizontal angle, that there is an object within a second distance of the lidar 100, and control the third horizontal angle to perform detection in a third time window. The second distance can be less than the maximum detection distance. The length of the third time window can be related to the time of flight corresponding to the distance between the object and the lidar 100, or the length of the third time window can be preconfigured. The specific method can refer to the foregoing, and will not be described here again. For another example, the processor 131 can determine, according to the detection result of the second horizontal angle, that the lidar 100 has detected an object, and then control the third horizontal angle to perform detection in a third time window. The length of the third time window can be related to the time of flight corresponding to the distance between the object and the lidar 100, or the length of the third time window can be preconfigured. The specific method can refer to the foregoing, and will not be described here again.

[0150] The processor 131 can also control the third horizontal angle to perform detection in a third time window according to the information of the third horizontal angle itself. The specific method can refer to the foregoing, and will not be described here again.

[0151] The processor 131 can also determine the available detection time based on the angular velocity of the swing mirror. For example, the available detection time of the third horizontal angle can be greater than or equal to the swing time required for the swing mirror to rotate from the third horizontal angle to the position corresponding to the next horizontal angle. After determining that the available detection time is less than the length of the first time window, the processor 131 can configure the length of the third time window to be less than or equal to the available detection time, and control the third horizontal angle to perform detection in the third time window. The specific method can refer to the foregoing, and will not be described here again.

[0152] In some embodiments, when the lidar 100 includes the first detection channel 110A and the second detection channel 110B described above, the lidar 100 can also include a third detection channel 110C described above. The third detection angle can include the detection angle of the third detection channel 110C. The point cloud data diagram output by the lidar 100 when it is running can refer to FIG. 3B.

[0153] The processor 131 can control the third detection channel 110C to perform detection in a third time window according to the detection result of the second detection channel 110B. For example, the processor 131 can determine that there is an object within a second distance of the lidar 100 according to the detection result of the second detection channel 110B, and control the third detection channel 110C to perform detection in a third time window. The second distance can be less than the maximum detection distance. The length of the third time window can be related to the time of flight corresponding to the distance between the object and the lidar 100. The length of the third time window can also be pre-set. The specific method can be referred to in the foregoing, and will not be described here. For another example, the processor 131 can determine that the lidar 100 has detected an object according to the detection result of the second detection channel 110B, and control the third detection channel 110C to perform detection in a third time window. The length of the third time window can be related to the time of flight corresponding to the distance between the object and the lidar 100. The length of the third time window can also be pre-set. The specific method can be referred to in the foregoing, and will not be described here.

[0154] The processor 131 can also control the third detection channel 110C to perform detection in a third time window according to the information of the third detection channel 110C itself. The specific method can be referred to in the foregoing, and will not be described here.

[0155] The processor 131 can also determine the available detection time based on the angular velocity of the swing mirror. For example, the available detection time of the third detection channel can be greater than or equal to the swing time required for the swing mirror to rotate from the third detection channel to the position corresponding to the next detection channel. After the processor 131 determines that the available detection time is less than the length of the first time window, the processor 131 can configure the length of the third time window to be less than or equal to the available detection time, and control the third detection channel 110C to perform detection in the third time window. The specific method can be referred to in the foregoing, and will not be described here.

[0156] In other embodiments, the processor 131 can also control the lidar 100 to perform detection in a third detection angle in a third time window and perform detection in a fourth detection angle in a fourth time window. For example, the first detection angle can include the detection angle of the first detection channel 110A at the first horizontal angle; the second detection angle can include the detection angle of the second detection channel 110B at the first horizontal angle; the third detection angle can include the detection angle of the first detection channel 110A at the second horizontal angle; and the fourth detection angle can include the detection angle of the second detection channel 110B at the second horizontal angle. The point cloud data diagram output by the lidar 100 when running can refer to FIG. 3E.

[0157] The laser radar 100 can perform detection in the order of the first detection angle to the fourth detection angle, or in other orders. The third time window of the third detection angle or the fourth time window of the fourth detection angle can be configured based on the detection results of the detection angles that are detected before it, or can be configured based on its own information. The specific method can refer to the foregoing, and will not be described here.

[0158] The detection method P100 provided by the present disclosure can reasonably allocate time window resources, reduce resource waste, and solve the problem of low point frequency. For example, in some specific situations, users have a demand to make some detection angles detect beyond the rated measurement distance of the laser radar 100, and the time window corresponding to these detection angles needs to reserve a length beyond the maximum flight time for laser flight. The detection method P100 provided by the present disclosure can adjust the corresponding time window to exceed the maximum flight time to meet specific use requirements. Therefore, the detection method P100 provided by the present disclosure can reasonably allocate the time resources of the laser radar 100, on the one hand, improve resource utilization efficiency, and on the other hand, can meet specific use requirements.

[0159] The present disclosure also provides a laser radar 100. The laser radar 100 includes a detection channel 110 and a detection system 130. The detection channel 110 detects at a first detection angle and a second detection angle. The detection system 130 is in communication connection with the detection channel 110. The detection system 130 works to control the detection channel 110 to detect at the first detection angle with a first time window, and control the detection channel 110 to detect at the second detection angle with a second time window. The length of the first time window is greater than the length of the second time window. The laser radar 100 can be the laser radar 100 provided in the corresponding embodiments of the foregoing FIGS. 1 to 7.

[0160] In some embodiments, the laser radar 100 can include a first detection channel 110A. The first detection angle can include a detection angle of the first detection channel 110A at a first horizontal angle. The second detection angle includes a detection angle of the first detection channel 110A at a second horizontal angle.

[0161] In some embodiments, the laser radar 100 can include a first detection channel 110A and a second detection channel 110B. The first detection angle can include a detection angle of the first detection channel 110A. The second detection angle includes a detection angle of the second detection channel 110B.

[0162] In some embodiments, the laser radar 100 can include a wobble mirror. The step of controlling the laser radar 100 to detect at the second detection angle with the second time window can include the following steps: based on the angular velocity of the wobble mirror, taking the wobble time required for the wobble mirror to rotate from the second detection angle to the position corresponding to the next detection angle as the available detection time of the second detection angle; and determining that the available detection time is less than the length of the first time window, taking the available detection time as the length of the second time window, and controlling the laser radar 100 to detect at the second detection angle with the second time window.

[0163] The present disclosure also provides a vehicle 300. FIG. 8 shows a structural schematic diagram of a vehicle 300 according to some embodiments of the present disclosure. As shown in FIG. 8, the vehicle 300 includes a main body (not shown in the figure) and a laser radar 100. The laser radar 100 can be understood as the laser radar 100 provided in the above embodiments corresponding to FIGS. 1-7. The vehicle 300 can be a transportation tool. For example, the vehicle 300 can be a vehicle, an airplane, a ship, or the like. The vehicle 300 can be an intelligent machine. For example, the vehicle 300 can be a sweeping robot, a food delivery robot, or the like. The present disclosure is not limited herein. Taking the vehicle 300 as a vehicle for example, the laser radar 100 can be fixedly or detachably installed on the roof (as shown in FIG. 7) or behind the windshield glass of the vehicle.

[0164] In another aspect, the present disclosure provides a computer-readable non-transitory storage medium storing at least one set of instructions executable by a processor to perform a method of laser radar detection. When the instructions are executed by the processor, the instructions direct the processor to perform the steps of the method P100 of laser radar detection described in the present disclosure. In some possible implementations, the various aspects of the present disclosure can also be implemented as a program product in the form of a computer readable medium having program code portions stored therein. When the program product is run on a detection system 130, for example, on a processor 131, the program code portions cause the processor 131 to perform the steps of the method P100 of laser radar detection described in the present disclosure. The program product for implementing the above method can include the program code portions in a portable compact disc read-only memory (CD-ROM) and can be run on the processor 131. However, the program product of the present disclosure is not limited to this, and in the present disclosure, the readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system. The program product can take any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium, for example, can be but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples of the readable storage medium include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer readable storage medium can include a data signal carried in a baseband or as part of a carrier wave, in which readable program code is borne. Such a propagated data signal can take on many forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The readable storage medium can also be any readable medium that can be used to carry, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium can be transmitted as program code portions in any suitable medium, including but not limited to wireless, wired, optical fiber cable, RF, and the like, or any suitable combination of the above. The program code portions for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object-oriented programming language such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages.

[0165] The above described specific embodiments of the application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still accomplish desirable results. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

[0166] In light of the above, it should be appreciated that the foregoing detailed description and specific examples of the application are presented for purposes of clarity and explanation only. The description and examples are not intended to limit the scope of the application as it is to be defined by the claims. Although specific examples of the application have been described above, various modifications can be made to the described embodiments without departing from the spirit and scope of the application. Accordingly, the claims are intended to cover all such alternatives, modifications and equivalents.

[0167] Furthermore, some of the terms used in this application have been used for the purpose of describing embodiments of the application. For example, "one embodiment", "an embodiment" and / or "some embodiments" means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. Therefore, it can be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various portions of this application do not necessarily mean that the same embodiment is being referred to. Additionally, particular features, structures or characteristics can be combined in any suitable manner in one or more embodiments of the application.

[0168] It should be appreciated that in the foregoing description of embodiments of the application, various features are described in the context of a single embodiment, figure or description of the application for the purpose of simplifying the present application. However, this is not to be interpreted that the combination of features is necessary, and a person skilled in the art upon reading the present application would readily understand that a portion of the devices can be marked as a separate embodiment. That is, the embodiments of the application can also be understood as an integration of multiple sub-embodiments. And the content of each sub-embodiment is also valid when there are less than all the features of a single foregoing disclosed embodiment.

[0169] Each patent, patent application, publication of a patent application, and other material, for example articles, books, specifications, publications, documents, things, and / or the like which can be cited in this document is / are hereby incorporated by reference in their entirety for all purposes to the same extent as if each were specifically and individually indicated to be incorporated by reference herein. Furthermore, articles "a", "an", and "the" as used in this document are to be construed to mean "one or more" or "at least one" unless specified otherwise or clear from context to be directed to only one. Also, terms like "first" and / or "second" are used merely as labels, and are not intended to impose numerical requirements on their objects.

[0170] Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the present application. Other modifications that fall within the scope of the application can also be made. Thus, the embodiments disclosed in this application are merely exemplary and not limiting of the scope of the application. Those skilled in the art can readily devise alternative configurations without departing from the scope of the application as defined by the application. Therefore, the embodiments disclosed in this application are not to be limited to the exact embodiments described above by way of example.

Claims

1. A detection method for lidar, characterized in that, include: The lidar is controlled to perform detection at a first detection angle within a first time window; as well as The lidar is controlled to perform detection at a second detection angle within a second time window. The length of the first time window is greater than the length of the second time window.

2. The detection method according to claim 1, characterized in that, The lidar includes a first detection channel, the first detection angle includes the detection angle of the first detection channel at a first horizontal angle, and the second detection angle includes the detection angle of the first detection channel at a second horizontal angle.

3. The detection method according to claim 1, characterized in that, The lidar includes a first detection channel and a second detection channel, the first detection angle includes the detection angle of the first detection channel, and the second detection angle includes the detection angle of the second detection channel.

4. The detection method according to any one of claims 1-3, characterized in that, The length of the first time window is related to the maximum detection range of the lidar.

5. The detection method according to any one of claims 1-4, characterized in that, The first detection angle is adjacent to the second detection angle, and controlling the lidar to perform detection at the second detection angle within a second time window includes: Based on the detection result of the lidar at the first detection angle, the lidar is controlled to perform detection at the second detection angle within the second time window.

6. The detection method according to claim 5, characterized in that, The step of controlling the lidar to perform detection at the second detection angle within a second time window based on the detection result of the lidar at the first detection angle includes: Based on the detection results of the lidar at the first detection angle, it is determined that an object exists within a first distance of the lidar, wherein the first distance is less than the maximum detection distance; and The lidar is controlled to perform detection at the second detection angle within the second time window.

7. The detection method according to any one of claims 1-3, characterized in that, The control of the lidar to perform detection at a second detection angle within a second time window includes: Based on the information from the second detection angle, the lidar is controlled to perform detection at the second detection angle within the second time window.

8. The detection method according to claim 7, characterized in that, The step of controlling the lidar to perform detection at the second detection angle within the second time window based on the angle information of the second detection angle includes at least one of the following: When it is determined that the angle between the second detection angle and the preset direction is less than a preset angle threshold, the lidar is controlled to perform detection at the second detection angle within the second time window, wherein the moving speed of the lidar in the preset direction is less than a preset speed threshold. When it is determined that there is no object in the detection area at the second detection angle within the maximum detection distance, the lidar is controlled to perform detection at the second detection angle within the second time window; When the second detection angle is determined to point towards the sky region, the lidar is controlled to perform detection at the second detection angle within the second time window; or When it is determined that the distance between the second detection angle and the field of view boundary of the lidar is less than the second distance, the lidar is controlled to perform detection at the second detection angle within the second time window.

9. The detection method according to any one of claims 1-4, characterized in that, The lidar includes a tilting mirror, and controlling the lidar to perform detection at a second detection angle within a second time window includes: Based on the angular velocity of the pendulum mirror, determine the available detection time for the second detection angle; and When the available detection time is less than the length of the first time window, the lidar is controlled to detect at the second detection angle within the second time window.

10. The detection method according to any one of claims 1-9, characterized in that, The length of the first time window is a first preset value; or The length of the second time window is a second preset value; or, The length of the first time window is a first preset value and the length of the second time window is a second preset value.

11. The detection method according to any one of claims 1-10, characterized in that, Also includes: The lidar is controlled to send a detection time window message to the vehicle, wherein the detection time window message carries a first identifier of the first time window and a second identifier of the second time window, and the first identifier is different from the second identifier.

12. A lidar, characterized in that, include: The detection channel performs detection at both the first and second detection angles. as well as The processor, which is communicatively connected to the detection channel, is configured to execute the following during operation: The detection channel is controlled to perform detection at a first detection angle within a first time window; as well as The detection channel is controlled to perform detection at a second detection angle within a second time window. The length of the first time window is greater than the length of the second time window.

13. The lidar according to claim 12, characterized in that, The lidar includes a first detection channel, the first detection angle includes the detection angle of the first detection channel at a first horizontal angle, and the second detection angle includes the detection angle of the first detection channel at a second horizontal angle.

14. The lidar according to claim 12, characterized in that, The lidar includes a first detection channel and a second detection channel, the first detection angle includes the detection angle of the first detection channel, and the second detection angle includes the detection angle of the second detection channel.

15. The lidar according to any one of claims 12-14, characterized in that, The lidar includes a tilting mirror, and controlling the lidar to perform detection at a second detection angle within a second time window includes: Based on the angular velocity of the pendulum mirror, determine the available detection time for the second detection angle; and When the available detection time is less than the length of the first time window, the lidar is controlled to detect at the second detection angle within the second time window.

16. A vehicle, characterized in that, include: main body; as well as The lidar according to any one of claims 12 to 15, wherein the lidar is mounted on the main body.

Images