Lidar imaging method and related apparatus

Abstract

A lidar imaging method and a related apparatus. The method comprises: acquiring light intensity information of an environment where a lidar is located; and on the basis of the light intensity information, controlling a first emission module to perform fill lighting or controlling a first receiving module to perform light detection capability adjustment, wherein the first emission module performing fill lighting is used for enhancing the light intensity in the environment, controlling the first receiving module to perform light detection capability adjustment is used for reducing the detection efficiency of the first receiving module, and the first receiving module is used for implementing grayscale image imaging. By means of the solution, the imaging resolution of a lidar can be optimized.

Description

Lidar imaging method and related apparatus

[0001] The present application claims priority to the Chinese patent application No. 202410981928.6, filed on July 19, 2024, with the State Intellectual Property Office of China, and entitled “Lidar imaging method and related apparatus”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of detection, in particular to a lidar imaging method and related apparatus. BACKGROUND

[0003] The point cloud information of the lidar detection based on the single-photon avalanche diode (SPAD) can realize high-precision ranging. However, the angle resolution of the point cloud information is low, and high-resolution imaging cannot be realized based on the point cloud information. The lidar can also realize grayscale image imaging. Since the grayscale image imaging can provide high-angle resolution scene information, the fusion of the low-angle resolution point cloud information can improve the imaging resolution of the lidar. However, in the existing implementation, the light intensity has a great influence on the imaging effect of the lidar. SUMMARY

[0004] The present application provides a lidar imaging method and related apparatus, which can adaptively optimize the grayscale image imaging resolution of the lidar according to the intensity of the background light in the environment, and further optimize the imaging resolution of the lidar.

[0005] In a first aspect, the present application provides a lidar imaging method, which comprises: acquiring light intensity information of an environment in which the lidar is located; and controlling a first emission module to perform light compensation or controlling a first receiving module to perform light detection capability adjustment based on the light intensity information; the first emission module performs light compensation to enhance the light intensity in the environment, and the first receiving module performs light detection capability adjustment to reduce the detection efficiency of the first receiving module, and the first receiving module is used to realize grayscale image imaging.

[0006] In the above scheme, the light intensity in the environment is too weak or too strong, which will affect the imaging resolution of the gray scale image. Therefore, the corresponding light compensation or light detection capability adjustment can be performed according to the light intensity in the environment. For example, when the ambient light intensity is weak, the signal-to-noise ratio of the obtained gray scale image is greatly reduced, and the resolution is also reduced, and the specific scene and object cannot be distinguished. Based on this, the light intensity in the environment can be compensated and enhanced to obtain a gray scale image with better resolution. When the ambient light intensity is strong, the obtained gray scale image will be overexposed, and the specific scene and object cannot be distinguished. In this case, the response of the receiving module to the received light signal is no longer sensitive. Therefore, the detection efficiency of the receiving module can be reduced, so that the receiving module can respond to the received light signal, thereby obtaining a gray scale image with better resolution. The imaging resolution of the laser radar is further optimized.

[0007] In a possible implementation, the foregoing control of the first emitting module to perform light compensation based on the foregoing light intensity information comprises: in a case where the light intensity information indicates that the light intensity of the environment is less than a first threshold, controlling the first emitting module to emit a first laser signal.

[0008] In the above scheme, the light intensity of the environment is less than the first threshold, indicating that the light intensity in the environment is weak. In this case, the gray scale image obtained by the laser radar has low resolution and cannot distinguish specific scenes and objects. Based on this, the light intensity in the environment can be compensated and enhanced to obtain a gray scale image with better resolution.

[0009] In a possible implementation, the foregoing control of the first receiving module to perform light detection capability adjustment based on the foregoing light intensity information comprises: in a case where the light intensity information indicates that the light intensity of the environment is greater than a second threshold, controlling the first receiving module to increase a negative high-voltage reverse bias voltage, and the negative high-voltage reverse bias voltage is used to drive a photodetector in the first receiving module to work.

[0010] In the above scheme, the light intensity of the environment is greater than the second threshold, indicating that the light intensity in the environment is strong. In this case, the gray scale image obtained by the laser radar will have an overexposure phenomenon, which also reduces the resolution of the image and cannot distinguish specific scenes and objects. Based on this, the negative high-voltage reverse bias voltage of the receiving module can be increased. For example, the negative high-voltage circuit of the first receiving module can be controlled to output a higher negative high-voltage reverse bias voltage. The photon detection efficiency of the receiver is reduced. Further, the receiver can further respond to the incident photons to generate a gray scale image with higher resolution.

[0011] In a possible implementation manner, the foregoing controlling the first receiving module to perform the light detection capability adjustment based on the foregoing light intensity information comprises: in a case where the light intensity information indicates that the grayscale image generated by the first receiving module has overexposure, controlling the first receiving module to increase a negative high-voltage reverse bias voltage, the negative high-voltage reverse bias voltage being used to drive a photodetector in the first receiving module to work. The grayscale image generated by the first receiving module having overexposure indicates that the light intensity of the environment in which the laser radar is located is greater than a third threshold value.

[0012] In the foregoing scheme, the acquired light intensity information can be information indicating that the generated grayscale image is overexposed, and the generated grayscale image being overexposed indicates that the light intensity in the environment is too large. Therefore, the negative high-voltage reverse bias voltage of the foregoing receiving module can also be increased. For example, the negative high-voltage circuit of the foregoing first receiving module can be controlled to output a higher negative high-voltage reverse bias voltage, so that the photodetection efficiency of the receiver is reduced, and the receiver can further generate a grayscale image with higher resolution in response to the incident photons.

[0013] In a possible implementation manner, the foregoing first laser signal is emitted within a first preset time period. The first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal.

[0014] The foregoing method further comprises: controlling the laser radar to emit a second laser signal within the first preset time period. The second laser signal is used to implement point cloud imaging, and the first laser signal and the second laser signal are emitted in time division.

[0015] In the foregoing scheme, the first laser signal for environmental light compensation and the second laser signal for point cloud imaging can be emitted in time division in the high level period of the time slot synchronization signal or in the high level period of the frame synchronization signal. This implementation can acquire the grayscale image and the point cloud image as synchronously as possible, so as to facilitate subsequent fusion of the point cloud image and the grayscale image to obtain high-resolution imaging effect.

[0016] In a possible implementation manner, the foregoing light detection capability adjustment is performed within a first preset time period. The first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal.

[0017] The foregoing method further comprises: controlling the laser radar to emit a second laser signal within the first preset time period. The second laser signal is used to implement point cloud imaging, and the light detection capability adjustment and the emission of the second laser signal are performed in time division.

[0018] In the foregoing scheme, the light detection capability adjustment is for obtaining a high-resolution grayscale image. The light detection capability adjustment and the emission of the second laser signal for point cloud imaging are performed in time division during the high level of the time slot synchronization signal or during the high level of the frame synchronization signal. The cooperation of this implementation can obtain the grayscale image and the point cloud image as synchronously as possible, so as to facilitate the subsequent fusion of the point cloud image and the grayscale image to obtain a high-resolution imaging effect.

[0019] In a possible implementation, the first laser signal is emitted in a second preset time period. The second preset time period is during the low level of the time slot synchronization signal or during the low level of the frame synchronization signal.

[0020] The foregoing method further includes: controlling the laser radar to emit a second laser signal during the high level of the time slot synchronization signal. The second laser signal is used for implementing point cloud imaging.

[0021] In the foregoing scheme, the first laser signal for ambient light compensation can be emitted during the low level of the time slot synchronization signal or during the low level of the frame synchronization signal to generate a high-resolution grayscale image. The time of the low level of the signal can be utilized to improve the time utilization rate.

[0022] In a possible implementation, the light detection capability adjustment is performed in a second preset time period. The second preset time period is during the low level of the time slot synchronization signal or during the low level of the frame synchronization signal.

[0023] The foregoing method further includes: controlling the laser radar to emit a second laser signal during the high level of the time slot synchronization signal. The second laser signal is used for implementing point cloud imaging.

[0024] In the foregoing scheme, the light detection capability adjustment is for obtaining a high-resolution grayscale image. The light detection capability adjustment can be performed during the low level of the time slot synchronization signal or during the low level of the frame synchronization signal to generate a high-resolution grayscale image. The time of the low level of the signal can be utilized to improve the time utilization rate.

[0025] In a possible implementation, the first laser signal is emitted during a first frame synchronization signal duration.

[0026] The foregoing method further includes: controlling the laser radar to emit a second laser signal during a second frame synchronization signal duration. The second laser signal is used for implementing point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0027] In the above scheme, in two adjacent frame synchronization signals, the first laser signal for ambient light compensation can be emitted during one frame signal duration to generate a high-resolution grayscale image. The second laser signal for point cloud imaging can be emitted during another frame signal duration. The high-resolution grayscale image and the point cloud image can be fused to optimize the imaging resolution of the lidar.

[0028] In a possible implementation, the aforementioned light detection capability adjustment is performed during the first frame synchronization signal duration.

[0029] The aforementioned method further includes: controlling the lidar to emit a second laser signal during a second frame synchronization signal duration. The second laser signal is used to implement point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0030] In the above scheme, the light detection capability adjustment is performed to obtain a high-resolution grayscale image. In two adjacent frame synchronization signals, the light detection capability adjustment is performed during one frame signal duration to generate a high-resolution grayscale image. The second laser signal for point cloud imaging can be emitted during another frame signal duration. The high-resolution grayscale image and the point cloud image can be fused to optimize the imaging resolution of the lidar.

[0031] In a possible implementation, the aforementioned second laser signal is emitted by a second emission module of the lidar. Alternatively, the aforementioned second laser signal is emitted by the first emission module.

[0032] In the above scheme, the first laser signal for ambient light compensation and the second laser signal for point cloud imaging can be emitted by the same emission module or different emission modules. The different emission modules can prevent the heat dissipation problem caused by dense light of a single emission module. The specific configuration can be set according to actual application needs, and the flexibility is high.

[0033] In a possible implementation, the aforementioned first receiving module is further configured to receive a return light beam of the second laser signal to implement point cloud imaging. Alternatively, the lidar includes a second receiving module, and the second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging.

[0034] In the above scheme, the same receiving module can be used to perform the grayscale image imaging and the point cloud imaging in the laser radar. Alternatively, different receiving modules can be used to perform the grayscale image imaging and the point cloud imaging. By using different receiving modules to perform the grayscale image imaging and the point cloud imaging, the time consumption of the grayscale image imaging and the point cloud imaging can be saved. In addition, the point cloud image and the grayscale image can be generated as synchronously as possible, so that the differences between the scenes and objects in the point cloud image and the grayscale image are reduced as much as possible, so that the accuracy of the fusion of the point cloud image and the grayscale image is improved, and the resolution of the image obtained after the fusion is improved.

[0035] In a possible implementation, the laser radar comprises a second transmitting module and a second receiving module. The second transmitting module is configured to transmit a second laser signal. The second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging.

[0036] The first laser signal is transmitted at a first time point in a frame synchronization signal, and the second laser signal is transmitted at a second time point in the frame synchronization signal. The first time point and the second time point are the same or different.

[0037] In the above scheme, since different receiving modules are used to perform the grayscale image imaging and the point cloud imaging, the first laser signal for ambient light compensation and the second laser signal for point cloud imaging can be transmitted simultaneously or can not be transmitted simultaneously. The transmission can be flexibly set according to actual application requirements, and the operability is flexible. In addition, when the first laser signal and the second laser signal are transmitted simultaneously, the two different receiving modules can obtain the point cloud image and the grayscale image as synchronously as possible, so that the differences between the scenes and objects in the point cloud image and the grayscale image are reduced as much as possible, so that the accuracy of the fusion of the point cloud image and the grayscale image is improved, and the resolution of the image obtained after the fusion is improved.

[0038] In a possible implementation, the first receiving module comprises a plurality of photodetectors. The first receiving module is further configured to implement point cloud imaging.

[0039] When the first receiving module is used to implement grayscale image imaging, the plurality of photodetectors are divided into a plurality of first photodetector matrices, and each first photodetector matrix is used to implement one pixel of the grayscale image.

[0040] When the first receiving module is used to implement point cloud imaging, the plurality of photodetectors are divided into a plurality of second photodetector matrices, and each second photodetector matrix is used to implement one pixel of the point cloud.

[0041] The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix.

[0042] In the above scheme, the gray-scale image and the point cloud image can be realized by a receiving module in time. In the gray-scale image, the number of photoelectric detectors corresponding to one pixel is small, so that the same number of photoelectric detectors in the receiver can realize an image including more pixels, that is, the resolution of the gray-scale image is improved.

[0043] In a possible implementation, if the aforementioned laser radar includes a second receiving module, the aforementioned second receiving module is used to realize the point cloud imaging. The aforementioned first receiving module and the aforementioned second receiving module each include a plurality of photoelectric detectors.

[0044] The plurality of photoelectric detectors of the aforementioned first receiving module are divided into a plurality of first photoelectric detector matrices, and each of the aforementioned first photoelectric detector matrices is used to realize one pixel of the gray-scale image.

[0045] The plurality of photoelectric detectors of the aforementioned second receiving module are divided into a plurality of second photoelectric detector matrices, and each of the aforementioned second photoelectric detector matrices is used to realize one pixel of the point cloud image.

[0046] The number of photoelectric detectors included in the aforementioned first photoelectric detector matrix is less than the number of photoelectric detectors included in the aforementioned second photoelectric detector matrix.

[0047] In the above scheme, the gray-scale image and the point cloud image can be realized by two different receiving modules. Similarly, in the gray-scale image, the number of photoelectric detectors corresponding to one pixel is small, so that the same number of photoelectric detectors in the receiver can realize an image including more pixels, that is, the resolution of the gray-scale image is improved.

[0048] In a possible implementation, the aforementioned obtaining of the light intensity information of the environment where the laser radar is located includes:

[0049] The aforementioned light intensity is detected and obtained by the aforementioned first receiving module. Alternatively,

[0050] The aforementioned light intensity is detected and obtained by a camera or a light sensor in a terminal device, and the aforementioned laser radar is arranged on the terminal device. Alternatively,

[0051] The aforementioned light intensity is analyzed and obtained by one or more of time, weather conditions, and a location where the laser radar is located.

[0052] In the above scheme, the light intensity of the environment where the laser radar is located can be obtained by any of the above methods, and flexibility is realized.

[0053] In a second aspect, the present application provides a control device of a laser radar, characterized in that the device includes:

[0054] An acquisition unit is configured to acquire light intensity information of an environment in which the laser radar is located.

[0055] A control unit is configured to control a first emission module to perform light compensation based on the light intensity information or control a first receiving module to perform light detection capability adjustment. The first emission module performs light compensation to enhance light intensity in the environment, and the control of the first receiving module to perform light detection capability adjustment is to reduce the detection efficiency of the first receiving module, and the first receiving module is used to realize grayscale image imaging.

[0056] In a possible implementation, the control unit is specifically configured to control the first emission module to emit a first laser signal when the light intensity information indicates that the light intensity of the environment is less than a first threshold.

[0057] In a possible implementation, the control unit is specifically configured to control the first receiving module to increase a negative high-voltage reverse bias voltage for driving a photodetector in the first receiving module to work when the light intensity information indicates that the light intensity of the environment is greater than a second threshold.

[0058] In a possible implementation, the control unit is specifically configured to control the first receiving module to increase a negative high-voltage reverse bias voltage for driving a photodetector in the first receiving module to work when the light intensity information indicates that a grayscale image generated by the first receiving module has overexposure. The overexposure of the grayscale image generated by the first receiving module indicates that the light intensity of the environment in which the laser radar is located is greater than a third threshold.

[0059] In a possible implementation, the first laser signal is emitted within a first preset time period. The first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal. The control unit is further configured to control the laser radar to emit a second laser signal within the first preset time period. The second laser signal is used to realize point cloud imaging, and the first laser signal and the second laser signal are emitted in time division.

[0060] In a possible implementation, the light detection capability adjustment is performed within a first preset time period. The first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal. The control unit is further configured to control the laser radar to emit a second laser signal within the first preset time period. The second laser signal is used to realize point cloud imaging, and the light detection capability adjustment and the emission of the second laser signal are performed in time division.

[0061] In a possible implementation manner, the first laser signal is emitted in a second preset time period. The second preset time period is a low level period of the time slot synchronization signal or a low level period of the frame synchronization signal. The control unit is further configured to control the laser radar to emit a second laser signal in a high level period of the time slot synchronization signal. The second laser signal is used for point cloud imaging.

[0062] In a possible implementation manner, the light detection capability adjustment is performed in a second preset time period. The second preset time period is a low level period of the time slot synchronization signal or a low level period of the frame synchronization signal. The control unit is further configured to control the laser radar to emit a second laser signal in a high level period of the time slot synchronization signal. The second laser signal is used for point cloud imaging.

[0063] In a possible implementation manner, the first laser signal is emitted in a first frame synchronization signal duration. The control unit is further configured to control the laser radar to emit a second laser signal in a second frame synchronization signal duration. The second laser signal is used for point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0064] In a possible implementation manner, the light detection capability adjustment is performed in a first frame synchronization signal duration. The control unit is further configured to control the laser radar to emit a second laser signal in a second frame synchronization signal duration. The second laser signal is used for point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0065] In a possible implementation manner, the second laser signal is emitted by a second emission module of the laser radar. Alternatively, the second laser signal is emitted by the first emission module.

[0066] In a possible implementation manner, the first receiving module is further configured to receive a return light beam of the second laser signal to implement point cloud imaging. Alternatively, the laser radar comprises a second receiving module, and the second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging.

[0067] In a possible implementation manner, the laser radar comprises a second emission module and a second receiving module. The second emission module is configured to emit a second laser signal. The second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging. The first laser signal is emitted at a first time in a frame synchronization signal, and the second laser signal is emitted at a second time in the frame synchronization signal. The first time and the second time are the same or different.

[0068] In a possible implementation, the first receiving module includes a plurality of photodetectors. The first receiving module is further configured to implement point cloud imaging.

[0069] When the first receiving module is configured to implement grayscale image imaging, the plurality of photodetectors are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging.

[0070] When the first receiving module is configured to implement point cloud imaging, the plurality of photodetectors are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging.

[0071] The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix.

[0072] In a possible implementation, if the laser radar includes a second receiving module, the second receiving module is configured to implement point cloud imaging. The first receiving module and the second receiving module each include a plurality of photodetectors.

[0073] The plurality of photodetectors of the first receiving module are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging.

[0074] The plurality of photodetectors of the second receiving module are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging.

[0075] The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix.

[0076] In a possible implementation, the light intensity of the environment in which the laser radar is located is obtained by:

[0077] The light intensity is obtained by detecting through the first receiving module. Alternatively,

[0078] The light intensity is obtained by detecting through a camera or a light sensor in a terminal device, and the laser radar is arranged on the terminal device. Alternatively,

[0079] The light intensity is obtained by analyzing one or more of time, weather conditions, and a location in which the laser radar is located.

[0080] In a third aspect, the present application provides a control device, comprising at least one processor and a communication interface for providing instructions or data input and / or output for the processor, and the at least one processor is configured to execute a computer program to implement the method of any one of the first aspect.

[0081] In a fourth aspect, the present application provides a laser radar, comprising a control device, a transmitting module and a receiving module. The transmitting module comprises the first transmitting module of any one of the first aspect. The receiving module comprises the first receiving module of any one of the first aspect, and the control device is configured to execute the method of any one of the first aspect.

[0082] In a fifth aspect, the present application provides a terminal device, comprising the laser radar of the third aspect.

[0083] In a sixth aspect, the present application provides a computer readable storage medium, which stores a computer program or computer instructions, and the computer program or computer instructions are executed by a processor to implement the method of any one of the first aspect.

[0084] In a seventh aspect, the present application provides a computer program product, and when the computer program product is executed by a processor, the method of any one of the first aspect will be implemented.

[0085] The solutions provided by the second aspect to the seventh aspect are used to implement or cooperate to implement the method provided by the first aspect, and thus can achieve the same or corresponding beneficial effects as the method corresponding to the first aspect. Therefore, no further description is given here. BRIEF DESCRIPTION OF DRAWINGS

[0086] FIGS. 1 to 5 show the laser radar architecture provided by the embodiments of the present application.

[0087] FIG. 6 shows the method flowchart provided by the embodiments of the present application.

[0088] FIG. 7 shows the relationship between the light detection response capability, the light intensity and the PDE provided by the embodiments of the present application.

[0089] FIGS. 8 to 17 show the timing diagrams provided by the embodiments of the present application.

[0090] FIG. 18 shows the structure of the receiver provided by the embodiments of the present application.

[0091] FIGS. 19 and 20 show the device structure provided by the embodiments of the present application. DETAILED DESCRIPTION

[0092] In the embodiments of the present application, "multiple" refers to two or more than two. In the embodiments of the present application, "and / or" is used to describe the association relationship of the associated objects, which means three independent relationships, for example, A and / or B, which means A exists alone, B exists alone, or A and B exist together. The description such as "at least one of a1, a2, … and an (or at least one)" adopted in the embodiments of the present application includes any one of a1, a2, … and an exists alone, and also includes any combination of a1, a2, … and an exists, each case can exist alone; for example, the description of "at least one of a, b and c" includes the cases of a alone, b alone, c alone, a and b combination, a and c combination, b and c combination, or abc three combination.

[0093] The terms "first", "second", and the like are used in the present application to distinguish between the same or similar items with substantially the same function, and it should be understood that there is no logical or time sequence relationship between "first", "second", "n", and the quantity and execution order are not limited. It should also be understood that although the following description uses the terms first, second, and the like to describe various elements, these elements should not be limited by the terms. These terms are only used to distinguish one element from another.

[0094] In various embodiments of the present application, the terms and / or descriptions between various embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0095] In specific implementation, the point cloud information and gray image imaging fusion acquired by laser radar can be used to improve the imaging resolution of laser radar. However, the good or bad of the gray image imaging resolution depends on the intensity of the background light in the environment. However, the intensity of the background light in the environment is uncontrollable. For example, the intensity of the background light in the environment is different in overcast, sunny and rainy days, or night and day. The uncontrollable background light will affect the resolution of the gray image imaging, and further affect the imaging resolution of the laser radar. For example, in the night or overcast scene, the environment background light is weak, the signal-to-noise ratio of the gray image imaging is greatly reduced, and the resolution is also greatly reduced. In the condition of strong environmental background light, the light reflected or scattered back to the receiver is also strong, which will cause the generated gray image to appear overexposure phenomenon, and also make the imaging resolution of the gray image to the scene decrease. In order to optimize the imaging resolution of the laser radar, the present application provides a laser radar imaging method and related device. The following is exemplarily introduced.

[0096] Firstly, the architecture of the laser radar involved in the embodiments of the present application is exemplarily introduced below. It can be exemplarily seen from FIG. 1 that the architecture of the laser radar 100 is shown. It can be seen that the laser radar 100 can include a transmitting module 110, a receiving module 120, an optical system 130 and a control module 140.

[0097] Exemplarily, the transmitting module 110 described above can be used to transmit laser signals. The receiving module 120 described above can be used to receive light beams (referred to as echo light beams) reflected or scattered back in the environment to realize point cloud imaging and / or grayscale image imaging. The optical system 130 described above can be used to propagate the laser signals transmitted by the transmitting module 110 into the environment, and also can propagate the echo light beams into the receiving module 120. The control module 140 described above can be used to control the transmitting module 110 to transmit laser signals, and control the receiving module 120 to receive echo light beams for imaging and the like. Alternatively, the control module 140 can control the laser radar 100 so that the laser radar 100 can work normally. The specific control process will be further described later, which is not described here in detail.

[0098] In a possible implementation, the transmitting module 110 described above can transmit laser signals for realizing point cloud imaging, and / or transmit laser signals for assisting in realizing grayscale image imaging. Exemplarily, the laser signals for realizing point cloud imaging can be referred to as service laser signals. The laser signals for assisting in realizing grayscale image imaging are mainly used for light supplementing to enhance the brightness in the environment, to assist in obtaining a grayscale image with higher resolution. Based on this, the laser signals for assisting in realizing grayscale image imaging can be referred to as light supplementing laser signals. Exemplarily, the light supplementing laser signals can be laser pulse signals or can be continuous light signals, etc., and the embodiments of the present application do not limit this.

[0099] Exemplarily, the service laser signals and the light supplementing laser signals can exist in one or more of the following differences: different intensities of laser signals, different intervals of laser signals, different widths of laser signals, different numbers (firing numbers) of transmitted laser signals. The differences between the two kinds of laser signals can be set according to application scenarios, and the embodiments of the present application do not limit this.

[0100] In a possible implementation, the transmitting module 110 described above can transmit the service laser signals and the light supplementing laser signals in time division. In another possible implementation, the transmitting module 110 described above can include two transmitting modules. For example, it can be exemplarily seen from FIG. 2 that the two transmitting modules can be the transmitting module 1101 and the transmitting module 1102 in FIG. 2. The transmitting module 1101 and the transmitting module 1102 respectively include one or more lasers. The transmitting module 1101 can be used to transmit the light supplementing laser signals. The transmitting module 1102 can be used to transmit the service laser signals.

[0101] Exemplarily, in a possible implementation, the receiving module 120 can include a receiver and a negative high voltage circuit. For example, refer to FIG. 3. The receiver can include a plurality of photodetectors, which can be used to convert optical signals into electrical signals to realize point cloud imaging and / or grayscale image imaging. Exemplarily, the photodetector can be a single-photon avalanche diode (SPAD) or a silicon photomultiplier (SiPM), for example. The negative high voltage circuit can be used to provide a reverse bias voltage to drive the photodetectors in the receiver to work. Exemplarily, the reverse bias voltage is a negative high voltage, which can be a negative tens of volts, for example. The present embodiment does not limit the specific value of the negative high voltage. The receiver and the negative high voltage circuit are controlled by the control module 140.

[0102] Exemplarily, in a possible implementation, if the photodetector is a SPAD, the receiver can be a SPAD chip. The SPAD chip integrates a plurality of SPADs. Alternatively, in another possible implementation, if the photodetector is a SiPM, the receiver can be a SiPM chip. The SiPM chip integrates a plurality of SiPMs.

[0103] In a possible implementation, the receiving module 120 can include a receiver and a negative high voltage circuit. The receiver can realize both point cloud imaging and grayscale image imaging. For example, if the receiver is used to realize point cloud imaging, the control module 140 can set the function of the receiver to a point cloud imaging function mode. If the receiver is used to realize grayscale image imaging, the control module 140 can set the function of the receiver to a grayscale image imaging function mode. In the point cloud imaging function mode and the grayscale image imaging function mode, the negative high voltage circuit is controlled by the control module 140 to drive the photodetectors in the receiver to work.

[0104] In another possible implementation, the receiving module 120 can include two receiving modules. For example, referring to FIG. 4, the receiving module 120 can include a receiving module 1201 and a receiving module 1202. The receiving module 1201 can include a first receiver and a first negative high voltage circuit. The receiving module 1202 can include a second receiver and a second negative high voltage circuit. For example, the control module 140 can control the first receiving module to implement grayscale image imaging, and control the first negative high voltage circuit to drive the photodetector in the first receiver to work. In addition, the control module 140 can control the second receiving module to implement point cloud imaging, and control the second negative high voltage circuit to drive the photodetector in the second receiver to work. In this case, the echo light beams propagating back to the receiving module 120 through the optical system 130 are divided into two paths, one of which is transmitted to the first receiving module, and the other of which is transmitted to the second receiving module. For example, the light splitting device such as a beam splitter or a coupler can be used to split the echo light beams, and the embodiments of the present application are not limited in this regard.

[0105] For example, in a possible implementation, the optical system 130 can include part or all of a plurality of optical elements such as lenses, mirrors, galvanometer mirrors, and prisms. Alternatively, the optical system 130 can also include a scanning mechanism such as a scanning mirror or a rotating mirror. It can be understood that the description herein is only an example and does not constitute a limitation on the embodiments of the present application. The specific structure of the optical system 130 is not limited in the embodiments of the present application.

[0106] In a possible implementation, the transmitting module 110 includes two transmitting modules, and the receiving module 120 includes two receiving modules. Then, the optical system 130 can include two optical subsystems. For ease of understanding, referring to FIG. 5, the transmitting module 110 includes a transmitting module 1101 and a transmitting module 1102. The receiving module 120 can include a receiving module 1201 and a receiving module 1202. The optical system 130 includes a first optical subsystem and a second optical subsystem. The description of the transmitting module 1101, the transmitting module 1102, the receiving module 1201, and the receiving module 1202 can be referred to the related description of FIG. 2 and FIG. 4, which will not be repeated here. The first optical system is configured to propagate the supplementary light laser signals transmitted by the transmitting module 1101 to the environment, and propagate the echo light beams from the environment to the first receiving module, so that the first receiving module implements grayscale image imaging. The second optical system is configured to propagate the service laser signals transmitted by the transmitting module 1102 to the environment, and propagate the echo light beams from the environment to the second receiving module, so that the second receiving module implements point cloud imaging.

[0107] Exemplarily, the above laser radar can be a mechanical laser radar (also can be referred to as a line scanning laser radar), a hybrid solid laser radar (or referred to as a semi-solid laser radar), or a (pure) solid laser radar, etc.

[0108] It can be understood that the architecture of the laser radar 100 shown in FIGS. 1 to 5 is only an example and does not constitute a limitation on the embodiments of the present application.

[0109] Exemplarily, in combination with the above laser radar 100, the embodiments of the present application provide a laser radar imaging method. The method can adaptively optimize the gray image imaging resolution of the laser radar according to the intensity of the background light in the environment, and then optimize the resolution of the image obtained by fusing the point cloud information and the gray image imaging, that is, optimize the imaging resolution of the laser radar. It can be exemplarily referred to FIG. 6. The method can include but is not limited to the following steps.

[0110] S601, obtaining light intensity information of an environment where the laser radar is located.

[0111] Exemplarily, the laser radar can include the laser radar 100 described in any one of the above FIGS. 1 to 5, for example. The method can be executed by a control module in the laser radar. The control module can be the control module 140 in the above laser radar 100, for example.

[0112] Exemplarily, in one possible implementation, based on the foregoing introduction, the laser radar includes a receiving module. The receiving module can be the receiving module 120 in any one of the above FIGS. 1 to 5, for example. The receiving module further includes a receiver and a negative high voltage circuit. The receiver and the negative high voltage circuit will not be described here for brevity, and the reader can refer to the foregoing description. In addition to being used to implement point cloud imaging and / or gray image imaging, the receiver can also detect the intensity of the light in the environment. For example, the intensity of the light in the environment can be detected by analyzing the reflected or scattered light beams in the environment, and the specific analysis and detection method is not limited by the embodiments of the present application. After detecting the intensity of the ambient light, the receiver can send the intensity of the ambient light as the above light intensity information to the above control module.

[0113] In another implementation, after the receiver detects the ambient light intensity, the receiver can compare the ambient light intensity with a preset light intensity threshold. For example, the preset light intensity threshold can include a first threshold and a second threshold, where the first threshold is less than the second threshold. If the ambient light intensity is less than the first threshold, the receiver can generate a first indication information. The first indication information indicates that the light intensity of the environment where the lidar is located is less than the first threshold. Then, the receiver can send the first indication information to the control module as the light intensity information. If the ambient light intensity is greater than the second threshold, the receiver can generate a second indication information. The second indication information indicates that the light intensity of the environment where the lidar is located is greater than the second threshold. Then, the receiver can send the second indication information to the control module as the light intensity information.

[0114] In one possible implementation, if the receiver is configured to implement grayscale imaging, when the receiver detects the ambient light intensity, if the ambient light intensity is greater than a third threshold, the grayscale image generated by the receiver can appear overexposed. That is, the grayscale image generated by the receiver is overexposed, which indicates that the light intensity of the environment where the lidar is located is greater than the third threshold. Then, the receiver can generate a third indication information. The third indication information indicates that the grayscale image generated by the receiver is overexposed. Then, the receiver can send the third indication information to the control module as the light intensity information.

[0115] In another possible implementation, the lidar is arranged on a terminal device, and the terminal device includes a camera. The camera can capture a picture of the environment where the lidar is located. Then, based on the captured picture, the light intensity of the environment where the lidar is located can be analyzed. For example, the light intensity of the environment can be obtained by analyzing and calculating the picture based on a preset algorithm model, and the specific analysis and calculation method is not limited in the embodiments of the present application. After the camera detects the ambient light intensity, the camera can send the ambient light intensity to the control module as the light intensity information. Alternatively, in another possible implementation, after the camera detects the ambient light intensity, the camera can compare the ambient light intensity with the preset first threshold and / or the second threshold. Then, based on the comparison result, the camera can generate an indication information and send the indication information to the control module as the light intensity information. For details, refer to the related implementation of the receiver, which will not be described here.

[0116] In another possible implementation, the laser radar can include a light sensor. Alternatively, the laser radar is arranged on the terminal device, and the terminal device includes a light sensor. The light sensor can detect the light intensity in the environment. The detected light intensity in the environment is sent to the control module as the light intensity information. For example, the terminal device can be a vehicle, a robot, a drone, or the like, which is not limited in the embodiments of the present application.

[0117] In another possible implementation, the light intensity in the environment can be obtained by analyzing one or more of time, weather, and the location of the laser radar. For example, the laser radar is arranged on the terminal device, and in one implementation, the terminal device can include a time system. The control module can obtain time information through the time system.

[0118] For example, in another implementation, the terminal device can include a camera. The camera can take pictures of the surrounding environment, and analyze the pictures to obtain specific weather conditions, such as sunny, cloudy, rainy, or the like. Then, the camera can send the analyzed weather conditions to the control module. Alternatively, the camera can send the taken pictures to the control module, and the control module can analyze the specific weather conditions based on the pictures.

[0119] For example, in another implementation, the terminal device can include a navigation system. The control module can obtain the location of the laser radar through the navigation system. For example, the location can be represented by latitude and longitude, or represented by a specific place name, or represented by coordinates of a global coordinate system, and the like, which is not limited in the embodiments of the present application.

[0120] Alternatively, for example, in another implementation, the terminal device can obtain the time, weather, or location information from the cloud and send the information to the control module. The cloud can be a server, a server cluster, or a data center including a cloud server, or a server in a local area network, a metropolitan area network, or a wide area network, which is not limited in the embodiments of the present application.

[0121] Exemplarily, after the control module obtains the time, weather condition and location information, the light intensity of the environment where the laser radar is located can be comprehensively analyzed based on the three, i.e., the light intensity information is obtained. For example, the environmental light intensity can be divided into two categories in advance, the first category of light intensity is equivalent to the light intensity less than the first threshold, and the second category of light intensity is equivalent to the light intensity greater than the second threshold. The initial light intensity of the environment can be determined based on the time and location information. For example, if the obtained time information is 11:00 on May 28, and the obtained location information is 114.07 degrees east longitude and 22.62 degrees north latitude, it indicates that the environment where the laser radar is located belongs to daytime in summer, and the light intensity is relatively strong, so it can be determined that the initial light intensity belongs to the second category of light intensity. Then, the weather condition of the environment where the laser radar is located is considered. If the obtained weather condition is sunny or overcast, it indicates that the weather condition has little effect on the brightness of the environment. The initial light intensity is not changed, i.e., the light intensity of the environment where the laser radar is located is finally determined to be the second category of light intensity. Alternatively, if the obtained weather condition is rainy, it indicates that the weather condition has a great effect on the brightness of the environment. It can be finally determined that the light intensity of the environment where the laser radar is located is the first category of light intensity.

[0122] Alternatively, for another example, if the obtained time information is 11:00 on May 28, and the obtained location information is 114.07 degrees east longitude and 22.62 degrees north latitude, it indicates that the environment where the laser radar is located belongs to night in summer, and the environmental light intensity is relatively weak or even no environmental light. In this case, the weather condition does not need to be considered. Then, it can be determined that the light intensity of the environment where the laser radar is located belongs to the first category of light intensity.

[0123] It can be understood that the above description of comprehensively analyzing the light intensity of the environment where the laser radar is located based on the time, weather condition and location information is only an example, and does not constitute a limitation on the embodiments of the present application. In specific implementation, the light intensity of the environment where the laser radar is located can be analyzed by only one or two of the time, weather condition and location information. In this case, the light intensity of the environment where the laser radar is located can be determined by assuming that the remaining factors are unchanged or without considering the remaining factors. For example, the light intensity of the environment where the laser radar is located can be analyzed by only the time and the location information of the laser radar. That is, the initial light intensity obtained based on the time information and the location information is taken as the final environmental light intensity. The same applies to other cases, and the embodiments of the present application will not be described here.

[0124] It can be understood that the above description of obtaining the light intensity of the environment where the laser radar is located is only an example, and does not constitute a limitation on the embodiments of the present application. In specific implementation, the light intensity can also be obtained by other ways. For example, the light intensity of the environment is received from other terminal devices or the cloud. The embodiments of the present application do not limit this.

[0125] S602, control the first emitting module to perform light compensation or control the first receiving module to perform light detection capability adjustment based on the light intensity information; the first emitting module performs light compensation to enhance the light intensity in the environment, and the control of the first receiving module to perform light detection capability adjustment is to reduce the detection efficiency of the first receiving module, and the first receiving module is used to realize gray scale image imaging.

[0126] Exemplarily, the first emitting module may, for example, be the emitting module used to emit light compensation laser signals in the laser radar 100 described in any one of the foregoing FIGS. 1 to 5. Exemplarily, the first receiving module may, for example, be the receiving module used to realize gray scale image imaging in the laser radar 100 described in any one of the foregoing FIGS. 1 to 5.

[0127] Exemplarily, after the control module obtains the light intensity information of the environment where the laser radar is located, the control module may control the first emitting module or the first receiving module to perform corresponding operations based on the light intensity information. Exemplarily, the following is introduced.

[0128] In a possible implementation manner, if the light intensity information obtained by the control module is the light intensity of the environment where the laser radar is located. Then, the control module may compare the ambient light intensity with the first threshold value and / or the second threshold value.

[0129] Exemplarily, if the ambient light intensity is less than the first threshold value, it indicates that the background light in the environment is weak, which greatly reduces the signal-to-noise ratio of the gray scale image and greatly reduces the resolution. In this case, the control module may control the first emitting module to perform light compensation. The light compensation operation can enhance the light intensity in the environment, so that the light beam energy reflected or scattered to the first receiving module in the environment is enhanced, thereby obtaining a gray scale image with higher resolution.

[0130] In a possible implementation manner, the light compensation performed by the first emitting module may include emitting a first laser signal by the first emitting module. For example, after the control module determines that the ambient light intensity is less than the first threshold value, the control module sends a control instruction to the first emitting module to instruct the first emitting module to emit the first laser signal. The first laser signal may be the light compensation laser signal described in the foregoing, which is used to enhance the light intensity in the environment to assist in obtaining a gray scale image with higher resolution.

[0131] In another possible implementation, after the control module determines that the ambient light intensity is less than the first threshold, the control module can also control a light device in a terminal device carrying the laser radar to emit a light beam. As described above, the laser radar can be arranged on a terminal device, and the terminal device can also be provided with a light device. For example, assuming that the terminal device is a vehicle, the light device can be, for example, left and right vehicle lights and / or a headlamp, etc. Based on this, after the control module determines that the ambient light intensity is less than the first threshold, the control module can send a control instruction to the light device. Alternatively, an instruction can be sent to a central controller of the terminal device, and the central controller sends a control instruction to the light device. For example, if the terminal device is a vehicle, the control module can send an instruction to a vehicle controller or a cabin domain controller, etc. of the vehicle, and the vehicle controller or the cabin domain controller sends a control instruction to the light device. The light device emits a light beam in response to the control instruction. The light intensity in the environment is enhanced to assist in obtaining a higher-resolution grayscale image.

[0132] For ease of subsequent description, the light supplement performed by the first emitting module and the light beam emitted by the light device are collectively referred to as a light supplement operation.

[0133] For example, if the ambient light intensity is greater than the second threshold, it indicates that the background light in the environment is strong, and the echo light beam energy received by the first receiving module is also strong, which can cause the generated grayscale image to be overexposed. In this case, the control module can control the first receiving module to perform light detection capability adjustment. The light detection capability adjustment is used to reduce the detection efficiency of the first receiving module.

[0134] For example, as described above with reference to FIGS. 3 to 5, the first receiving module can include a receiver and a negative high-voltage circuit. The photodetector in the receiver is driven to work by the negative high-voltage reverse bias voltage provided by the negative high-voltage circuit to realize grayscale image formation. In a specific implementation, the greater the voltage value of the negative high-voltage reverse bias voltage, the lower the photon-detection efficiency (PDE) of the receiver. For example, PDE represents the detection capability of the receiver to incident photons. For example, PDE can be represented as the ratio of the number of photons detected by the receiver to the number of photons incident on the receiver. If the PDE of the receiver is constant, generally, the more the number of incident photons, the more the number of photons detected by the receiver, that is, the stronger the detection response capability of the receiver. For ease of understanding, reference can be made to FIG. 7.

[0135] In FIG. 7, the horizontal axis represents the light intensity in the environment, and the vertical axis represents the response capability of the receiver to the incident photons, wherein curves ① and ② represent the cases where the response capability of the receiver varies with the change of the light intensity. The greater the light intensity in the environment, the more photons are incident to the receiver. Therefore, curves ① and ② also represent the cases where the response capability of the receiver varies with the change of the number of incident photons. Assume that curve ① is the response variation curve in the case where the photon detection efficiency is PDE1, and curve ② is the response variation curve in the case where the photon detection efficiency is PDE2. Herein, PDE1>PDE2. As can be seen in FIG. 7, in the case where the PDE is constant, generally, the greater the light intensity, the more the number of incident photons, and the stronger the response capability of the receiver. However, due to the limited response capability of the receiver, it can only respond to a certain number of photons. If more than this certain number of photons are incident to the receiver, the excess part cannot be responded. For example, as can be seen in FIG. 7, in curve ①, if the light intensity is greater than a certain threshold (denoted as I1), the curve almost tends to be horizontal, i.e., the response capability of the receiver almost will not be enhanced with the increase of the light intensity or the increase of the number of incident photons, i.e., the response capability is saturated. Similarly, in curve ②, if the light intensity is greater than a certain threshold (denoted as I2), the curve almost tends to be horizontal, i.e., the response capability of the receiver almost will not be enhanced with the increase of the light intensity or the increase of the number of incident photons, i.e., the response capability is saturated. However, comparing the two curves ① and ②, it can be found that the thresholds I1 and I2 that make the response capability of the receiver saturated are different. This is because the PDEs corresponding to curves ① and ② are different. As can be seen, PDE1>PDE2, and the PDE can be represented as the ratio of the number of photons detected by the receiver to the number of photons incident to the receiver. Assuming that the number of photons incident to the receiver is constant, i.e., assuming that the light intensity in the environment is constant, the greater the PDE, the more the number of photons detected by the receiver. At the threshold I1 of the light intensity, due to the greater PDE1, the number of photons detected by the receiver is greater than or equal to the above-mentioned certain number of photons, i.e., the upper limit of the response capability of the receiver is reached. In this case, if the light intensity continues to be enhanced, the receiver cannot further respond, and overexposure phenomenon will occur. Due to the smaller PDE2, at the threshold I1 of the light intensity, the number of photons detected by the receiver is still less than the above-mentioned certain number of photons, i.e., the upper limit of the response capability of the receiver has not been reached. In this case, if the light intensity continues to be enhanced, the receiver can further respond, and a gray scale image with higher resolution can still be obtained.

[0136] In summary, if the ambient light intensity is greater than the second threshold value, the negative high voltage reverse bias voltage of the receiver can be increased. For example, the negative high voltage circuit of the first receiving module can be controlled to output a higher negative high voltage reverse bias voltage. This reduces the photon detection efficiency PDE of the receiver. Further, the receiver can further detect the incident photons, thereby improving the resolution of the generated grayscale image.

[0137] In a possible implementation, if the light intensity information obtained by the control module is the first indication information, the first indication information is used to indicate that the light intensity of the environment where the lidar is located is less than the first threshold value. Then, the control module can control the light supplement operation in response to the first indication information. So that the light beam energy reflected or scattered to the first receiving module in the environment is enhanced, thereby enabling the first receiving module to generate a higher resolution grayscale image. For specific light supplement operations and implementations, please refer to the foregoing description, which will not be described here.

[0138] In a possible implementation, if the light intensity information obtained by the control module is the second indication information, the second indication information is used to indicate that the light intensity of the environment where the lidar is located is greater than the second threshold value. Then, the control module can control the first receiving module to perform light detection capability adjustment. So that the first receiving module can further detect the incident photons, thereby improving the resolution of the generated grayscale image. For specific light detection capability adjustment operations and implementations, please refer to the foregoing description, which will not be described here.

[0139] In a possible implementation, if the light intensity information obtained by the control module is the third indication information, the third indication information is used to indicate that the grayscale image generated by the receiver has overexposure, that is, the ambient light intensity is greater than the third threshold value, which indicates that the background light in the environment is strong. Then, the control module can control the first receiving module to perform light detection capability adjustment. So that the first receiving module can further detect the incident photons, thereby improving the resolution of the generated grayscale image. For specific light detection capability adjustment operations and implementations, please refer to the foregoing description, which will not be described here.

[0140] In a possible implementation, if the light intensity information obtained by the control module is the information that the light intensity of the environment where the lidar is located belongs to the first type of light intensity, the first type of light intensity is equivalent to a light intensity less than the first threshold value. Then, the control module can control the light supplement operation in response to the information. So that the light beam energy reflected or scattered to the first receiving module in the environment is enhanced, thereby enabling the first receiving module to generate a higher resolution grayscale image. For specific light supplement operations and implementations, please refer to the foregoing description, which will not be described here.

[0141] In a possible implementation, the light intensity information obtained by the control module is information that the light intensity of the environment in which the laser radar is located belongs to the second type of light intensity. Since the second type of light intensity is equivalent to a light intensity greater than the second threshold value. Then, the control module can control the first receiving module to perform light detection capability adjustment. So that the first receiving module can further detect the responding photons, thereby improving the resolution of the generated grayscale image. For specific light detection capability adjustment operations and implementations, reference can be made to the foregoing description, which will not be described here.

[0142] In a possible implementation, the first receiving module can implement both point cloud imaging and grayscale image imaging. For example, reference can be made to the foregoing description of the receiving module 120 in FIG. 3. Exemplarily, the point cloud imaging and the grayscale image imaging can be performed in the first receiving module in time division. For ease of understanding, the exemplary description is made below in conjunction with FIGS. 8 to 12.

[0143] Exemplarily, the timing diagrams of performing point cloud imaging and grayscale image imaging in time division in the first receiving module are shown in FIGS. 8 to 12. Wherein, the timing of the frame synchronization (F SYNC) signal, the slot synchronization (S SYNC) signal, the laser signal emitted by the transmitting module, the grayscale image imaging enabling signal, and the PDE adjustment enabling signal are included. One frame of F SYNC signal can include a plurality of S SYNC signals of time slots. In FIGS. 8 to 12, it is taken as an example that one frame of F SYNC signal includes n S SYNC signals of time slots, and the n can be an integer greater than 1.

[0144] Exemplarily, the F SYNC signal and the S SYNC signal can be generated by the control module. The F SYNC signal mainly functions as frame synchronization, and the S SYNC signal mainly functions as time slot synchronization. In a possible implementation, one time slot corresponds to one imaging angle. For example, for a line scanning laser radar, a hybrid solid-state laser radar using a micro-electro-mechanical system (MEMS) instead of a scanning mirror, or a solid-state laser radar using an optical phased array (OPA), imaging information of a detection region can be obtained by detecting the detection region at multiple imaging angles. Then, the laser radar can detect one imaging angle of the detection region during the duration of the S SYNC signal of one time slot or during the duration of the high level of the S SYNC signal of one time slot. In combination with the foregoing example of FIG. 8, the detection region can be divided to obtain n imaging angles. In one frame of the F SYNC signal, the S SYNC signal of n time slots is used to detect one imaging angle during each signal duration. After one frame of the F SYNC signal ends and n imaging angles are detected, one frame of imaging information can be obtained. It can be understood that, in another implementation, multiple time slots can correspond to one imaging angle to implement detection, and the embodiments of the present application do not limit this.

[0145] Exemplarily, the grayscale image imaging enabling signal and the PDE adjustment enabling signal can also be generated by the control module. The grayscale image imaging enabling signal is used to enable the grayscale image imaging function of the first receiving module. The PDE adjustment enabling signal is used to enable the execution of the light detection capability adjustment operation. Exemplarily, the F SYNC signal, the S SYNC signal, the grayscale image imaging enabling signal, and the PDE adjustment enabling signal each include two states of a high level and a low level.

[0146] In one implementation, the grayscale image imaging of the first receiving module can be controlled when the grayscale image imaging enabling signal is at the high level, that is, the grayscale image imaging belongs to high-level enabling. In another possible implementation, the grayscale image imaging of the first receiving module can be controlled when the grayscale image imaging enabling signal is at the low level, that is, the grayscale image imaging belongs to low-level enabling. In FIGS. 8 to 12, the grayscale image imaging belongs to high-level enabling is taken as an example.

[0147] In one possible implementation, the light detection capability adjustment operation can be allowed to be performed when the PDE adjustment enable signal is at a high level, i.e., the PDE adjustment belongs to high-level enable. In another possible implementation, the light detection capability adjustment operation can be allowed to be performed when the PDE adjustment enable signal is at a low level, i.e., the PDE adjustment belongs to low-level enable. FIGS. 8 to 12 take the PDE adjustment belonging to high-level enable as an example.

[0148] Exemplarily, in one possible implementation, the grayscale image imaging and the PDE adjustment can be synchronously enabled, which can be seen in FIGS. 8 to 12. That is, during the grayscale image imaging enable period, the PDE adjustment is also enabled. In another possible implementation, the PDE adjustment can be enabled again when the light intensity information indicates that the light intensity of the environment where the lidar is located is greater than the second threshold value, without being synchronously enabled with the grayscale image imaging.

[0149] In one possible implementation, the default imaging function of the first receiving module is a point cloud imaging function. That is, the echo light beams in the environment received by the first receiving module are used to generate point cloud information by default. After the grayscale image imaging enable signal indicates that the grayscale image imaging is enabled, for example, after the high level of the grayscale image imaging enable signal arrives, the grayscale image imaging function of the first receiving module is enabled. Then, the first receiving module receives the echo light beams in the environment to generate a grayscale image. In another possible implementation, the default imaging function of the first receiving module can be a grayscale image imaging function. Then, the point cloud imaging function is used to generate point cloud information after being enabled. The embodiments of the present application mainly take the default imaging function of the first receiving module as the point cloud imaging function as an example, and the default imaging function of the first receiving module is the grayscale image imaging function, which is not repeated here.

[0150] Exemplarily, referring to FIG. 8, it can be seen that the point cloud imaging function and the grayscale image imaging function are performed at different time in the same imaging angle. For example, they are performed at different time during the high level duration of the S_SYNC signal in the same time slot. The first receiving module works in the point cloud imaging function by default. Based on this, during the high level duration of the S_SYNC signal in the same time slot, the transmitting module first transmits the service laser signal. So that the first receiving module can receive the echo beam of the service laser signal to form the point cloud information. Then, the grayscale image imaging enable signal becomes high level to enable the grayscale image imaging function of the first receiving module, and the PDE adjustment enable signal also becomes high level to enable the above-mentioned light detection capability adjustment operation. During the grayscale image imaging enable period, the first receiving module can receive the echo beam in the environment to generate the grayscale image. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is less than the first threshold value, the control module controls to perform the above-mentioned light compensation operation. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is greater than the second threshold value, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform the light detection capability adjustment. The specific light compensation operation and the light detection capability adjustment operation and their implementation can be referred to the foregoing description, which will not be described here. Exemplarily, the scheme shown in FIG. 8 can be applied in the above-mentioned line scanning laser radar, the hybrid solid-state laser radar using MEMS instead of scanning mirror, or the solid-state laser radar using OPA.

[0151] Exemplarily, referring to FIG. 9, it can be seen that the point cloud imaging function and the grayscale image imaging function are implemented at different times at the same imaging angle. For example, at different times during the duration of the S_SYNC signal in the same time slot. In which, the point cloud imaging is implemented during the duration of the high level of the S_SYNC signal in the same time slot, and the grayscale image imaging is implemented during the duration of the low level of the S_SYNC signal in the same time slot. Similarly, the first receiving module works in the point cloud imaging function by default. Based on this, during the duration of the high level of the S_SYNC signal in the same time slot, the transmitting module first transmits the service laser signal. So that the first receiving module can receive the echo beam of the service laser signal to form point cloud information. Then, during the duration of the low level of the S_SYNC signal in the same time slot, the grayscale image imaging enable signal becomes high to enable the grayscale image imaging function of the first receiving module, and the PDE adjustment enable signal also becomes high to enable the above-mentioned light detection capability adjustment operation. During the grayscale image imaging enable period, the first receiving module can receive the echo beam in the environment for generating a grayscale image. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is less than the first threshold value, the control module controls to perform the above-mentioned light supplement operation. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is greater than the second threshold value, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform light detection capability adjustment. The specific light supplement operation and light detection capability adjustment operation and their implementation can be referred to the foregoing description, which will not be described here. Exemplarily, the scheme shown in FIG. 9 can be applied in the above-mentioned line scanning laser radar, a hybrid solid-state laser radar in which MEMS is used instead of a scanning mirror, or a solid-state laser radar using OPA.

[0152] Exemplarily, referring to FIG. 10, it can be seen that the point cloud imaging function and the grayscale image imaging function are implemented in time division in the high level of the same frame F SYNC signal. For example, the point cloud imaging is implemented in the high level duration of the same frame F SYNC signal and in the high level duration of the S SYNC signal in the frame F SYNC signal. The grayscale image imaging is implemented in the high level duration of the same frame F SYNC signal and in the low level duration of the last S SYNC signal in the frame F SYNC signal. That is, a frame of point cloud information is generated first, and then a grayscale image is generated. In another possible implementation, the grayscale image imaging can be implemented in the high level duration of the same frame F SYNC signal and in the low level duration of each S SYNC signal in the frame F SYNC signal. The embodiments of the present application do not limit this. Similarly, the first receiving module works in the point cloud imaging function by default. Based on this, in FIG. 10, in the high level duration of the same frame F SYNC signal and in the high level duration of the S SYNC signal in the frame F SYNC signal, the transmitting module first transmits a service laser signal. So that the first receiving module can receive the echo beam of the service laser signal to form point cloud information. Then, in the high level duration of the same frame F SYNC signal and in the low level duration of the last S SYNC signal in the frame F SYNC signal, the grayscale image imaging enabling signal becomes high level to enable the grayscale image imaging function of the first receiving module, and the PDE adjusting enabling signal also becomes high level to enable the above-mentioned light detection capability adjustment operation. During the grayscale image imaging enabling period, the first receiving module can receive the echo beam in the environment for generating a grayscale image. If the light intensity information obtained by the control module during the grayscale image imaging enabling period indicates that the light intensity of the environment is less than the first threshold value, the control module controls to perform the above-mentioned light supplement operation. If the light intensity information obtained by the control module during the grayscale image imaging enabling period indicates that the light intensity of the environment is greater than the second threshold value, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform light detection capability adjustment. The specific light supplement operation and light detection capability adjustment operation and their implementation can be referred to the foregoing description, which will not be described here. Exemplarily, considering the fusion accuracy of point cloud information and grayscale image imaging, the scheme shown in FIG. 10 can be applied in a solid-state laser radar based on a flash scheme to implement detection.

[0153] Exemplarily, referring to FIG. 11, it can be seen that the point cloud imaging function and the grayscale image imaging function are implemented in the same frame F SYNC signal in time division. For example, the point cloud imaging is implemented during the high level duration of the same frame F SYNC signal and the high level duration of the S SYNC signal in the frame F SYNC signal. The grayscale image imaging is implemented during the low level duration of the same frame F SYNC signal. Similarly, the first receiving module works in the point cloud imaging function by default. Based on this, during the high level duration of the same frame F SYNC signal and the high level duration of the S SYNC signal in the frame F SYNC signal, the transmitting module first transmits the service laser signal. So that the first receiving module can receive the echo light beam of the service laser signal to form point cloud information. Then, during the low level duration of the same frame F SYNC signal, the grayscale image imaging enable signal becomes high to enable the grayscale image imaging function of the first receiving module, and the PDE adjustment enable signal also becomes high to enable the light detection capability adjustment operation. During the grayscale image imaging enable period, the first receiving module can receive the echo light beam in the environment to generate a grayscale image. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is less than the first threshold, the control module controls to perform the light supplement operation. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is greater than the second threshold, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform light detection capability adjustment. The specific light supplement operation and light detection capability adjustment operation and their implementation can be referred to the foregoing description, which will not be described here. Exemplarily, considering the fusion accuracy of point cloud information and grayscale image imaging, the scheme shown in FIG. 11 can be applied in a solid-state laser radar based on a flash scheme to implement detection.

[0154] Exemplarily, referring to FIG. 12, it can be seen that the point cloud imaging function and the grayscale image imaging function are respectively implemented in adjacent frame F SYNC signals in time sharing manner. For example, during the high level duration of frame 1, and during the high level duration of S SYNC signal in the frame F SYNC signal, the point cloud imaging is implemented. During the high level duration of frame 2, and during the high level duration of S SYNC signal in the frame F SYNC signal, the grayscale image imaging is implemented. The frame 1 and the frame 2 are adjacent frames. Similarly, the first receiving module works in the point cloud imaging function by default. Based on this, during the high level duration of frame 1, and during the high level duration of S SYNC signal in the frame F SYNC signal, the transmitting module transmits the service laser signal. So that the first receiving module can receive the echo light beam of the service laser signal to form point cloud information. Then, during the high level duration of frame 2, and during the high level duration of S SYNC signal in the frame F SYNC signal, the grayscale image imaging enable signal becomes high level to enable the grayscale image imaging function of the first receiving module, and the PDE adjustment enable signal also becomes high level to enable the above-mentioned light detection capability adjustment operation. During the grayscale image imaging enable period, the first receiving module can receive the echo light beam in the environment for generating a grayscale image. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is less than the first threshold value, the control module controls to perform the above-mentioned light supplement operation. If the light intensity information obtained by the control module during the grayscale image imaging enable period indicates that the light intensity of the environment is greater than the second threshold value, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform light detection capability adjustment. The specific light supplement operation and light detection capability adjustment operation and its implementation can be referred to the foregoing description, which will not be described here. Exemplarily, considering the fusion accuracy of point cloud information and grayscale image imaging, the scheme shown in FIG. 11 can be applied in a solid-state laser radar based on a flash scheme to realize detection.

[0155] Exemplarily, in the schemes shown in FIG. 8 to FIG. 12, the service laser signal and the emitted supplementary light laser signal in the supplementary light operation can be emitted by the same emission module. In another possible implementation, the laser radar can include two emission modules, for example, refer to FIG. 2 or FIG. 5 described above. The emission module of the laser radar can include a first emission module and a second emission module. The first emission module can be used to emit the supplementary light laser signal. The second emission module can be used to emit the service laser signal. Based on this, the timing diagrams shown in FIG. 8, FIG. 9, FIG. 10, FIG. 11 and FIG. 12 can be changed to FIG. 13, FIG. 14, FIG. 15, FIG. 16 and FIG. 17. In FIG. 13 to FIG. 17, the supplementary light laser signal is emitted by the first emission module, and the service laser signal is emitted by the second emission module. Other changes can be referred to the description in FIG. 8 to FIG. 12 described above, and details are not described herein. By using two emission modules to emit the service laser signal and the supplementary light laser signal respectively, the problem of heat dissipation caused by dense emission of laser signals by a single emission module can be solved.

[0156] In a possible implementation, the first receiving module is used to implement grayscale image generation, and the point cloud imaging can be implemented by another receiving module (referred to as a second receiving module). For example, the first receiving module can be the receiving module 1201 shown in FIG. 4 or FIG. 5 described above, and the second receiving module can be the receiving module 1202 shown in FIG. 4 or FIG. 5 described above. Details can be referred to the corresponding description of FIG. 4 or FIG. 5 described above, and details are not described herein. In this case, the control module can control the first receiving module to generate a grayscale image and control the second receiving module to generate point cloud information synchronously. That is, the first receiving module is enabled to generate a grayscale image at the same time when the second receiving module generates point cloud information. Therefore, the time consumption of time-division point cloud imaging and grayscale image generation can be saved. In addition, since the point cloud information and the grayscale image can be generated synchronously, the accuracy of the fusion of the point cloud information and the grayscale image is improved, and the resolution of the image obtained after the fusion is improved.

[0157] Exemplarily, if the service laser signal and the supplementary light laser signal are emitted by the same emission module, and the point cloud imaging and the grayscale image generation are performed synchronously. In this case, if the light intensity information obtained by the control module indicates that the light intensity of the environment is less than the first threshold, the emission module can emit the service laser signal and the supplementary light laser signal together. If the light intensity information obtained by the control module indicates that the light intensity of the environment is greater than the second threshold, or indicates that the grayscale image generated by the first receiving module has overexposure phenomenon, the control module controls the first receiving module to perform light detection capability adjustment. Details of the light detection capability adjustment operation and implementation can be referred to the description described above, and details are not described herein.

[0158] In another possible implementation, since the point cloud imaging and the grayscale image imaging are implemented by different receiving modules, the control module can flexibly control the first receiving module to be enabled to generate the grayscale image. For example, the grayscale image imaging function can be enabled at any time in a frame of F SYNC signal. Alternatively, the enabling timing control scheme shown in FIGS. 8 to 17 can be used, and details are not described herein again.

[0159] In a possible implementation, if the laser radar includes the first transmitting module, the second transmitting module, the first receiving module, and the second receiving module. The first transmitting module is configured to transmit the light supplement laser signal, the second transmitting module is configured to transmit the service laser signal, the first receiving module is configured to implement the grayscale image imaging, and the second receiving module is configured to implement the point cloud imaging. For example, the related description of the laser radar 100 shown in FIG. 5 can be referred to. Compared with the scheme in which the service laser signal and the light supplement laser signal are transmitted by one transmitting module, during the grayscale image imaging is enabled, the control module can control the light supplement operation to be performed in a case where the light intensity information obtained by the control module indicates that the light intensity of the environment is less than the first threshold. Alternatively, the light supplement operation can be turned off in a case where the light intensity information indicates that the light intensity of the environment is not less than the first threshold. Similarly, if the light intensity information obtained by the control module during the grayscale image imaging is enabled indicates that the light intensity of the environment is greater than the second threshold, or indicates that the grayscale image generated by the first receiving module has overexposure, the control module controls the first receiving module to perform the light detection capability adjustment. The specific light detection capability adjustment operation and implementation can be referred to the foregoing description, and details are not described herein again. In addition, since the point cloud imaging and the grayscale image imaging are implemented by different receiving modules, the control module can flexibly control the first receiving module to be enabled to generate the grayscale image. For example, the grayscale image imaging function can be enabled at any time in a frame of F SYNC signal. Alternatively, the enabling timing control scheme shown in FIGS. 8 to 17 can be used, and details are not described herein again.

[0160] In a possible implementation, based on the foregoing description, one receiver can include a plurality of photoelectric detectors. The plurality of photoelectric detectors can be configured to convert the light signal into an electrical signal to implement the point cloud imaging and / or the grayscale image imaging. The point cloud information and the grayscale image are images, and the image includes a pixel matrix composed of a plurality of pixels. During the generation of the point cloud information or the grayscale image by the receiver, the information of one pixel can be generated by the plurality of photoelectric detectors. For example, since the number of photoelectric detectors included in the receiver is certain, if the number of photoelectric detectors configured to generate one pixel is smaller, the more pixels of the image generated by the receiver are, and the higher the resolution of the image is.

[0161] Based on the above description, in one possible implementation, if the first receiving module is used to implement time-division point cloud imaging or grayscale image imaging, in order to improve the resolution of grayscale image imaging, the number of photodetectors used to generate one pixel can be configured to be smaller during grayscale image imaging. For example, when the first receiving module is used to implement grayscale image imaging, the plurality of photodetectors included in the receiver in the first receiving module are divided into a plurality of first photodetector matrices. Each of the first photodetector matrices is used to implement one pixel of grayscale image imaging. Then, when the first receiving module is used to implement point cloud imaging, the plurality of photodetectors included in the receiver are divided into a plurality of second photodetector matrices. Each of the second photodetector matrices is used to implement one pixel of point cloud imaging. The number of photodetectors included in the first photodetector matrices is smaller than the number of photodetectors included in the second photodetector matrices.

[0162] In another possible implementation, if the first receiving module is used to implement grayscale image imaging, and the second receiving module is used to implement point cloud imaging. The receiver in the first receiving module (referred to as the first receiver) and the receiver in the second receiving module (referred to as the second receiver) each include a plurality of photodetectors. Similarly, the plurality of photodetectors of the first receiver are divided into a plurality of first photodetector matrices, and each of the first photodetector matrices is used to implement one pixel of grayscale image imaging. The plurality of photodetectors of the second receiver are divided into a plurality of second photodetector matrices, and each of the second photodetector matrices is used to implement one pixel of point cloud imaging. The number of photodetectors included in the first photodetector matrices is smaller than the number of photodetectors included in the second photodetector matrices.

[0163] In order to facilitate understanding of the first photodetector matrix and the second photodetector matrix, reference can be made to FIG. 18 for example. FIG. 18 shows a schematic diagram of photodetectors included in a receiver, where a small square represents a photodetector. As can be seen, the receiver includes a large photodetector matrix. The pixel configuration of the receiver for grayscale image imaging can be to divide the large photodetector matrix into a plurality of small first photodetector matrices. The size of the first photodetector matrix is m1*n1, for example, as shown in (a) of FIG. 18. (a) of FIG. 18 exemplarily shows the size of a first photodetector matrix. The pixel configuration of the receiver for point cloud imaging can be to divide the large photodetector matrix into a plurality of small second photodetector matrices. The size of the second photodetector matrix is m2*n2, for example, as shown in (b) of FIG. 18. (b) of FIG. 18 exemplarily shows the size of a second photodetector matrix. Wherein, m1*n1

[0164] In summary, in the scheme of the present application, too weak or too strong light intensity in the environment will affect the imaging resolution of the gray scale image, and therefore corresponding light compensation or light detection capability adjustment operation can be performed according to the light intensity in the environment. For example, when the ambient light intensity is weak, the obtained gray scale image is dark and the specific scene and object cannot be distinguished, based on which the light intensity in the environment can be compensated and enhanced to obtain a gray scale image with better resolution; when the ambient light intensity is strong, the obtained gray scale image can be overexposed and the specific scene and object cannot be distinguished, in which case the response of the receiver to the received light signal is no longer sensitive, and therefore the detection efficiency of the receiver can be reduced so that the receiver can respond to the received light signal, thereby a gray scale image with better resolution can be obtained. Further, the image resolution obtained by fusing the gray scale image and the point cloud information can be higher, that is, the imaging resolution of the lidar is optimized.

[0165] The above mainly introduces the lidar imaging method provided by the embodiments of the present application. It can be understood that, in order to realize the corresponding functions described above, each device contains the hardware structure and / or software module for executing the corresponding functions. The units and steps of each example described in combination with the embodiments disclosed herein can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0166] The embodiments of the present application can divide the functions of the controller or device into functional modules according to the above method examples, for example, each functional module can be divided according to each function, or two or more functions can be integrated into one module. The integrated module can be realized in the form of hardware or software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical functional division. Actual implementation can have another division manner.

[0167] In the case of dividing each functional module according to each function, the embodiments of the present application further provide a lidar control device for implementing any one of the above methods, for example, a control device includes a unit (or means) for implementing each step of the control module of the lidar in any one of the above methods.

[0168] For example, refer to FIG. 19, which is a virtual structural schematic diagram of a control device 1900 provided by an embodiment of the present application. The control device 1900 shown in FIG. 19 can be a control module used to implement any of the embodiments of the laser radar imaging method described above. The control device 1900 can include an acquisition unit 1901 and a control unit 1902. Wherein:

[0169] The acquisition unit 1901 is configured to acquire light intensity information of an environment in which the laser radar is located. The acquisition unit 1901 can be used to implement the operation of step S601 shown in FIG. 6 described above.

[0170] The control unit 1902 is configured to control a first emission module to perform light supplementing or control a first receiving module to perform light detection capability adjustment based on the light intensity information. The first emission module performing light supplementing is used to enhance the light intensity in the environment, and the control of the first receiving module to perform light detection capability adjustment is used to reduce the detection efficiency of the first receiving module, which is used to implement grayscale image imaging. The control unit 1902 can be used to implement the operation of step S602 shown in FIG. 6 described above.

[0171] In a possible implementation, the control unit 1902 is specifically configured to: in a case where the light intensity information indicates that the light intensity of the environment is less than a first threshold value, control the first emission module to emit a first laser signal.

[0172] In a possible implementation, the control unit 1902 is specifically configured to: in a case where the light intensity information indicates that the light intensity of the environment is greater than a second threshold value, control the first receiving module to increase a negative high-voltage reverse bias voltage used to drive a photodetector in the first receiving module to work.

[0173] In a possible implementation, the control unit 1902 is specifically configured to: in a case where the light intensity information indicates that the grayscale image generated by the first receiving module has overexposure, control the first receiving module to increase a negative high-voltage reverse bias voltage used to drive a photodetector in the first receiving module to work. The grayscale image generated by the first receiving module has overexposure indicates that the light intensity of the environment in which the laser radar is located is greater than a third threshold value.

[0174] In a possible implementation, the first laser signal is emitted within a first preset time period. The first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal. The control unit 1902 is further configured to: within the first preset time period, control the laser radar to emit a second laser signal. The second laser signal is used to implement point cloud imaging, and the first laser signal and the second laser signal are emitted in time division.

[0175] In a possible implementation, the light detection capability adjustment is performed in a first preset time period. The first preset time period is a high level period of the time slot synchronization signal or a high level period of the frame synchronization signal. The control unit 1902 is further configured to control the laser radar to emit a second laser signal in the first preset time period. The second laser signal is used for point cloud imaging.

[0176] In a possible implementation, the first laser signal is emitted in a second preset time period. The second preset time period is a low level period of the time slot synchronization signal or a low level period of the frame synchronization signal. The control unit 1902 is further configured to control the laser radar to emit a second laser signal in the high level period of the time slot synchronization signal. The second laser signal is used for point cloud imaging.

[0177] In a possible implementation, the light detection capability adjustment is performed in a second preset time period. The second preset time period is a low level period of the time slot synchronization signal or a low level period of the frame synchronization signal. The control unit 1902 is further configured to control the laser radar to emit a second laser signal in the high level period of the time slot synchronization signal. The second laser signal is used for point cloud imaging.

[0178] In a possible implementation, the first laser signal is emitted in a first frame synchronization signal duration. The control unit 1902 is further configured to control the laser radar to emit a second laser signal in a second frame synchronization signal duration. The second laser signal is used for point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0179] In a possible implementation, the light detection capability adjustment is performed in a first frame synchronization signal duration. The control unit 1902 is further configured to control the laser radar to emit a second laser signal in a second frame synchronization signal duration. The second laser signal is used for point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals.

[0180] In a possible implementation, the second laser signal is emitted by a second emission module of the laser radar. Alternatively, the second laser signal is emitted by the first emission module.

[0181] In a possible implementation, the first receiving module is further configured to receive a return light beam of the second laser signal to implement point cloud imaging. Alternatively, the laser radar comprises a second receiving module configured to receive a return light beam of the second laser signal to implement point cloud imaging.

[0182] In a possible implementation, the laser radar comprises a second transmitting module and a second receiving module. The second transmitting module is configured to transmit a second laser signal. The second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging. The first laser signal is transmitted at a first time point in a frame synchronization signal, and the second laser signal is transmitted at a second time point in the frame synchronization signal. The first time point and the second time point are the same or different.

[0183] In a possible implementation, the first receiving module comprises a plurality of photodetectors. The first receiving module is further configured to implement point cloud imaging.

[0184] When the first receiving module is configured to implement grayscale image imaging, the plurality of photodetectors are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging.

[0185] When the first receiving module is configured to implement point cloud imaging, the plurality of photodetectors are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging.

[0186] The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix.

[0187] In a possible implementation, if the laser radar comprises a second receiving module, the second receiving module is configured to implement point cloud imaging. The first receiving module and the second receiving module each comprise a plurality of photodetectors.

[0188] The plurality of photodetectors of the first receiving module are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging.

[0189] The plurality of photodetectors of the second receiving module are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging.

[0190] The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix.

[0191] In a possible implementation, the light intensity of the environment in which the laser radar is located is obtained by:

[0192] The light intensity is detected by the first receiving module. Alternatively,

[0193] The light intensity is detected by a camera or a light sensor in a terminal device, and the laser radar is arranged on the terminal device. Alternatively,

[0194] The light intensity is obtained by analyzing one or more of time, weather conditions, and a location of the lidar.

[0195] The specific operations and advantages of the various units in the control device 1900 shown in FIG. 19 can be found in the corresponding descriptions of FIG. 6 and possible embodiments thereof described above, and will not be repeated here.

[0196] Embodiments of the present application also provide a control device of another structure. The control device can be implemented as a control module of the lidar in any of the above methods. Referring to FIG. 20, FIG. 20 is a structural schematic diagram of a control device 200 provided by an embodiment of the present application. The control device 200 can include at least one processor 2001 and a communication interface 2002. Optionally, the control device can also include at least one memory 2003. Further, the memory 2003 can be coupled with the processor 2001. Illustratively, the control device 200 can include a chip or an integrated circuit.

[0197] Optionally, the control device 200 can also include a bus 2004, wherein one or more of the at least one processor 2001, the communication interface 2002, and the at least one memory 2003 can be connected through the bus 2004.

[0198] The processor 2001 is a module for performing arithmetic operations and / or logical operations, and can be one or a combination of a plurality of processing modules such as an analog-to-digital converter (ADC), a digital signal processor (DSP), a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor unit (MPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a co-processor (assisting a central processor to complete corresponding processing and applications), a microcontroller unit (MCU), and the like.

[0199] The communication interface 2002 can be used to provide information input or output for the at least one processor. Alternatively, the communication interface 2002 can be used to receive externally transmitted data and / or transmit data to the outside, which can be a wired link interface including an Ethernet cable, etc., or a wireless link (Wi-Fi, Bluetooth, general wireless transmission, vehicle-mounted short-range communication technology, etc.) interface. Optionally, the communication interface 2002 can also include a transmitter (such as a radio frequency transmitter, an antenna, etc.) or a receiver coupled to the interface, etc.

[0200] The memory 2003 is used to provide a storage space in which data such as an operating system and a computer program can be stored. The memory 2003 can be a combination of one or more of a cache, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM), etc. The RAM can be a combination of one or more of a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc.

[0201] The processor 2001 in the control device 200 is used to read the computer program stored in the memory, and is used to execute the aforementioned laser radar imaging method, such as the method described in FIG. 6 and possible implementation manners thereof.

[0202] The embodiments of the present application also provide a terminal device, which includes the laser radar described in any of the aforementioned methods. For example, the laser radar includes any of the laser radars described in FIGS. 1 to 5.

[0203] Optionally, the terminal device can be a vehicle, a drone, a roadside unit, an intersection radar, a robot, a transportation tool, or a smart terminal device, etc., and the embodiments of the present application do not limit this.

[0204] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program. When the computer program runs on one or more processors, the method described in FIG. 6 and possible implementation manners thereof is implemented.

[0205] The embodiment of the present application further provides a computer program product, which, when running on one or more processors, implements the method described in Figure 6 and possible implementation manners thereof.

[0206] The embodiment of the present application further provides a chip system, which comprises a communication interface for providing information input / output for at least one processor, and the processor is used to call computer instructions from the communication interface to implement the method described in Figure 6 and possible implementation manners thereof.

[0207] It should be understood that, in various embodiments of the present application, the size of the serial number of various processes does not mean the order of execution, and the execution order of various processes should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0208] It should also be understood that the term "comprising" (also "includes", "including", "comprises" and / or "comprising") when used in the specification specifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0209] It should also be understood that the "one embodiment", "an embodiment", "a possible implementation" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment or implementation are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment", "a possible implementation" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0210] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

A method of laser radar imaging, characterized in that The method comprises: obtaining light intensity information of an environment in which the laser radar is located; controlling a first emitting module to perform light supplement or controlling a first receiving module to perform light detection capability adjustment based on the light intensity information; the first emitting module performing light supplement is used to enhance the light intensity in the environment, and the control of the first receiving module to perform light detection capability adjustment is used to reduce the detection efficiency of the first receiving module, and the first receiving module is used to realize gray scale image imaging. The method of claim 1, wherein The control of the first emitting module to perform light supplement based on the light intensity information comprises: in a case where the light intensity information indicates that the light intensity of the environment is less than a first threshold value, controlling the first emitting module to emit a first laser signal. The method of claim 1, wherein The control of the first receiving module to perform light detection capability adjustment based on the light intensity information comprises: in a case where the light intensity information indicates that the light intensity of the environment is greater than a second threshold value, controlling the first receiving module to increase a negative high-voltage reverse bias voltage, the negative high-voltage reverse bias voltage being used to drive a photodetector in the first receiving module to work. The method of claim 1, wherein The control of the first receiving module to perform light detection capability adjustment based on the light intensity information comprises: in a case where the light intensity information indicates that the gray scale image generated by the first receiving module has overexposure, controlling the first receiving module to increase the negative high-voltage reverse bias voltage, the negative high-voltage reverse bias voltage being used to drive the photodetector in the first receiving module to work; the overexposure of the gray scale image generated by the first receiving module indicates that the light intensity of the environment in which the laser radar is located is greater than a third threshold value. The method according to claim 2, characterized in that The first laser signal is emitted within a first preset time period; the first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal; The method further comprises: within the first preset time period, controlling the laser radar to emit a second laser signal; the second laser signal is used to realize point cloud imaging, and the first laser signal and the second laser signal are emitted in time. The method according to claim 3 or 4, characterized in that The light detection capability adjustment is performed within a first preset time period; the first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal; The method further comprises: within the first preset time period, controlling the laser radar to emit a second laser signal; the second laser signal is used to realize point cloud imaging, and the light detection capability adjustment and the emission of the second laser signal are performed in time. The method according to claim 2, characterized in that The first laser signal is emitted within a second preset time period; the second preset time period is a low level period of a time slot synchronization signal or a low level period of a frame synchronization signal; The method further comprises: in the high level period of the time slot synchronization signal, controlling the laser radar to emit a second laser signal; the second laser signal is used to realize point cloud imaging. The method according to claim 3 or 4, characterized in that The light detection capability adjustment is performed within a second preset time period; the second preset time period is a low level period of a time slot synchronization signal or a low level period of a frame synchronization signal; The method further comprises: in the high level period of the time slot synchronization signal, controlling the laser radar to emit a second laser signal; the second laser signal is used to realize point cloud imaging. The method according to claim 2, characterized in that The first laser signal is emitted during a first frame synchronization signal duration; The method further comprises: controlling the laser radar to emit a second laser signal during a second frame synchronization signal duration; the second laser signal is used to realize point cloud imaging; the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals. The method according to claim 3 or 4, characterized in that The light detection capability adjustment is performed during a first frame synchronization signal duration; The method further comprises: controlling the laser radar to emit a second laser signal during a second frame synchronization signal duration; the second laser signal is used to realize point cloud imaging; the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals. The method according to claim 5, 7 or 9, characterized in that The second laser signal is emitted by a second emission module of the laser radar; or, the second laser signal is emitted by the first emission module. The method according to any one of claims 5-11, characterized in that The first receiving module is further configured to receive a return light beam of the second laser signal to realize point cloud imaging. Alternatively, the laser radar comprises a second receiving module, and the second receiving module is configured to receive a return light beam of the second laser signal to realize point cloud imaging. The method according to claim 2, characterized in that The laser radar comprises a second emission module and a second receiving module; the second emission module is configured to emit a second laser signal; and the second receiving module is configured to receive a return light beam of the second laser signal to realize point cloud imaging. The first laser signal is emitted at a first time within a frame synchronization signal, and the second laser signal is emitted at a second time within the frame synchronization signal; the first time and the second time are the same or different. The method according to any one of claims 1 to 12, characterized in that The first receiving module comprises a plurality of photodetectors; and the first receiving module is further configured to realize point cloud imaging. When the first receiving module is configured to realize grayscale image imaging, the plurality of photodetectors are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to realize one pixel of grayscale image imaging. When the first receiving module is configured to realize point cloud imaging, the plurality of photodetectors are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to realize one pixel of point cloud imaging. The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix. The method according to any one of claims 1 to 13, characterized in that If the laser radar comprises a second receiving module configured to realize point cloud imaging, the first receiving module and the second receiving module each comprise a plurality of photodetectors. The plurality of photodetectors of the first receiving module are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to realize one pixel of grayscale image imaging. The plurality of photodetectors of the second receiving module are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to realize one pixel of point cloud imaging. The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix. The method according to any one of claims 1 to 15, characterized in that The acquisition of the light intensity information of the environment in which the laser radar is located comprises: The light intensity is detected by the first receiving module; or, The light intensity is detected by the first receiving module; or, The light intensity is obtained by detecting through a camera or a light sensor in a terminal device, and the laser radar is arranged on the terminal device; or The light intensity is obtained by analyzing one or more of time, weather conditions, and a location where the laser radar is located. A control device of a laser radar characterized by comprising: The device comprises: An acquisition unit configured to acquire light intensity information of an environment where the laser radar is located; A control unit configured to control a first emission module to perform light compensation or control a first receiving module to perform light detection capability adjustment based on the light intensity information; the first emission module performs light compensation to enhance the light intensity in the environment, and the control of the first receiving module to perform light detection capability adjustment is to reduce the detection efficiency of the first receiving module, and the first receiving module is used to realize grayscale image imaging. The apparatus of claim 17, wherein The control unit is specifically configured to: In a case where the light intensity information indicates that the light intensity of the environment is less than a first threshold value, control the first emission module to emit a first laser signal. The apparatus of claim 17, wherein The control unit is specifically configured to: In a case where the light intensity information indicates that the light intensity of the environment is greater than a second threshold value, control the first receiving module to increase a negative high-voltage reverse bias voltage, and the negative high-voltage reverse bias voltage is used to drive a photodetector in the first receiving module to work. The apparatus of claim 17, wherein The control unit is specifically configured to: In a case where the light intensity information indicates that the grayscale image generated by the first receiving module has overexposure, control the first receiving module to increase the negative high-voltage reverse bias voltage, and the negative high-voltage reverse bias voltage is used to drive the photodetector in the first receiving module to work; The overexposure of the grayscale image generated by the first receiving module indicates that the light intensity of the environment where the laser radar is located is greater than a third threshold value. The apparatus of claim 18, wherein The first laser signal is emitted within a first preset time period; the first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal; The control unit is further configured to control the laser radar to emit a second laser signal within the first preset time period; the second laser signal is used to realize point cloud imaging, and the first laser signal and the second laser signal are emitted in time. The apparatus of claim 19 or 20, wherein The light detection capability adjustment is performed within a first preset time period; the first preset time period is a high level period of a time slot synchronization signal or a high level period of a frame synchronization signal; The control unit is further configured to control the laser radar to emit a second laser signal within the first preset time period; the second laser signal is used to realize point cloud imaging, and the light detection capability adjustment and the emission of the second laser signal are performed in time. The apparatus of claim 18, wherein The first laser signal is emitted within a second preset time period; the second preset time period is a low level period of a time slot synchronization signal or a low level period of a frame synchronization signal; The control unit is further configured to control the laser radar to emit a second laser signal during the high level period of the time slot synchronization signal; the second laser signal is used to realize point cloud imaging. The apparatus of claim 19 or 20, wherein The light detection capability adjustment is performed within a second preset time period; the second preset time period is a low level period of a time slot synchronization signal or a low level period of a frame synchronization signal; The control unit is further configured to control the laser radar to emit a second laser signal during a high level of the time slot synchronization signal; the second laser signal is used for implementing point cloud imaging. The apparatus of claim 18, wherein The first laser signal is emitted during a first frame synchronization signal duration; The control unit is further configured to control the laser radar to emit a second laser signal during a second frame synchronization signal duration; the second laser signal is used for implementing point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals. The apparatus of claim 19 or 20, wherein The light detection capability adjustment is performed during a first frame synchronization signal duration; The control unit is further configured to control the laser radar to emit a second laser signal during a second frame synchronization signal duration; the second laser signal is used for implementing point cloud imaging, and the second frame synchronization signal and the first frame synchronization signal are adjacent frame synchronization signals. The apparatus of claim 21, 23 or 25, wherein The second laser signal is emitted by a second emission module of the laser radar; or the second laser signal is emitted by the first emission module. The apparatus of any of claims 21-27, wherein The first receiving module is further configured to receive a return light beam of the second laser signal to implement point cloud imaging. Alternatively, the laser radar comprises a second receiving module configured to receive a return light beam of the second laser signal to implement point cloud imaging. The apparatus of claim 18, wherein The laser radar comprises a second emission module and a second receiving module; the second emission module is configured to emit a second laser signal; and the second receiving module is configured to receive a return light beam of the second laser signal to implement point cloud imaging. The first laser signal is emitted at a first time within a frame synchronization signal, and the second laser signal is emitted at a second time within the frame synchronization signal; the first time and the second time are the same or different. The apparatus of any of claims 17-28, wherein The first receiving module comprises a plurality of photodetectors; and the first receiving module is further configured to implement point cloud imaging. When the first receiving module is configured to implement grayscale image imaging, the plurality of photodetectors are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging. When the first receiving module is configured to implement point cloud imaging, the plurality of photodetectors are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging. The number of photodetectors included in the first photodetector matrix is less than the number of photodetectors included in the second photodetector matrix. The apparatus of any of claims 17-29, wherein If the laser radar comprises a second receiving module configured to implement point cloud imaging, the first receiving module and the second receiving module each comprise a plurality of photodetectors. The plurality of photodetectors of the first receiving module are divided into a plurality of first photodetector matrices, and each first photodetector matrix is configured to implement one pixel of grayscale image imaging. The plurality of photodetectors of the second receiving module are divided into a plurality of second photodetector matrices, and each second photodetector matrix is configured to implement one pixel of point cloud imaging. The first photodetector matrix includes a number of photodetectors less than the number of photodetectors included in the second photodetector matrix. The apparatus of any of claims 17-31, wherein The light intensity information of the environment where the laser radar is located is obtained by: The light intensity is detected by the first receiving module; or, The light intensity is detected by a camera or a light sensor in a terminal device, and the laser radar is arranged on the terminal device; or The light intensity is obtained by analyzing one or more of time, weather conditions, and the location where the laser radar is located. A control device characterized by comprising: The computer readable storage medium stores a computer program or computer instructions, and the computer program or computer instructions are executed by the processor to implement the method of any one of claims 1-16. A lidar, characterized in that The laser radar includes a control device, a transmitting module, and a receiving module; the transmitting module includes the first transmitting module of any one of claims 1-16, the receiving module includes the first receiving module of any one of claims 1-16, and the control device is used to execute the method of any one of claims 1-16. A terminal device, characterized by comprising: The terminal device includes the laser radar of claim 33. A computer-readable storage medium, characterized by The computer readable storage medium stores a computer program or computer instructions, and the computer program or computer instructions are executed by the processor to implement the method of any one of claims 1-16. A computer program product, characterized in that When the computer program product is executed by the processor, the method of any one of claims 1-16 will be implemented.

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