Method for controlling laser radar, laser radar, mobile device, storage medium, and program product

Abstract

Embodiments of the present disclosure provide a method for controlling a laser radar, a laser radar, a mobile device, a storage medium, and a program product. The method comprises: determining an adjustment parameter of a frequency sweeping slope of a laser radar, wherein a detection signal of the laser radar comprises a linear frequency-modulated continuous wave; and adjusting the frequency sweeping slope of the laser radar on the basis of the adjustment parameter, wherein the frequency sweeping slope represents the rate of change of the frequency of the detection signal over time. The method can meet different requirements in actual application scenarios.

Description

Method of controlling a lidar, lidar, mobile device, storage medium and program product

[0001] The present disclosure claims priority to Chinese Patent Application No. 202411374351.9, filed September 27, 2024, entitled “Safety System, Chip, Lidar, and Terminal Device for Lidar,” the contents of which are incorporated by reference in their entirety herein. TECHNICAL FIELD

[0002] Embodiments of the present disclosure relate to the technical field of lidar control, and in particular to a method of controlling a lidar, a lidar, a mobile device, a storage medium, and a program product. BACKGROUND

[0003] A frequency-modulated continuous wave (FMCW) lidar refers to a continuous wave lidar whose detection signal is modulated by a specific signal. The FMCW lidar can emit a frequency-modulated light to measure distance, velocity, or angle, and other detection information.

[0004] The FMCW lidar includes a linear frequency-modulated continuous wave (LFMCW) lidar. In the LFMCW lidar, the detection signal includes a continuous laser whose frequency varies linearly with time. The frequency of the continuous laser can vary continuously from low to high, or from high to low within a time period. The process of continuous frequency variation can be referred to as frequency sweeping, and the continuous laser can be referred to as a frequency-sweeping signal. Within a time period, the rate of change of the frequency of the frequency-sweeping signal with respect to time can be referred to as a frequency-sweeping slope.

[0005] The content of the background section merely represents the knowledge of the discloser, and does not represent the prior art in the field. SUMMARY

[0006] Embodiments of the present disclosure provide a method of controlling a lidar, a lidar, a mobile device, a storage medium, and a program product, which can meet different needs in actual application scenarios.

[0007] In an aspect of the embodiments of the present disclosure, a method of controlling a lidar is provided. The method includes:

[0008] determining an adjustment parameter of a frequency-sweeping slope of a lidar, the detection signal of the lidar including a linear frequency-modulated continuous wave;

[0009] adjusting the frequency-sweeping slope of the lidar based on the adjustment parameter;

[0010] The sweep slope characterizes a rate of change of a frequency of the probe signal over time.

[0011] Optionally, determining the adjustment parameter of the sweep slope of the lidar includes:

[0012] Determining a configuration mode of the lidar;

[0013] Determining the adjustment parameter based on the configuration mode.

[0014] Optionally, determining the adjustment parameter based on the configuration mode includes at least one of:

[0015] When it is determined that the lidar is in a first configuration mode, determining a motion speed of the lidar, and determining the adjustment parameter based on the motion speed.

[0016] When it is determined that the lidar is in a second configuration mode, determining the adjustment parameter based on an adjustment instruction received by the lidar.

[0017] Optionally, determining the adjustment parameter of the sweep slope includes:

[0018] Determining a motion speed of the lidar;

[0019] Determining the adjustment parameter based on the motion speed.

[0020] Optionally, determining the adjustment parameter based on the motion speed includes:

[0021] Determining an interval in which the motion speed is located;

[0022] Determining the adjustment parameter based on the interval.

[0023] Optionally, determining the adjustment parameter based on the motion speed includes:

[0024] Determining the adjustment parameter of the sweep slope based on the motion speed and a speed threshold.

[0025] Optionally, determining the adjustment parameter based on the motion speed includes:

[0026] Determining, based on the motion speed and a set relationship between a sweep parameter of the lidar and the motion speed, a sweep parameter value corresponding to the motion speed as the adjustment parameter, the relationship satisfying that the sweep parameter of the lidar is inversely proportional to the motion speed or a rate of change of the motion speed.

[0027] Optionally, determining the motion speed includes:

[0028] determining a motion speed of a mobile device, determining the motion speed of the lidar based on the motion speed of the mobile device, the lidar being fixed on the mobile device.

[0029] Optionally, determining the adjustment parameter of the sweep slope of the lidar comprises:

[0030] determining the adjustment parameter based on an adjustment instruction received by the lidar.

[0031] Optionally, determining the adjustment parameter of the sweep slope of the lidar based on an adjustment instruction received by the lidar comprises:

[0032] determining a configuration parameter value contained in the adjustment instruction;

[0033] determining the adjustment parameter based on the configuration parameter value.

[0034] Optionally, the configuration parameter value is generated based on input configuration information or acquired scene change information.

[0035] Optionally, the scene change information comprises speed change information.

[0036] The configuration parameter value is determined based on a motion speed range of the lidar after a scene switch or a speed change rate before and after the scene switch in the speed change information.

[0037] Optionally, adjusting the sweep slope of the lidar based on the adjustment parameter comprises:

[0038] determining a target sweep slope based on the adjustment parameter and a configured reference sweep slope value, or determining the adjustment parameter as the target sweep slope;

[0039] maintaining a current sweep slope of the lidar when the current sweep slope of the lidar is the same as the target sweep slope, or adjusting the current sweep slope of the lidar to the target sweep slope when the current sweep slope of the lidar is different from the target sweep slope.

[0040] Optionally, adjusting the sweep slope of the lidar based on the adjustment parameter comprises:

[0041] maintaining the sweep slope of the lidar when the adjustment parameter is a first value, or

[0042] changing the sweep slope of the lidar based on the adjustment parameter when the adjustment parameter is not the first value.

[0043] In another aspect, the present disclosure provides a method for controlling a radar, the method comprising: determining an adjustment parameter of a chirp rate of the radar, wherein a probing signal of the radar comprises a linear frequency modulated continuous wave; and adjusting or maintaining the chirp rate of the radar based on the adjustment parameter, wherein the chirp rate characterizes a rate of change of a frequency of the probing signal over time.

[0044] Optionally, the determining the adjustment parameter of the chirp rate of the radar comprises: determining a configuration mode of the radar; and determining the adjustment parameter based on the configuration mode of the radar.

[0045] Optionally, the determining the adjustment parameter based on the configuration mode of the radar comprises at least one of: when it is determined that the radar is in a first configuration mode, receiving a current motion speed of the radar, and determining the adjustment parameter based on the current motion speed of the radar and a set correspondence between a chirp parameter of the radar and a motion speed.

[0046] when it is determined that the radar is in a second configuration mode, determining the adjustment parameter based on an adjustment instruction received by the radar.

[0047] Optionally, the determining the adjustment parameter of the chirp rate of the radar comprises: receiving a current motion speed of the radar; and determining the adjustment parameter based on the current motion speed of the radar and a set correspondence between a chirp parameter of the radar and a motion speed.

[0048] Optionally, the determining the adjustment parameter based on the current motion speed of the radar and the set correspondence between the chirp parameter of the radar and the motion speed comprises: determining an interval in which the current motion speed of the radar is located; and obtaining a chirp parameter value corresponding to the interval in which the current motion speed is located as the adjustment parameter, wherein the chirp parameter value decreases in a stepwise manner based on an order of intervals as the motion speed of the radar increases.

[0049] Optionally, the determining the adjustment parameter based on the current motion speed of the radar and the set correspondence between the chirp parameter of the radar and the motion speed comprises: determining an adjustment coefficient of the chirp rate based on a relationship between the current motion speed of the radar and a set speed threshold as the adjustment parameter, wherein the adjustment coefficient causes the chirp rate of the radar to decrease as the motion speed of the radar increases.

[0050] Optionally, the determining the adjustment parameter based on the current motion speed of the radar and the set correspondence between the sweep frequency parameter of the radar and the motion speed comprises: determining, based on the correspondence between the sweep frequency parameter of the radar and the motion speed, a sweep frequency parameter value corresponding to the current motion speed of the radar as the adjustment parameter, the correspondence satisfying that the sweep frequency parameter of the radar is inversely proportional to the motion speed or a change rate of the motion speed.

[0051] Optionally, the receiving the current motion speed of the radar comprises: receiving a current motion speed of a mobile device as the current motion speed of the radar, the radar being fixed on the mobile device.

[0052] Optionally, the determining the adjustment parameter of the sweep frequency slope of the radar comprises: determining the adjustment parameter based on an adjustment instruction received by the radar.

[0053] Optionally, the determining the adjustment parameter of the sweep frequency slope based on the adjustment instruction received by the radar comprises: determining a configuration parameter value contained in the adjustment instruction; and determining the adjustment parameter based on the configuration parameter value.

[0054] Optionally, the configuration parameter value is generated based on input configuration information or acquired scene change information.

[0055] Optionally, the scene change information comprises speed change information; and the configuration parameter value is determined based on a motion speed range of the radar after a scene switch or a change rate of the speed before and after the scene switch in the speed change information.

[0056] Optionally, the adjusting or maintaining the sweep frequency slope of the radar based on the adjustment parameter comprises: determining a target sweep frequency slope based on the adjustment parameter and a configured reference sweep frequency slope value; or determining the adjustment parameter as the target sweep frequency slope; when a current sweep frequency slope of the radar is the same as the target sweep frequency slope, maintaining the current sweep frequency slope of the radar; and when the current sweep frequency slope of the radar is different from the target sweep frequency slope, adjusting the current sweep frequency slope of the radar to the target sweep frequency slope.

[0057] Optionally, the adjusting or maintaining the sweep frequency slope of the radar based on the adjustment parameter comprises: when the adjustment parameter is a first value, maintaining the sweep frequency slope of the radar; and when the adjustment parameter is not the first value, adjusting the sweep frequency slope of the radar based on the adjustment parameter.

[0058] Another aspect of the embodiments of the present disclosure provides a laser radar, comprising:

[0059] The controller is configured to determine an adjustment parameter of a sweep slope of the lidar, and adjust the sweep slope of the lidar based on the adjustment parameter, wherein a probe signal of the lidar comprises a linear frequency modulation continuous wave, and the sweep slope represents a rate of change of a frequency of the probe signal over time.

[0060] Optionally, the controller is configured to determine a motion speed of the lidar, and determine the adjustment parameter based on the motion speed.

[0061] Optionally, the controller is configured to determine a configuration mode of the lidar, and determine the adjustment parameter based on the configuration mode of the lidar.

[0062] Optionally, the controller is configured to, when it is determined that the lidar is in a first configuration mode, determine a motion speed of the lidar, and determine the adjustment parameter based on the motion speed; or, when it is determined that the lidar is in a second configuration mode, determine the adjustment parameter based on an adjustment instruction received by the lidar.

[0063] In another aspect of the embodiments of the present disclosure, another lidar is provided, a probe signal of the lidar comprising a linear frequency modulation continuous wave, the lidar comprising a memory, a controller, and a computer program stored in the memory, the controller executing the computer program to implement the steps of the method according to any one of the preceding embodiments.

[0064] In another aspect of the embodiments of the present disclosure, a radar is provided, the radar comprising: a controller configured to determine an adjustment parameter of a sweep slope of the radar, and adjust or maintain the sweep slope of the radar based on the adjustment parameter, wherein a probe signal of the radar comprises a linear frequency modulation continuous wave, and the sweep slope represents a rate of change of a frequency of the probe signal over time.

[0065] Optionally, the controller is configured to determine a configuration mode of the radar, and determine the adjustment parameter based on the configuration mode of the radar.

[0066] Optionally, the controller is configured to, when it is determined that the radar is in a first configuration mode, receive a current motion speed of the radar, and determine the adjustment parameter based on the current motion speed of the radar and a set correspondence between a sweep parameter of the radar and a motion speed; or, when it is determined that the radar is in a second configuration mode, determine the adjustment parameter based on an adjustment instruction received by the radar.

[0067] In another aspect of the embodiments of the present disclosure, another radar is provided, a detection signal of the radar comprising a linear frequency modulation continuous wave, the radar comprising a memory, a controller, and a computer program stored in the memory, the controller executing the computer program to implement the steps of the method according to any one of the preceding embodiments.

[0068] In another aspect of the embodiments of the present disclosure, a non-transitory computer-readable storage medium is provided, having stored thereon computer instructions that, when executed by a processor, implement the steps of the method according to any one of the preceding embodiments.

[0069] In another aspect of the embodiments of the present disclosure, a computer program product is provided, comprising computer instructions that, when executed by a processor, implement the steps of the method according to any one of the preceding embodiments.

[0070] In yet another aspect of the embodiments of the present disclosure, a mobile device is provided, the mobile device being provided with a laser radar, a detection signal of the laser radar comprising a linear frequency modulation continuous wave, the laser radar being adapted to implement the method according to any one of the preceding embodiments.

[0071] Optionally, the mobile device comprises at least one of: a vehicle; a mobile robot.

[0072] By using the method for controlling a laser radar in the embodiments of the present disclosure, the adjustment parameter of the sweep slope of the laser radar can be determined, and the sweep slope of the laser radar can be adjusted based on the adjustment parameter. The sweep slope can be adjusted according to actual detection requirements, so as to meet different requirements in actual application scenarios.

[0073] In an optional embodiment, the configuration mode of the laser radar is determined, and the adjustment parameter is determined based on the configuration mode of the laser radar. The adjustment parameter can be flexibly determined according to the configuration mode of the laser radar, so as to meet the personalized requirements of a user.

[0074] In an optional embodiment, when it is determined that the laser radar is in a first configuration mode, the motion speed of the laser radar is determined, and the adjustment parameter is determined based on the motion speed. The embodiments of the present disclosure can adaptively adjust the adjustment parameter according to the motion speed of the laser radar, and then the sweep slope of the laser radar can be adaptively adjusted. When it is determined that the laser radar is in a second configuration mode, the adjustment parameter can be determined based on an adjustment instruction received by the laser radar. A user can adjust the sweep slope of the laser radar according to the application requirements of an actual scenario.

[0075] In an optional embodiment, the adjustment parameter is determined based on a motion speed of the laser radar. The adjustment parameter can be adaptively adjusted according to the motion speed of the laser radar, and the sweep frequency slope of the laser radar can be adaptively adjusted.

[0076] In an optional embodiment, an interval in which the motion speed of the laser radar is located is determined, and the adjustment parameter is determined based on the interval. In an optional embodiment, the sweep frequency parameter value decreases in a stepwise manner based on an interval order as the motion speed of the laser radar increases. When the motion speed of the laser radar increases, the sweep frequency slope can be relatively reduced, and the long-range measurement capability of the laser radar can be improved. When the motion speed of the laser radar decreases, the sweep frequency slope can be relatively increased, and the resolution of the laser radar can be improved. When the motion speed of the laser radar decreases, the measurement accuracy of the laser radar can be improved. The embodiments of the present disclosure can flexibly achieve high-precision measurement or a long detection distance range within a limited frequency bandwidth.

[0077] In an optional embodiment, the adjustment parameter is determined based on the motion speed of the laser radar and a speed threshold. In an example, an adjustment coefficient of the sweep frequency slope of the laser radar can be determined based on the motion speed and the speed threshold, as the adjustment parameter. The adjustment coefficient makes the sweep frequency slope of the laser radar decrease as the motion speed of the laser radar increases. When the motion speed of the laser radar increases, the sweep frequency slope of the laser radar is relatively reduced by adjusting the adjustment parameter, and the long-range measurement capability of the laser radar can be improved. When the motion speed of the laser radar decreases, the sweep frequency slope of the laser radar is relatively increased by adjusting the adjustment parameter, and the resolution of the laser radar can be improved. When the motion speed of the laser radar decreases, the measurement accuracy of the laser radar can be improved. The embodiments of the present disclosure can flexibly achieve high-precision measurement or a long detection distance range within a limited frequency bandwidth.

[0078] In an optional embodiment, the adjustment parameter is determined based on a relationship between a motion speed of the laser radar and a sweep parameter of the laser radar and the motion speed. The sweep parameter can be adaptively adjusted according to the motion speed of the laser radar. The relationship satisfies that the sweep parameter of the laser radar is inversely proportional to the motion speed or a change rate of the motion speed. When the motion speed or the change rate of the motion speed of the laser radar increases, the sweep slope can be relatively reduced, so that the long-range detection capability of the laser radar can be improved. When the motion speed or the change rate of the motion speed of the laser radar decreases, the sweep slope can be relatively increased, so that the resolution of the laser radar can be improved. The measurement accuracy of the laser radar can be improved when the motion speed or the change rate of the motion speed of the laser radar decreases. The disclosed embodiments can flexibly achieve a high-precision or long-range detection distance range within a limited frequency bandwidth.

[0079] In an optional embodiment, the adjustment parameter is determined based on an adjustment instruction received by the laser radar. A user can adjust the sweep slope of the laser radar according to the application requirements of an actual scene.

[0080] In an optional embodiment, a configuration parameter value included in the adjustment instruction is determined, and the adjustment parameter is determined based on the configuration parameter value. The configuration parameter is generated based on input configuration information or acquired scene change information, and can meet the actual requirements of a user and adapt to different application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0081] In order to more clearly illustrate the technical solutions of the disclosed embodiments, the following will exemplarily introduce the drawings needed to be used in the description of the disclosed embodiments or the prior art. The drawings described below are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0082] FIG. 1 shows a schematic diagram of the frequency-time relationship of a frequency-modulated continuous wave (LFMCW) transmission signal and a return signal of a laser radar according to some embodiments of the present disclosure;

[0083] FIG. 2 shows a flowchart of a method for controlling a laser radar according to some embodiments of the present disclosure;

[0084] FIG. 3 shows a flowchart of another method for controlling a laser radar according to some embodiments of the present disclosure;

[0085] FIGS. 4-6 show flowcharts of some methods for controlling a laser radar according to some embodiments of the present disclosure;

[0086] FIG. 7 and FIG. 8 show structural diagrams of some laser radars according to some embodiments of the present disclosure;

[0087] FIG. 9 shows a structural diagram of a mobile device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0088] Due to the limitation of engineering systems, the detection signal bandwidth of LFMCW laser radars is limited. It is difficult for current laser radars to balance different performance indicators, and needs to be improved to adapt to different needs in complex application scenarios.

[0089] For example, in the assisted driving or unmanned driving scenario, the laser radar is applied to a vehicle for environmental perception. When the detection signal is reflected by a moving object, the frequency of the echo signal will change relative to the frequency of the detection signal due to the Doppler effect. When the laser radar is getting closer to the object, the frequency of the echo signal will increase relative to the frequency of the detection signal. When the laser radar is getting farther away from the object, the frequency of the echo signal will decrease relative to the frequency of the detection signal.

[0090] In some embodiments, the detection signal emitted by the laser radar includes a linear frequency modulation continuous wave. FIG. 1 shows a schematic diagram of the frequency-time relationship of the frequency modulation continuous wave transmission signal, echo signal of a LFMCW laser radar according to some embodiments of the present disclosure. In FIG. 1, subgraph (a) is the time domain curve of the transmission signal TS and the echo signal ES. For example, the transmission signal can be a triangular wave. B can represent the sweep bandwidth, T can represent the sweep period (for example, the up-sweep period or the down-sweep period), t d may represent the delay between the echo signal and the transmission signal, f d may represent the Doppler shift of the echo signal of the moving object. In FIG. 1(b), the solid line TS can represent the transmission signal, the dotted line SO can represent the echo signal of the stationary object, and the dotted line MO can represent the echo signal of the moving object. In FIG. 1(b), the time domain curve represents the frequency-time relationship of the beat signal. In FIG. 1(b), the dashed line can represent the beat signal of the echo signal of the stationary object and the local oscillator light. The solid line can represent the beat signal of the echo signal of the moving object and the local oscillator light. f bu may represent the beat signal obtained by the up-sweep segment UFS. f bd may represent the beat signal obtained by the down-sweep segment DFS, respectively. The time domain curve represents the frequency-time relationship of the signal.

[0091] Referring to FIG. 1, for example, when the object is stationary, there is a delay t d between the echo signal and the transmission signal. The delay t d has a relationship with the distance R of the laser radar from the object as follows:

[0092] td = 2R / c (1)

[0093] In formula (1), c represents the speed of light.

[0094] For example, the frequency difference between the transmitted signal and the echo signal of the stationary object is Δf, and the relationship between the frequency and time of the transmitted signal and the echo signal of the stationary object is shown in subgraph (a) of FIG. 1:

[0095] When the object is in motion relative to the laser radar, the echo signal of the moving object will produce a Doppler frequency shift f d The relationship between the frequency shift f d and the transmitted signal frequency f0, the relative speed v between the object and the laser radar is:

[0096] For example, when the delay between the echo signal of the moving object and the transmitted signal is also t d , the beat frequency obtained at the rising and falling edges of the triangular wave is shown in subgraph (b) of FIG. 1. Wherein: f bu = Δf-f d , f bd = Δf+f d .

[0097] Wherein, f bu characterizes the beat frequency of the up-sweeping frequency band, and f bd characterizes the beat frequency of the down-sweeping frequency band.

[0098] When the echo signal of the moving object has a Doppler frequency shift, at the same distance, the beat frequency of the echo signal of the moving object and the transmitted signal is higher than that of the echo signal of the stationary object and the transmitted signal.

[0099] In some laser radar systems, the signal measurement bandwidth is limited. High echo signal frequency may cause spectral aliasing, affecting the measurement results.

[0100] The echo signal can be converted from time domain to frequency domain by fast Fourier transformation (FFT), and the spectral resolution is and the distance resolution is wherein γ represents the sweep rate, and c is the speed of light.

[0101] If a high sampling rate is used to achieve a large frequency bandwidth B, the spectral resolution of a single point will decrease under the same point number FFT (N) result. If the spectral resolution deteriorates, the distance resolution will decrease.

[0102] The method for controlling the lidar can meet different requirements in actual application scenarios. An adjustment parameter of a sweep slope of the lidar can be set or determined. Based on the adjustment parameter, the sweep slope of the lidar can be adjusted. The sweep slope can be adjusted according to actual detection requirements, and different requirements in actual application scenarios can be met. The method for controlling the lidar can be executed by a controller or a control circuit.

[0103] For better understanding and implementation by those skilled in the art, some embodiments are described in detail below with reference to the accompanying drawings.

[0104] FIG. 2 shows a flowchart of a method for controlling a lidar according to some embodiments of the present disclosure. Referring to FIG. 2, in some embodiments, the lidar can be controlled by the following steps:

[0105] S1, determining an adjustment parameter of a sweep slope of the lidar.

[0106] For example, the detection signal of the lidar can include a linear frequency continuous wave.

[0107] In some embodiments, the adjustment parameter can be determined in various ways.

[0108] As an optional example, the adjustment parameter can be determined based on a motion speed of the lidar.

[0109] As an optional example, the adjustment parameter can be determined based on an adjustment instruction received by the lidar.

[0110] For example, the lidar can have different configuration modes. In different configuration modes, the way of determining the adjustment parameter can be different. As an optional example, the configuration mode of the lidar can be determined first, and then the adjustment parameter can be determined based on the configuration mode of the lidar.

[0111] S2, adjusting the sweep slope of the lidar based on the adjustment parameter.

[0112] The sweep slope represents a rate of change of the frequency of the detection signal with respect to time. For example, adjusting the sweep slope of the lidar includes changing the sweep slope of the lidar. For example, adjusting the sweep slope of the lidar includes maintaining the sweep slope of the lidar. For example, the sweep slope of the lidar can be changed based on the adjustment parameter. For example, the sweep slope of the lidar can not be changed based on the adjustment parameter.

[0113] As some optional examples, step S2 can be executed by the following steps.

[0114] For example, when the adjustment parameter is a first value, the sweep frequency slope of the lidar is maintained. For another example, when the adjustment parameter is not the first value, the sweep frequency slope of the lidar can be changed based on the adjustment parameter.

[0115] The adjustment parameter can characterize a relationship between the target sweep frequency slope and the reference sweep frequency slope. As an optional example, the adjustment parameter can characterize a ratio of the target sweep frequency slope to the reference sweep frequency slope. For example, when the current sweep frequency slope of the lidar is the reference sweep frequency slope such that the adjustment parameter is substantially 1, the sweep frequency slope of the lidar can be maintained. For another example, when the adjustment parameter deviates from 1, the sweep frequency slope of the lidar can be changed based on the adjustment parameter. As an optional example, the adjustment parameter can characterize a difference between the target sweep frequency slope and the reference sweep frequency slope. For example, when the current sweep frequency slope of the lidar is the reference sweep frequency slope such that the adjustment parameter is close to 0, the sweep frequency slope of the lidar can be maintained. For another example, when the adjustment parameter deviates from 0, the sweep frequency slope of the lidar can be changed based on the adjustment parameter.

[0116] For example, the reference sweep frequency slope of the lidar can be configured according to an actual application scenario. For example, the reference sweep frequency slope can be determined according to a requirement of a typical application scenario of the lidar on a detection performance of the lidar. In some embodiments, the reference sweep frequency slope can be used as a starting sweep frequency slope of the lidar.

[0117] In some embodiments, the adjustment parameter can characterize an adjustment amount of the sweep frequency slope of the lidar. For example, the adjustment parameter can be a ratio of the target sweep frequency slope to the current sweep frequency slope. When the adjustment parameter is substantially 1, the sweep frequency slope of the lidar can be maintained. For another example, when the adjustment parameter deviates from 1, the sweep frequency slope of the lidar can be changed based on the adjustment parameter. For example, the adjustment parameter can be a difference between the target sweep frequency slope and the current sweep frequency slope. When the adjustment parameter is substantially 0, the sweep frequency slope of the lidar can be maintained. For another example, when the adjustment parameter deviates from 0, the sweep frequency slope of the lidar can be changed based on the adjustment parameter.

[0118] It can be understood that the value of the first value in the above embodiments is only an example, and in a specific implementation, the value can be set according to a target index requirement of an actual application scenario.

[0119] In some embodiments of the present disclosure, the target sweep frequency slope can be determined based on the adjustment parameter. For example, when the current sweep frequency slope of the lidar is the same as the target sweep frequency slope, the current sweep frequency slope of the lidar is maintained unchanged. For another example, when the current sweep frequency slope of the lidar is different from the target sweep frequency slope, the current sweep frequency slope of the lidar can be changed to the target sweep frequency slope.

[0120] In some optional examples, the target sweep frequency slope can be determined based on the adjustment parameter and a configured reference sweep frequency slope value. In some other optional examples, the adjustment parameter of the sweep frequency slope can be determined as the target sweep frequency slope. For example, the adjustment parameter is the target sweep frequency slope. The sweep frequency slope can be adjusted to the target sweep frequency slope according to the adjustment parameter.

[0121] FIG. 3 shows a flowchart of another method of controlling a lidar according to some embodiments of the present disclosure. Referring to FIG. 3, the probing signal of the lidar includes a linear frequency modulated continuous wave, for example. In some embodiments of the present disclosure, the adjustment parameter of the lidar can be determined by the following steps.

[0122] S11, a configuration mode of the lidar is determined. When it is determined that the lidar is in a first configuration mode, step S12 is performed. When it is determined that the lidar is in a second configuration mode, step S14 is performed.

[0123] In some embodiments, the configuration mode of the lidar parameter can be set in advance. For example, the working parameters of the lidar can be automatically configured, or the working parameters of the lidar can be manually configured, or the working parameters of the lidar can be configured by other devices or programs. For example, the lidar can have only one configuration mode, or two or more configuration modes.

[0124] As an optional example, the configuration mode of the lidar can include a first configuration mode. When the lidar is in the first configuration mode, the lidar can determine the adjustment parameter according to the motion speed of the lidar itself, and adaptively adjust the sweep frequency slope. As an optional example, the configuration mode of the lidar can include a second configuration mode. When the lidar is in the second configuration mode, the lidar can determine the adjustment parameter of the sweep frequency slope upon receiving an adjustment instruction.

[0125] S12, the motion speed of the lidar is determined.

[0126] In some optional examples, the laser radar can determine the motion speed of the laser radar itself according to the received echo signal. In some optional examples, the motion speed of the laser radar can include at least one of a current motion speed of the laser radar or a motion acceleration of the laser radar. In some optional examples, the motion speed can be at least one of an instantaneous motion speed, an average motion speed, an instantaneous motion acceleration or an average motion acceleration of the laser radar.

[0127] In some other optional examples, the detected motion speed of the mobile device can be transmitted to the laser radar by a mobile device (for example, a movable carrier such as a vehicle, a robot, etc.) on which the laser radar is installed. For example, the vehicle can obtain the motion speed of the vehicle through a speedometer, and transmit the motion speed to the laser radar through a bus by an electronic control unit (ECU). The laser radar can determine the motion speed of the laser radar itself according to the motion speed of the vehicle.

[0128] It should be noted that the specific manner of determining the motion speed of the laser radar is not limited in the embodiments of the present disclosure, and the laser radar can only determine the motion speed of itself.

[0129] S13, determining the adjustment parameter based on the motion speed and.

[0130] In some embodiments, the adjustment parameter can be determined based on the motion speed of the laser radar and a set correspondence between the motion speed and the sweep frequency parameter.

[0131] In some embodiments, the correspondence between the motion speed and the sweep frequency parameter of the laser radar can be determined, and the correspondence is stored in the laser radar. For example, the correspondence satisfies a target sweep frequency slope of the laser radar and the motion speed in an inverse relationship. In the correspondence, the greater the motion speed of the laser radar, the smaller the corresponding target sweep frequency slope. The smaller the motion speed of the laser radar, the greater the corresponding target sweep frequency slope. According to the motion speed of the laser radar, the sweep frequency parameter corresponding to the motion speed can be determined in the correspondence. According to the sweep frequency parameter, the adjustment parameter can be determined.

[0132] It can be understood that the above examples are not used to limit the correspondence between the motion speed and the sweep frequency parameter of the laser radar. In specific implementations, the correspondence between the motion speed and the sweep frequency parameter of the laser radar can be set according to the detection index requirements.

[0133] S14, determining the adjustment parameter based on the adjustment instruction received by the laser radar.

[0134] In some embodiments, a configuration parameter value included in the adjustment instruction can be determined, and based on the configuration parameter value, an adjustment parameter of the sweep frequency slope can be determined. The configuration parameter value can be a target sweep frequency slope value, or an adjustment coefficient or adjustment amount of the sweep frequency slope.

[0135] In some embodiments of the present disclosure, the configuration parameter value can be determined based on input configuration information or acquired scene change information.

[0136] In some optional examples, the configuration information can include a target sweep frequency slope value. In other optional examples, the configuration information can include a correspondence between a motion speed of the lidar and an adjustment parameter (e.g., an adjustment coefficient) of the sweep frequency slope, or a correspondence between the motion speed of the lidar and a target sweep frequency slope.

[0137] The vehicle can be in different environments, such as a highway or urban environment, a rural environment, near a school, etc. In some optional examples, configuration information corresponding to the environment can be included. For example, a sweep frequency slope value or an adjustment coefficient or adjustment amount of the sweep frequency slope corresponding to the environment information can be configured.

[0138] In some embodiments, the scene change information can include speed change information. For example, the configuration parameter value can be determined based on a motion speed range of the lidar after a scene switch or a speed change rate before and after the scene switch in the speed change information.

[0139] In the above embodiments, when it is determined that the lidar is in a first configuration mode, the motion speed of the lidar is determined, and based on the motion speed, the adjustment parameter is determined. Embodiments of the present disclosure can adaptively adjust the adjustment parameter of the sweep frequency slope according to the motion speed of the lidar, and adaptively change or maintain the sweep frequency slope of the lidar. When it is determined that the lidar is in a second configuration mode, the adjustment parameter can be determined based on the adjustment instruction received by the lidar. A user can adjust the sweep frequency slope of the lidar according to the application requirements of the actual scene.

[0140] In some embodiments of the present disclosure, the adjustment parameter can be determined based on the motion speed of the lidar. According to the adjustment parameter, the sweep frequency slope of the lidar can be adjusted. To better understand and implement by those skilled in the art, some exemplary implementations are described in detail as follows.

[0141] FIG. 4 shows a flowchart of some methods of controlling a lidar according to some embodiments of the present disclosure. Referring to FIG. 4, in some embodiments of the present disclosure, the method can include the following steps.

[0142] S21, determining the motion speed of the lidar.

[0143] For example, the same or similar method as that of step S12 in the foregoing embodiment can be adopted to determine the motion speed of the laser radar.

[0144] S22, determining an interval in which the motion speed of the laser radar is located.

[0145] S23, determining the adjustment parameter based on the interval.

[0146] In some embodiments, the sweep parameter value corresponding to the interval in which the motion speed is located can be taken as the adjustment parameter.

[0147] For example, the sweep parameter value decreases with the increase of the motion speed of the laser radar. The decrease of the sweep parameter value can include a stepwise decrease based on the order of the intervals. For example, different motion speeds in the same interval can correspond to the same sweep parameter value.

[0148] S24, adjusting the sweep slope of the laser radar based on the adjustment parameter.

[0149] In some embodiments of the present disclosure, the adjustment parameter of the sweep slope of the laser radar can be determined through steps S22-S23.

[0150] In some embodiments, the correspondence between the different speed intervals of the laser radar and the sweep parameter values can be configured. The correspondence can include a mapping table or a relationship curve. In some embodiments, the relationship between the interval range of the motion speed of the laser radar and the sweep parameter value can be pre-stored.

[0151] For example, one motion speed interval can correspond to one sweep parameter value. Different motion speed intervals can correspond to different sweep parameter values. The sweep parameter values of different motion speed intervals decrease stepwise based on the order of the intervals with the increase of the motion speed of the laser radar.

[0152] As an optional example, by setting two motion speed thresholds Vr1, Vr2, where Vr1 < Vr2, the motion speed is divided into three intervals, and the sweep parameter values corresponding to each interval are stored. Optionally, the adjustment parameter of the sweep parameter can include the sweep slope. In step S24, as an optional example, the adjustment parameter of the sweep slope can be determined as the target sweep slope of the laser radar. For example, when the motion speed V of the laser radar is V < Vr1, the corresponding sweep slope value is γ1. When the motion speed V of the laser radar is Vr1 ≤ V < Vr2, the corresponding sweep slope value is γ2. When the motion speed V of the laser radar is V ≥ Vr2, the corresponding sweep slope value is γ3. In some embodiments, more or less motion speed thresholds can also be set.

[0153] In some application scenarios, when the current sweep slope of the lidar is γ2, and it is determined that the interval of the motion speed is V≥Vr2, the corresponding adjustment parameter value γ3 can be determined. In step S24, the target sweep slope value of the lidar can be changed to γ3. When the current sweep slope of the lidar is γ2, and it is determined that Vr1≤V<Vr2, the corresponding adjustment parameter value γ2 can be determined. In step S24, the target sweep slope value of the lidar can be maintained as γ2.

[0154] From the above embodiments, it can be seen that the sweep parameter value decreases in a step-by-step manner based on the interval order as the motion speed of the lidar increases. As the motion speed of the lidar increases, the target sweep slope value of the lidar decreases accordingly. The above embodiments can improve the ranging capability of the lidar, expand the ranging range, and meet the demand for ranging capability of the lidar in high-speed motion.

[0155] FIG. 5 shows a flowchart of some methods of controlling a lidar according to some embodiments of the present disclosure. In another embodiment of the present disclosure, referring to the flowchart of the method of controlling a lidar shown in FIG. 5, the method can adopt the following steps.

[0156] S31, determining the motion speed of the lidar.

[0157] For example, the motion speed of the lidar can be determined in the same or similar manner as step S12 in the foregoing embodiments.

[0158] S32, determining the adjustment parameter based on the motion speed of the lidar.

[0159] In some embodiments, the adjustment coefficient of the sweep slope can be determined as the adjustment parameter based on the relationship between the motion speed of the lidar and the set speed threshold.

[0160] In some embodiments, the adjustment coefficient can make the sweep slope of the lidar decrease as the motion speed of the lidar increases.

[0161] As an optional example, the target sweep slope can be determined according to the relationship between the motion speed of the lidar and the set speed threshold. According to the relationship between the target sweep slope and the current sweep slope, the adjustment coefficient of the sweep slope can be determined, and the adjustment coefficient can be taken as the adjustment parameter.

[0162] In an optional embodiment, the ratio of the target sweep slope to the current sweep slope can be determined, and the ratio can be taken as the adjustment coefficient.

[0163] In an optional embodiment, a difference between the target sweep slope and the current sweep slope can also be determined, and the difference can be used as the adjustment coefficient.

[0164] As an optional embodiment, a sweep slope corresponding to a speed threshold value can be determined as a threshold sweep slope according to a relationship between the motion speed of the lidar and the set speed threshold value. Based on the threshold sweep slope, a target sweep slope can be determined. According to a relationship between the target sweep slope and the current sweep slope, an adjustment coefficient of the sweep slope can be determined. The adjustment coefficient can be used as the adjustment parameter.

[0165] In an optional embodiment, a sweep slope value between threshold sweep slopes can be randomly selected as a target sweep slope. According to a relationship between the target sweep slope and the current sweep slope, an adjustment coefficient of the sweep slope can be determined. The adjustment coefficient can be used as the adjustment parameter.

[0166] For example, a ratio or a difference between the target sweep slope and the current sweep slope can be used as the adjustment parameter.

[0167] For example, a first speed threshold Vf1 and a second speed threshold Vf2 can be set. A sweep slope corresponding to the first speed threshold Vf1 is a first threshold sweep slope β1. A sweep slope corresponding to the second speed threshold Vf2 is a second threshold sweep slope β2. Wherein, Vf1 < Vf2, β1 > β2.

[0168] For example, when the motion speed Vx of the lidar satisfies Vf1 < Vx < Vf2, and the current sweep slope βx satisfies βx > β1, a sweep slope value β3 between β1 and β2 can be randomly selected as a target sweep slope. A ratio or a difference between the target sweep slope value β3 and the current sweep slope βx can be determined. The ratio or the difference can be used as the adjustment parameter.

[0169] In an optional embodiment, when the motion speed Vx of the lidar satisfies Vx < Vf1, β1 can be used as the target sweep slope. A ratio or a difference between the target sweep slope value β1 and the current sweep slope βx can be determined, and the ratio or the difference can be used as the adjustment parameter. When the motion speed Vx of the lidar satisfies Vx > Vf2, β2 can be used as the target sweep slope. Further, a ratio or a difference between the target sweep slope value β2 and the current sweep slope βx can be determined, and the ratio or the difference can be used as the adjustment parameter.

[0170] For example, a sweep slope value β4may be set. β1> β4> β2. When the motion speed Vxof the laser radar satisfies Vf1< Vx< Vf2, β4may be taken as the target sweep slope. The ratio or difference between the target sweep slope value β4and the current sweep slope βxmay be determined, and the ratio or difference can be taken as the adjustment parameter.

[0171] S33, adjusting the sweep slope of the laser radar based on the adjustment parameter.

[0172] In some embodiments of the present disclosure, the adjustment parameter of the sweep slope of the laser radar can be determined through steps S31-S32.

[0173] In some optional examples, the sweep slope of the laser radar can be adjusted based on the adjustment parameter.

[0174] For example, when the adjustment parameter indicates that the current sweep slope of the laser radar needs to be increased or decreased, the sweep slope of the laser radar can be changed so that the sweep slope of the laser radar reaches the target sweep slope. When the adjustment parameter indicates that the current sweep slope of the laser radar does not need to be adjusted, the sweep slope of the laser radar can be maintained.

[0175] As can be seen from the above embodiments, the adjustment coefficient can make the sweep slope of the laser radar decrease as the motion speed of the laser radar increases. As the motion speed of the laser radar increases, the target sweep slope value of the laser radar can decrease accordingly. The ranging capability of the laser radar can be improved, and the ranging range can be expanded. The demand of the laser radar for the ranging capability in the high-speed motion condition can be met.

[0176] In some other embodiments of the present disclosure, referring to FIG. 6, the method can adopt the following steps.

[0177] S41, determining the motion speed of the laser radar.

[0178] For example, the motion speed of the laser radar can be determined in the same or similar manner as that of step S12 in the foregoing embodiments.

[0179] S42, determining an adjustment parameter based on the motion speed.

[0180] In some embodiments, the sweep parameter value corresponding to the motion speed can be determined as the adjustment parameter based on the motion speed and the set relationship between the sweep parameter of the laser radar and the motion speed.

[0181] In an example, the relationship satisfies that the sweep frequency parameter of the lidar is inversely proportional to the motion speed. In an example, the relationship satisfies that the sweep frequency parameter of the lidar is negatively correlated (e.g., inversely proportional) to the rate of change of the motion speed.

[0182] In some embodiments of the present disclosure, the sweep frequency slope can be set as the sweep frequency parameter.

[0183] In some optional examples, the sweep frequency slope value of the lidar can be set to decrease linearly as the motion speed of the lidar increases. In other optional examples, the sweep frequency slope value of the lidar can be set to decrease nonlinearly as the motion speed of the lidar increases.

[0184] In some optional examples, the sweep frequency slope value of the lidar can be set to decrease linearly as the rate of change of the motion speed of the lidar increases. In other optional examples, the sweep frequency slope value of the lidar can be set to decrease linearly as the rate of change of the motion speed of the lidar increases.

[0185] It can be understood that the above is only an example, and in some embodiments, the sweep frequency slope value of the lidar can be set to satisfy a certain functional relationship or a preset curve distribution with the motion speed of the lidar or the rate of change of the motion speed of the lidar. Such a functional relationship or curve distribution satisfies that the sweep frequency parameter of the lidar is inversely proportional to the motion speed or the rate of change of the motion speed, and can meet the requirements of the set detection index.

[0186] S43, adjusting the sweep frequency slope of the lidar based on the adjustment parameter.

[0187] In some embodiments of the present disclosure, the adjustment parameter of the sweep frequency slope of the lidar can be determined through steps S41-S42. In step S42, the adjustment parameter of the sweep frequency slope is the sweep frequency slope value, and the adjustment parameter of the sweep frequency slope can be determined as the target sweep frequency slope of the lidar. In step S43, when the adjustment parameter is consistent with the current sweep frequency slope, the sweep frequency slope of the lidar can be maintained. When the adjustment parameter is not consistent with the current sweep frequency slope, the adjustment parameter can be taken as the target sweep frequency slope based on the adjustment parameter, and the sweep frequency slope of the lidar can be changed to the target sweep frequency slope.

[0188] As can be known from the above embodiments, the relationship between the set sweep frequency parameter of the laser radar and the motion speed satisfies that the sweep frequency parameter of the laser radar is inversely proportional to the motion speed or the change rate of the motion speed. By taking the adjustment parameter as the target sweep frequency slope, as the motion speed of the laser radar increases, the target sweep frequency slope value of the laser radar decreases accordingly. The above embodiments can improve the far measurement capability of the laser radar, expand the distance measurement range, and meet the demand of the laser radar for the far measurement capability in the high-speed motion condition.

[0189] The above describes, in combination with FIGS. 4-6, an example method of adaptively controlling the sweep frequency slope of the laser radar based on the motion speed of the laser radar. The above scheme can be implemented alone or when it is determined that the laser radar is in the first configuration mode.

[0190] In some embodiments of the present disclosure, step S14 can also be implemented alone without determining the configuration mode of the laser radar or any other condition, for how to determine the adjustment parameter. After the adjustment parameter is determined, the sweep frequency slope of the laser radar can be adjusted based on the adjustment parameter.

[0191] The present disclosure also provides a corresponding laser radar scheme. For better understanding and implementation by those skilled in the art, the following will be described in detail with reference to the accompanying drawings and some embodiments.

[0192] FIG. 7 shows a structural schematic diagram of some laser radars according to some embodiments of the present disclosure. Referring to FIG. 7, in some embodiments of the present disclosure, a laser radar LA0 includes a controller U0. The controller U0 can be configured to determine an adjustment parameter of the sweep frequency slope of the laser radar LA0, and adjust the sweep frequency slope of the laser radar based on the adjustment parameter. The detection signal of the laser radar LA0 includes a linear frequency modulation continuous wave. The sweep frequency slope represents the change rate of the frequency of the detection signal with time.

[0193] In another embodiment of the present disclosure, the controller U0 can be configured to determine the configuration mode of the laser radar LA0, and determine the adjustment parameter based on the configuration mode of the laser radar LA0.

[0194] As an optional example, the controller U0 can be configured to determine the motion speed of the laser radar when it is determined that the laser radar is in the first configuration mode, and determine the adjustment parameter based on the motion speed. For example, the controller can determine the adjustment parameter based on the motion speed of the laser radar and the set corresponding relationship between the sweep frequency parameter of the laser radar and the motion speed. As an optional example, the controller U0 can be configured to determine the adjustment parameter based on the adjustment instruction received by the laser radar when it is determined that the laser radar is in the second configuration mode.

[0195] In some embodiments, the method of controlling the laser radar in any of the foregoing embodiments can be used to control the adjustment parameter of the sweep slope of the laser radar LA0, so that the target sweep slope of the laser radar can be controlled to adapt to different application scenarios. For specific implementation, reference can be made to the foregoing method embodiments, which will not be described here.

[0196] FIG. 8 shows a structural schematic diagram of some laser radars according to some embodiments of the present disclosure. Referring to FIG. 8, the detection signal of the laser radar LA1 includes a linear frequency modulation continuous wave. The laser radar LA1 can include a memory ST0 and a controller U0, and a computer program stored on the memory ST0. The controller U0 executing the computer program can implement the steps of the method according to any of the foregoing embodiments.

[0197] In some embodiments, the controller U0 can include a circuit with signal processing capability.

[0198] In some embodiments, the controller U0 can include a circuit with instruction reading and running capability, such as a central processing unit (CPU), a micro-controller unit (MCU), a graphics processing unit (GPU), a digital signal processor (DSP), or the like.

[0199] In some embodiments, the controller U0 can implement certain functions through the logical relationship of a hardware circuit, which is fixed or can be reconfigured. For example, the hardware circuit is implemented by an application specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In the reconfigurable hardware circuit, the processor loads a configuration document to implement the hardware circuit configuration. It can be understood that the processor loads instructions to implement the functions of the above part or all units.

[0200] In some embodiments, the controller U0 can also include a hardware circuit designed for artificial intelligence, which can be understood as an ASIC. For example, the controller U0 includes a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0201] In some embodiments, the controller U0 can also include a combination of one or more of the above devices or circuits, and the method of controlling the lidar in the embodiments of the present disclosure can be implemented by configuration.

[0202] In some embodiments, the memory ST0 can include a device or circuit with a storage function. As optional examples, the memory ST0 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, or a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact optical disks, laser optical disks, optical disks, digital versatile disks, Blu-ray optical disks, etc.), magnetic disk storage media or other magnetic storage devices.

[0203] The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium having computer instructions stored thereon, which can implement the steps of the method of any of the preceding embodiments when executed by a processor.

[0204] In some embodiments, the computer-readable storage medium can include a ROM or other type of static storage device that can store static information and instructions, or a RAM or other type of dynamic storage device that can store information and instructions, or an EEPROM, a CD-ROM or other optical disk storage, optical disk storage (including compact optical disks, laser optical disks, optical disks, digital versatile disks, Blu-ray optical disks, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0205] The embodiment of the present disclosure further provides a computer program product comprising computer instructions, which, when executed by a processor, can implement the steps of the method according to any one of the preceding embodiments.

[0206] In some embodiments, the processor can comprise a circuit having a processing capability of signals, and exemplary implementation can refer to the implementation of the controller U0 in the preceding embodiments.

[0207] FIG. 9 shows a structural schematic diagram of a mobile device according to some embodiments of the present disclosure. The embodiment of the present disclosure further provides a mobile device, referring to FIG. 9, a laser radar LA is arranged on the mobile device M0. The detection signal of the laser radar LA comprises a linear frequency modulation continuous wave, and the laser radar LA is adapted to adopt the method according to any one of the preceding embodiments.

[0208] In some embodiments, the mobile device can comprise any device or apparatus that can be actively or passively moved or moved.

[0209] In some optional examples, the mobile device can comprise a vehicle. The laser radar can be arranged outside the vehicle, for example, can be arranged on the roof, or can be arranged at the front end, rear or side of the vehicle. In another optional example, the laser radar can also be arranged inside the vehicle, for example, arranged on the driving platform behind the windshield.

[0210] In another optional example, the mobile device can comprise a mobile robot. For example, the mobile robot can comprise a humanoid robot. For example, the humanoid robot can be a service robot, an unmanned vehicle, etc.

[0211] In some embodiments, the laser radar can be arranged in front of or behind the body of the mobile robot, or arranged on the head or top of the robot, or arranged on the limb of the robot.

[0212] Although the embodiments of the present disclosure are disclosed as above, the present disclosure is not limited thereto. Any person skilled in the art, without departing from the spirit and scope of the present disclosure, can make various modifications and changes, therefore the protection scope of the present disclosure should be subject to the scope defined by the claims.

Claims

1. A method of controlling a laser radar, characterized by, The method comprises: determining an adjustment parameter of a chirp rate of the lidar, wherein a probe signal of the lidar comprises a linear frequency modulated continuous wave; adjusting the chirp rate of the lidar based on the adjustment parameter; the chirp rate characterizes a rate of change of a frequency of the probe signal over time.

2. The method of claim 1, wherein, The determining the adjustment parameter of the chirp rate of the lidar comprises: determining a configuration mode of the lidar; determining the adjustment parameter based on the configuration mode.

3. The method of claim 2, wherein, The determining the adjustment parameter based on the configuration mode comprises at least one of: when determining that the lidar is in a first configuration mode, determining a motion speed of the lidar, and determining the adjustment parameter based on the motion speed; when determining that the lidar is in a second configuration mode, determining the adjustment parameter based on an adjustment instruction received by the lidar.

4. The method of claim 1, wherein, The determining the adjustment parameter of the chirp rate comprises: determining a motion speed of the lidar; determining the adjustment parameter based on the motion speed.

5. The method according to claim 3 or 4, characterized in that, The determining the adjustment parameter based on the motion speed comprises: determining an interval in which the motion speed is located, and determining the adjustment parameter based on the interval; or determining the adjustment parameter based on the motion speed and a speed threshold.

6. The method according to claim 3 or 4, characterized in that, The determining the motion speed of the lidar comprises: determining a motion speed of a mobile device; determining the motion speed of the lidar based on the motion speed of the mobile device, the lidar being fixed on the mobile device.

7. The method of claim 1, wherein, The determining the adjustment parameter of the chirp rate of the lidar comprises: determining the adjustment parameter based on an adjustment instruction received by the lidar.

8. The method of claim 1, wherein, The adjusting the chirp rate of the lidar based on the adjustment parameter comprises: determining a target chirp rate based on the adjustment parameter and a configured reference chirp rate value, or determining the adjustment parameter as the target chirp rate; when a current chirp rate of the lidar is different from the target chirp rate, adjusting the current chirp rate of the lidar to the target chirp rate.

9. The method of claim 1, wherein, The adjusting the chirp rate of the lidar based on the adjustment parameter comprises: when the adjustment parameter is a first value, maintaining the chirp rate of the lidar; or when the adjustment parameter is not the first value, changing the chirp rate of the lidar based on the adjustment parameter.

10. A lidar, comprising: The method comprises: a controller configured to determine an adjustment parameter of a chirp rate of the lidar, and adjust the chirp rate of the lidar based on the adjustment parameter, wherein a probe signal of the lidar comprises a linear frequency modulated continuous wave, and the chirp rate characterizes a rate of change of a frequency of the probe signal over time.

11. The lidar of claim 10, wherein, The controller is configured to determine a motion speed of the lidar, and determine the adjustment parameter based on the motion speed.

12. A lidar, comprising: The probe signal of the lidar comprises a linear frequency modulated continuous wave, and the lidar comprises a memory, a controller, and a computer program stored in the memory, wherein the controller executes the computer program to implement the steps of the method according to any one of claims 1-9.

13. A non-transitory computer-readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by a processor, implement the steps of the method of any one of claims 1-9.

14. A computer program product comprising computer instructions, characterized in that, The computer instructions, when executed by a processor, implement the steps of the method of any one of claims 1-9.

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