CN112698305B

CN112698305B - Laser radar communication method and laser radar communication system

Info

Publication number: CN112698305B
Application number: CN202011463598.XA
Authority: CN
Inventors: 邹聪聪; 赵鑫; 向少卿
Original assignee: Hesai Technology Co Ltd
Current assignee: Hesai Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2023-09-22
Anticipated expiration: 2040-12-11
Also published as: CN112698305A; WO2022121323A1

Abstract

The invention discloses a laser radar communication method and a laser radar communication system. The method comprises the following steps: determining whether a second laser radar which needs to be communicated exists; transmitting a request communication signal of a predetermined code in response to the presence of the second lidar for the second lidar to transmit an agreement communication signal of the predetermined code for the request communication signal; in response to receiving the consent communication signal, a target communication signal of a predetermined code is transmitted for processing by the second lidar after receiving the target communication signal. Therefore, the speed and the safety of communication content transmitted between different vehicles or between the vehicles and the infrastructure are improved by transmitting communication signals with preset codes between the laser radars.

Description

Laser radar communication method and laser radar communication system

Technical Field

The invention relates to the field of laser radars, in particular to a laser radar communication method and a laser radar communication system.

Background

In the automatic driving field, unmanned vehicles automatically select the optimal driving route of road conditions through analysis of real-time traffic information, so that traffic jam is greatly relieved, whether vehicles exist in blind areas or not can be known, then decisions such as speed reduction, parking, lane changing and the like are carried out, and the occurrence probability of traffic accidents is reduced.

As an important sensor, lidar is widely used in the field of autopilot for identifying surrounding conditions such as roads, other vehicles, pedestrians, obstacles and traffic infrastructure.

In the related art, a distance to a target object is determined by transmitting a ranging signal through a lidar and receiving an echo signal reflected by the target object.

Disclosure of Invention

The invention provides a laser radar communication method and a laser radar communication system, which improve the speed and safety of communication content transmitted between different vehicles or between the vehicles and an infrastructure.

In a first aspect, an embodiment of the present invention provides a laser radar communication method, including: determining whether a second laser radar which needs to be communicated exists; transmitting a predetermined coded request communication signal for the second lidar to transmit a predetermined coded grant communication signal for the request communication signal in response to the presence of the second lidar; in response to receiving the consent communication signal, a target communication signal of a predetermined encoding is transmitted for processing by the second lidar after receiving the target communication signal.

In a second aspect, embodiments of the present invention provide a lidar for performing the method of any of the first aspect.

In a third aspect, embodiments of the present invention provide a lidar communication system comprising a first lidar and a second lidar, the first lidar and the second lidar being the lidar of the second aspect, respectively; wherein: a first lidar for transmitting a predetermined coded request communication signal in response to determining that there is a second lidar for which communication is desired; a second lidar for transmitting a predetermined coded consent communication signal in response to the request communication signal; a first lidar for transmitting a target communication signal of a predetermined code in response to the grant communication signal; and the second laser radar receives the target communication signal and processes the target communication signal.

According to the laser radar communication method and the laser radar communication system provided by the embodiment of the invention, the first laser radar can determine whether a second laser radar which needs to be communicated exists, then, in response to the existence of the second laser radar which needs to be communicated, the first laser radar can transmit a request communication signal with preset codes, further, the second laser radar can transmit an agreement communication signal with preset codes for the request communication signal, still further, in response to the reception of the agreement communication signal, the first laser radar can transmit a target communication signal with preset codes, and finally, the second laser radar can process the target communication signal after receiving the target communication signal. Since the predetermined coded communication signal emitted by the lidar is an optical pulse signal, the speed of communication content transmission between different vehicles or between a vehicle and an infrastructure can be increased. In addition, since the first lidar and the second lidar emit encoded communication signals, secure communication between different vehicles or between a vehicle and an infrastructure can be achieved.

Drawings

The above and other features, advantages and aspects of embodiments of the present invention will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is an exemplary system architecture in which a lidar communication method of an embodiment of the present invention may be applied.

FIG. 2 is a block diagram of a lidar according to an embodiment of the invention;

FIG. 3 is a timing diagram of one embodiment of a lidar communication system according to the present invention;

FIG. 4 is a flow chart of one embodiment of a lidar communication method according to the present invention;

FIGS. 5A, 5B and 5C are schematic diagrams illustrating the encoding of communication signals in a first embodiment of a lidar communication method according to the present invention;

FIGS. 6A, 6B and 6C are schematic diagrams illustrating the encoding of communication signals in a second embodiment of a lidar communication method according to the present invention;

fig. 7A, 7B and 7C are schematic diagrams illustrating coding of communication signals in a third embodiment of a lidar communication method according to the present invention;

fig. 8A and 8B are block diagrams of a first laser array and a first detector array, respectively, in an embodiment of a lidar communication method according to the present invention.

Detailed Description

Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.

It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "multiple embodiments"; the term "another embodiment" means "a plurality of additional embodiments"; the term "one embodiment" means "at least one embodiment". Related definitions of other terms will be given in the description below.

It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.

Referring to fig. 1, fig. 1 illustrates an exemplary system architecture in which a lidar communication method of an embodiment of the present invention may be applied. As shown in fig. 1, the system architecture may include a first lidar 101 and a second lidar 102.

The first lidar 101 and the second lidar 102 can realize wireless communication between the lidars by transmitting a light pulse signal of a predetermined code as a communication signal by their own transmitting units without the aid of other devices.

In an autopilot system, communication using lidar has various advantages. For example, the laser radar adopts a point-to-point communication method, which adopts an optical communication method, and has a fast data transmission speed, and a longer transmission distance (for example, 200 m) for near-field communication, compared with other point-to-point communication methods such as bluetooth. For example, compared with wireless communication equipment such as 4G/5G and the like, the wireless communication equipment does not need to use base stations and other infrastructure, is more flexible and changeable in application, cannot be limited by the condition that data transmission is congested or wireless signals are weak (such as the condition of tunnels, underground garages and the like) due to bandwidth, and adopts an optical communication mode, so that data transmission is stable.

In some scenarios, the first lidar 101 and the second lidar 102 may be mounted to different vehicles, respectively. Thus, by communicating with the first lidar 101 and the second lidar 102, information exchange between different communication devices can be achieved.

In an autopilot scenario, the following applies to communication using lidar:

1) When the front vehicle blocks the view of the laser radar on the rear vehicle under the congested road section, the surrounding environment information of the front vehicle can be acquired through the communication between the rear vehicle laser radar and the front vehicle laser radar.

2) When the automatic driving automobile needs lane changing, accelerating, decelerating or overtaking, the vehicle is prevented from being damaged, and the laser radar can be firstly communicated with the laser radar for damaging the vehicle in a wireless mode and informed of the lane changing, accelerating, decelerating or overtaking operation to be performed, and the like, so that accidents are avoided.

3) And supplementing the environmental information in the blind area by communicating with other laser radars in the blind area.

4) When the vehicle runs at night, the vehicle-mounted radar can communicate with other vehicle-mounted radars to inform the other party of turning off the high beam.

5) By communicating with the lidar within the range, the environmental information in the range of other lidars can be obtained, and further when two communication radars are located at the range limit distance (for example, the furthest ranging is 200 m), the distance measured by the two radars in the connecting direction can be doubled by communication (for example, the furthest ranging becomes 400 m). Therefore, the ranging capability of the laser radar can be improved. In some scenarios, the first lidar 101 and the second lidar 102 may be mounted to a vehicle and a target device, respectively. Here, the target device may include various infrastructures such as a base station. Thus, by communicating with the first lidar 101 and the second lidar 102, information exchange between the vehicle and the target device can be achieved.

As an example, the first lidar 101 or the second lidar 102 may acquire information of an intersection, a current state of a traffic light, or the like in advance by communicating with a road infrastructure. It should be noted that, the laser radar communication method provided by the embodiment of the present invention may be performed by the first laser radar 101 or the second laser radar 102.

In summary, by transmitting communication signals of predetermined codes by the first lidar 101 and the second lidar 102, communication contents can be transmitted between different vehicles or between a vehicle and an infrastructure. Since the communication signal emitted by the lidar is an encoded optical pulse signal, a fast and secure communication between different vehicles or between a vehicle and an infrastructure can be achieved.

It should be understood that the number of lidars in fig. 1 is merely illustrative. There may be any number of lidars as desired for the implementation.

An embodiment of the invention discloses a lidar communication system. The lidar communication system includes a first lidar and a second lidar.

As shown in fig. 2, the first lidar or the second lidar may include a determination unit 201, a transmission unit 202, a reception unit 203, and a processing unit 204. Wherein the determination unit 201 may be used to determine whether there is a lidar that needs to communicate. The transmitting unit 202 may be used for transmitting a communication signal of a predetermined code. The receiving unit 203 may be configured to receive a communication signal of a predetermined code. The processing unit 204 may process the received communication signal of the predetermined code.

With continued reference to fig. 3, a timing diagram of an embodiment of the lidar communication system is shown. The timing diagram includes the steps of:

in step 301, the first lidar transmits a predetermined coded request communication signal in response to determining that there is a second lidar that needs to communicate.

In some scenarios, the first lidar may determine, using the determination unit 201, whether there is a second lidar that needs to communicate. In response to the presence of a second lidar that needs to communicate, the first lidar may transmit a predetermined coded request communication signal using the transmitting unit 202.

In step 302, the second lidar transmits a predetermined coded consent communication signal in response to the request communication signal.

In some scenarios, the second lidar may receive the request communication signal transmitted by the transmitting unit 202 of the first lidar using the receiving unit 203. In response to receiving the above-described request communication signal transmitted by the first lidar, the second lidar may transmit a predetermined coded consent communication signal using the transmitting unit 202.

In step 303, the first lidar transmits a target communication signal of a predetermined code in response to the grant communication signal.

In some scenarios, the receiving unit 203 may be used by the first lidar to receive the consent communication signal transmitted by the transmitting unit 202 of the second lidar. In response to receiving the consent communication signal described above, the first lidar may transmit a target communication signal of a predetermined code using the transmission unit 202.

Step 304, the second lidar processes the target communication signal in response to receiving the target communication signal.

In some scenarios, the second lidar may receive the target communication signal transmitted by the transmitting unit 202 of the first lidar using the receiving unit 203. In response to receiving the target communication signal, the second lidar may process the target communication signal using the processing unit 204.

In this embodiment, the first lidar and the second lidar implement information interaction by transmitting communication signals of predetermined codes. Since the predetermined coded communication signal emitted by the lidar is an optical pulse signal, the speed of communication content transmission between different vehicles or between a vehicle and an infrastructure can be increased. In addition, since the communication signals transmitted by the first lidar and the second lidar are coded, secure communication between different vehicles or between a vehicle and an infrastructure can be achieved.

In practice, the communication signal of the predetermined code may be a plurality of optical pulse signals. Thus, the first lidar or the second lidar may utilize the plurality of light pulse signals to achieve the predetermined encoding of the communication signal in a variety of ways. The predetermined encoding of the communication signal is realized, for example, based on the pulse width, the pulse amplitude, or the pulse pitch of the adjacent optical pulse signals of each of the plurality of optical pulse signals.

In practice, the first lidar and the second lidar may transmit and receive communication signals of predetermined codes in a variety of ways.

In an embodiment, the first and second lidars are provided with a first and second laser array, respectively, for transmitting ranging signals and communication signals of a predetermined code, and a first and second detector array for receiving the ranging signals and the communication signals of the predetermined code.

It should be appreciated that the transmitting unit 202 in the first lidar may comprise a first laser array and the receiving unit 203 in the first lidar may comprise a first detector array. Thus, the first lidar may transmit ranging signals and predetermined coded communication signals using a first laser in the first laser array, and may receive ranging signals and predetermined coded communication signals transmitted by the second lidar using a first detector in the first detector array. The transmitting unit 202 in the second lidar may comprise a second laser array and the receiving unit 203 in the second lidar may comprise a second detector array. Thus, the second lidar may transmit the ranging signal and the communication signal of the predetermined code in a similar manner.

In an embodiment, after the first laser in the first laser array or the second laser in the second laser array emits the ranging signal, the first laser or the second laser is used to emit the communication signal with a predetermined code.

In one scenario, for any one of the first lasers in the first laser array, the first lidar may first transmit a ranging signal using the first laser and then transmit a communication signal of a predetermined code using the first laser. The second lidar may employ a similar approach to transmit the ranging signal and the communication signal of the predetermined code using a second laser in the second laser array.

Thus, the lidar may transmit a communication signal of a predetermined code immediately after transmitting a ranging signal using the laser. Thereby, it is achieved that the laser emits the ranging signal and the communication signal of the predetermined code in the same emission period.

In an embodiment, after each of the first laser arrays or each of the second laser arrays emits a ranging signal, a communication signal of a predetermined code is emitted by using a plurality of first lasers of the first laser arrays or a plurality of second lasers of the second laser arrays.

In some scenarios, the first lidar may first transmit a ranging signal with each first laser in the first laser array and then transmit a communication signal of a predetermined code with one or more first lasers in the first laser array.

The second lidar may employ a similar approach to transmit the ranging signal and the communication signal of the predetermined code using a second laser in the second laser array.

Thereby, it is achieved that the laser transmits the ranging signal and the communication signal of the predetermined code in different transmission periods.

In an embodiment, the second detector in the second detector array is configured to receive a communication signal of a predetermined code emitted by the first laser in the first laser array at a corresponding arrangement position. The first detector in the first detector array is used for receiving communication signals with preset codes transmitted by the second lasers at corresponding arrangement positions in the second laser array. The arrangement positions are used for representing communication contents corresponding to the communication signals.

In practice, the second lidar may receive ranging signals or communication signals of a predetermined code using a plurality of second detectors in a second detector array. The first lidar may receive ranging signals or communication signals of a predetermined code using a plurality of first detectors in a first detector array.

In some scenarios, the first lidar may determine an arrangement position of the plurality of first lasers emitting the communication signal in the first laser array according to a communication content corresponding to the communication signal. Further, the first lidar may transmit communication signals using the determined plurality of first lasers. The second lidar may receive communication signals transmitted by the first lidar using a plurality of second detectors in a second detector array. Further, the second lidar may determine communication content corresponding to the received communication signal according to arrangement positions of a plurality of second detectors receiving the communication signal in the second detector array.

Similarly, the second lidar may transmit communication signals using a plurality of second lasers in the second laser array by a similar method. The first lidar may receive the communication signal by a similar method using a plurality of first detectors in the first detector array and determine a communication content corresponding to the received communication signal.

Thus, the lidar can transmit communication signals of corresponding communication contents by setting arrangement positions of a plurality of lasers for transmitting communication signals in the laser array. The lidar can determine the communication content corresponding to the received communication signal by identifying the arrangement positions of a plurality of detectors receiving the communication signal in the detector array.

In one embodiment, the second lidar outputs communication content corresponding to the target communication signal to a vehicle to which the second lidar is communicatively connected, so that the vehicle performs the target task based on the communication content corresponding to the target communication signal.

As an example, the target communication signal characterizes environmental information within the acquisition blind zone range. After receiving the target communication signal transmitted by the first laser radar, the second laser radar can acquire surrounding environment information of a vehicle where the second laser radar is located and transmit the surrounding environment information to the first laser radar. Therefore, the vehicle where the first laser radar is located can acquire the environmental information in the blind area range through communication with the second laser radar.

As yet another example, the target communication signal characterizes turning off the high beam. After the second laser radar receives the target communication signal emitted by the first laser radar, the vehicle where the second laser radar is located can turn off the high beam. Therefore, traffic accidents can be avoided.

Referring to fig. 4, a flow chart of an embodiment of a lidar communication method according to the present invention is shown. As shown in fig. 4, the laser radar communication method includes the steps of:

step 401, determining whether there is a second lidar that needs to communicate.

In this embodiment, a first lidar (e.g., the first lidar 101 shown in fig. 1) may determine whether a second lidar (e.g., the second lidar 102 shown in fig. 1) is present that needs to communicate.

Wherein the first and second lidars may be mounted to a vehicle or an infrastructure (e.g., a base station).

In some scenarios, the first lidar may determine that other lidars are present in surrounding vehicles using bluetooth, 4G/5G communication devices, ultrasound, etc. in which it is installed.

In an embodiment, the first lidar may perform step 401 described above as follows.

In response to receiving an echo signal returned by a ranging signal transmitted by the first laser radar after encountering a detection object, a number of sampling points is determined from the echo signal.

The ranging signal may be a signal for measuring a distance to the detection object by the first lidar. The echo signal may be a signal reflected by the ranging signal after encountering a detection object.

In some scenarios, the first lidar may randomly determine the number of sampling points from the echo signal.

In some scenarios, the first lidar may determine the number of sampling points from the echo signal at predetermined time intervals.

And determining the number of noise points from the sampling points, and determining whether the second laser radar exists based on the ratio of the number of noise points to the number of sampling points.

The ratio of the number of noise points to the number of sampling points is the noise ratio. In some scenarios, when the first laser radar is ranging, if the noise rate of a specific direction is found to exceed a threshold value, it is determined that a second laser radar needing to communicate exists in the direction. Alternatively, the noise rate threshold may be set at 10 ^-7 To 10 ^-5 Between them.

In some scenarios, in response to a ratio of the number of noise points to the number of sampling points being greater than or equal to a preset threshold, the first lidar may determine that there is a second lidar that needs to communicate. In response to the ratio of the number of noise points to the number of sampling points being less than a preset threshold, the first lidar may determine that there is no second lidar that needs to communicate.

Thus, the first lidar determines whether or not there is a second lidar that needs to communicate by the noise ratio acquired from the echo signal. Therefore, the first laser radar can more accurately determine the second laser radar needing to communicate.

It should be noted that, the second lidar may also determine whether there is a lidar that needs to communicate by using a similar method.

Step 402, in response to the presence of the second lidar, transmitting a predetermined coded request communication signal for the second lidar to transmit a predetermined coded grant communication signal for the request communication signal.

In this embodiment, the first lidar may transmit a predetermined coded request communication signal in response to the presence of the second lidar that needs to communicate. If the request communication signal transmitted by the first laser radar is received, the second laser radar may transmit a predetermined coded consent communication signal for the request communication signal.

In an embodiment, the first lidar may further determine whether the number of times the request communication signal is transmitted is less than a preset number of times when the grant communication signal is not received.

And transmitting the request communication signal when the number of times the request communication signal is transmitted is less than a preset number of times.

In some scenarios, the first lidar may stop transmitting the request communication signal when the number of times the request communication signal is transmitted is equal to or greater than a preset number of times.

It can be seen that the first lidar may transmit the request communication signal multiple times when the first lidar does not receive the consent communication signal transmitted by the second lidar. Therefore, the probability that the second laser radar receives the request communication signal transmitted by the first laser radar is improved.

In response to receiving the consent communication signal, a target communication signal of a predetermined code is transmitted for processing by the second lidar after receiving the target communication signal, step 403. In this embodiment, the first lidar may transmit a target communication signal of a predetermined code in response to receiving the consent communication signal.

In practice, after the first lidar receives the consent communication signal emitted by the second lidar, a communication connection can be established with the second lidar.

In this embodiment, if the target communication signal emitted by the first lidar is received, the second lidar may process the target communication signal.

In some scenarios, the first lidar may transmit a request communication signal or a target communication signal to the second lidar. The second lidar may transmit an agreement communication signal to the first lidar.

In practice, the lidar can realize the transmission of the communication content corresponding to the communication signal with the preset code by transmitting the communication signal with the preset code. Thus, the lidar achieves transmission of the communication content corresponding to the request communication signal, the grant communication signal, or the target communication signal by transmitting the request communication signal, the grant communication signal, or the target communication signal of the predetermined code.

The second lidar may process the target communication signal in a variety of ways.

As an example, when a front vehicle blocks the view of a laser radar on a rear vehicle under a congested road segment, a first laser radar may transmit a target communication signal that characterizes acquisition of surrounding information ahead. Therefore, after receiving the target communication signal transmitted by the first laser radar, the second laser radar can acquire surrounding environment information in front and transmit the surrounding environment information to the first laser radar, and the automatic driving automobile can perform operations such as position information interaction, driving route planning and the like according to the communication content processed by the target communication signal.

As yet another example, where there is an obstructing vehicle when the autonomous vehicle needs to change lanes, accelerate, decelerate, or overtake, the first lidar may transmit a target communication signal that characterizes the lane change, acceleration, deceleration, or overtake is to be made. Therefore, after the second laser radar receives the target communication signal transmitted by the first laser radar, corresponding avoidance operation can be executed.

In this embodiment, the first lidar and the second lidar establish a communication connection by transmitting a request communication signal and an agreement communication signal, respectively. The second lidar may perform corresponding operations based on interaction with the first lidar by processing the target communication signal transmitted by the first lidar.

After the first laser radar determines the second laser radar needing to communicate, the first laser radar transmits the request communication signal, so that the first laser radar can effectively transmit the request communication signal.

Since the communication signal emitted by the laser radar is an encoded optical pulse signal, the speed and safety of communication content transmission between different vehicles or between the vehicles and the infrastructure can be improved.

In an embodiment, the first lidar is provided with a first laser array for transmitting ranging signals and predetermined coded request or target communication signals.

Typically, the first lidar determines the distance to the detection object by transmitting a ranging signal with a first laser in the first laser array. Thus, the communication signal of the predetermined code is emitted by the first laser in the first laser array, without the need to provide a laser dedicated to emitting the communication signal of the predetermined code. Therefore, the transmission of communication content can be realized on the basis of not increasing the volume and the production cost of the laser radar.

In practice, the first lidar may transmit the predetermined coded request communication signal or the target communication signal in a variety of ways.

In one embodiment, the first lidar may transmit a predetermined coded request communication signal or target communication signal by.

Specifically, after a first laser in the first laser array transmits a ranging signal, a request communication signal or a target communication signal is transmitted with the first laser.

It can be seen that the first lidar may transmit the communication signal of the predetermined code using the first laser for ranging without additionally providing a laser for transmitting the communication signal of the predetermined code.

Specifically, after each of the first lasers in the first laser array transmits a ranging signal, a request communication signal or a target communication signal is transmitted using a plurality of the first lasers in the first laser array.

It should be noted that, the number of the first lasers used by the first laser radar to transmit the request communication signal or the target communication signal may be preset, or may be determined according to actual requirements, which is not limited herein specifically.

In practice, the above-mentioned communication signal of predetermined coding may include a plurality of optical pulse signals. Thus, the first and second lidars may utilize the plurality of optical pulse signals to achieve a predetermined encoding of the communication signal. It should be noted that the number of optical pulse signals included in the communication signal of the predetermined code may be set according to actual requirements, and is not particularly limited herein.

The communication signal of the predetermined code includes at least one of the request communication signal, the target communication signal, and the grant communication signal.

In an embodiment, the communication content corresponding to the predetermined coded communication signal is determined according to the pulse width of each of the plurality of optical pulse signals included.

Optionally, the pulse intervals of adjacent pulse signals in the plurality of pulse signals are the same, and the pulse amplitudes of the pulse signals in the plurality of pulse signals are the same.

In connection with the schematic diagrams shown in fig. 5A, 5B and 5C, it is described how the predetermined encoding of the communication signal is achieved based on the pulse width of the optical pulse signal.

In fig. 5A, 5B, and 5C, the pulse interval of adjacent optical pulse signals is T0, and the pulse amplitude of each optical pulse signal is H0. According to one embodiment, the encoding may be performed using pulse width. For example, when encoding is performed using two pulse widths, if the pulse width of the optical pulse signal is L0, the encoding of the optical pulse signal is 0, and if the pulse width of the optical pulse signal is L1, the encoding of the optical pulse signal is 1.

T0 denotes a reference pulse pitch, H0 denotes a reference pulse amplitude, L0 denotes a reference pulse width, and L1 denotes a reference pulse width n times. In practice, the value of n may be set according to actual requirements, which is not specifically limited herein.

As shown in fig. 5A, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse widths of the optical pulse signals are all L0, and thus the code of the communication signal of the predetermined code is "000". When each pulse width is L0, the code of the communication signal is identified as 000. For example, a code of "000" may indicate the communication content for which communication is requested.

As shown in fig. 5B, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse widths of the optical pulse signals are L0, and L1, respectively, and thus the code of the communication signal of the predetermined code is "001". When the respective pulse widths are L0, L1 in order, the code of the communication signal is recognized as 001. For example, a code of "001" may indicate that the communication content is agreed to communicate.

As shown in fig. 5C, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse widths of the optical pulse signals are L0, L1, and L0, respectively, and thus, the code of the communication signal of the predetermined code is "010". When the respective pulse widths are L0, L1, and L0 in order, the code of the communication signal is identified as 010. For example, encoding "010" may indicate the communication content for acquiring the environment information within the visible area.

Thus, the lidar can transmit the communication signal of the corresponding communication content by setting the pulse width of the optical pulse signal in the communication signal. The laser radar can determine the communication content corresponding to the received communication signal by identifying the pulse width of the optical pulse signal in the communication signal. Thus, a simple way of encoding the communication signal is provided.

In one embodiment, the communication content corresponding to the predetermined encoded communication signal is determined according to the pulse amplitude of each of the included plurality of optical pulse signals.

Optionally, the pulse intervals of adjacent optical pulse signals in the plurality of optical pulse signals are the same, and the pulse widths of the respective optical pulse signals in the plurality of optical pulse signals are the same.

In connection with the schematic diagrams shown in fig. 6A, 6B and 6C, it is described how the predetermined encoding of the communication signal is achieved based on the pulse amplitude of the optical pulse signal.

In fig. 6A, 6B, and 6C, the pulse interval of adjacent optical pulse signals is T0, and the pulse width of each optical pulse signal is L0. According to one embodiment, the pulse amplitude may be used for encoding. For example, when encoding is performed using two pulse amplitudes, if the pulse amplitude of the optical pulse signal is H0, the encoding of the optical pulse signal is 0, and if the pulse amplitude of the optical pulse signal is H1, the encoding of the optical pulse signal is 1.

See the foregoing for meanings of T0 and H0. H1 represents n times the reference pulse amplitude.

As shown in fig. 6A, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse amplitudes of the optical pulse signals are all H0, and thus the code of the communication signal of the predetermined code is "000".

As shown in fig. 6B, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse amplitudes of the optical pulse signals are H0, H1, respectively, and thus the code of the communication signal of the predetermined code is "001". When the respective pulse amplitudes are H0, H1 in order, the code of the communication signal is recognized as 001.

As shown in fig. 6C, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse amplitudes of the optical pulse signals are H0, H1, H0, respectively, and thus the code of the communication signal of the predetermined code is "010". When the respective pulse amplitudes are H0, H1, H0 in order, the code of the communication signal is identified as 010.

Thus, the laser radar can transmit the communication signal of the corresponding communication content by setting the pulse amplitude of the optical pulse signal in the communication signal. The laser radar can determine the communication content corresponding to the received communication signal by identifying the pulse amplitude of the optical pulse signal in the communication signal.

In an embodiment, the communication content corresponding to the predetermined coded communication signal is determined according to the pulse interval of the adjacent optical pulse signals in the included plurality of optical pulse signals.

Optionally, the pulse width and the pulse amplitude of each of the plurality of optical pulse signals are the same.

Communication signals realizing predetermined encoding according to the pulse intervals of the optical pulse signals are described below with reference to schematic diagrams shown in fig. 7A, 7B, and 7C.

In fig. 7A, 7B, and 7C, the pulse width of each optical pulse signal is L0, and the pulse amplitude of each optical pulse signal is H0. According to one embodiment, the pulse spacing may be employed for encoding. For example, when encoding is performed using two pulse intervals, if the pulse interval with the last optical pulse signal is T0 or there is no last optical pulse signal, the encoding of the optical pulse signal is 0, and if the pulse interval with the last optical pulse signal is T1, the encoding of the optical pulse signal is 1.

See the foregoing for meanings of T0 and H0. T1 represents a reference pulse pitch n times.

As shown in fig. 7A, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse intervals between adjacent optical pulse signals are each T0, and the three optical pulse signals are not preceded by the last optical pulse signal, and thus, the code of the communication signal of the predetermined code is "000". When the pulse intervals between adjacent optical pulse signals are all T0, the code of the communication signal is identified as 000.

As shown in fig. 7B, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse intervals between adjacent optical pulse signals are T0 and T1, respectively, and the three optical pulse signals are not preceded by the last optical pulse signal, and thus the code of the communication signal of the predetermined code is "001". When the pulse interval between adjacent optical pulse signals is T0, T1 in order, the code of the communication signal is identified as 001.

As shown in fig. 7C, the communication signal of the predetermined code includes three optical pulse signals, wherein the pulse intervals between adjacent optical pulse signals are T1 and T0, respectively, and the three optical pulse signals are not preceded by the last optical pulse signal, and thus the code of the communication signal of the predetermined code is "010". When the pulse intervals between adjacent optical pulse signals are T1 and T0 in sequence, the code of the communication signal is identified as 010.

Thus, the laser radar can emit the communication signal of the corresponding communication content by setting the pulse interval of the optical pulse signal in the communication signal. The laser radar can determine the communication content corresponding to the received communication signal by identifying the pulse interval of the optical pulse signal in the communication signal.

It should be noted that the above-mentioned coding of the optical pulse signal is only an alternative implementation manner. In practice, the encoding of the optical pulse signal may take other values.

For example, the encoding of the communication signals may be 011, 100, 101, etc. For another example, the codes of the communication signals may be 001, 002, etc.

In some scenarios, a communication signal encoded as 001 may represent congestion, and encoded 002 may represent traffic information such as clear roads. In some scenarios, the communication signal encoded as 001 may represent lane changes and the communication signal encoded as 002 may represent driving vehicle information such as deceleration. Of course, the lidar may also customize other communication content for controlling the autonomous vehicle, which is not further illustrated herein.

In an embodiment, the first lidar may transmit a predetermined coded request communication signal or target communication signal as follows.

A plurality of first lasers having an arrangement position is determined from the first laser array.

The arrangement position is used for representing the communication content corresponding to the request communication signal or the target communication signal.

In some scenarios, the first lidar may determine an arrangement position of the plurality of first lasers for transmitting the request communication signal or the target communication signal in the first laser array according to a communication content corresponding to the request communication signal or the target communication signal.

The request communication signal or the target communication signal is transmitted using the plurality of first lasers.

The manner in which the first lidar transmits the request communication signal or the target communication signal using the plurality of first lasers in the first laser array is described below with reference to fig. 8A. The first laser array includes a predetermined number of first laser groups (e.g., 5 first laser groups as shown in fig. 8A). When the transmitted communication content includes a request communication signal or a target communication signal of "HELLO", the first lidar may determine a plurality of first lasers whose arrangement position characterizes "H", "E", "L", "O" from the first laser group 8011, the first laser group 8012, the first laser group 8013, the first laser group 8014 and the first laser group 8015, respectively. Further, the first lidar may transmit a communication signal using the determined plurality of first lasers to thereby implement a request communication signal or a target communication signal whose transmitted communication content includes "HELLO". Thus, the first lidar can transmit a request communication signal or a target communication signal of a predetermined code by setting arrangement positions of a plurality of first lasers for transmitting communication signals in the first laser array.

Similarly, the first lidar may receive a predetermined encoded request communication signal or a target communication signal as follows.

A plurality of first detectors having an arrangement position is determined from the first detector array.

In some scenarios, the first lidar may determine an arrangement position of a plurality of first detectors in the first detector array that received the request communication signal or the target communication signal.

And determining the communication content corresponding to the received request communication signal or the target communication signal according to the determined arrangement positions of the plurality of first detectors.

The manner in which the first lidar receives the request communication signal or the target communication signal with the plurality of first detectors in the first detector array is described below in connection with fig. 8B. The first detector array includes a predetermined number of first detector groups (e.g., 5 first detector groups as shown in fig. 8B). When the request communication signal or the target communication signal is received, the first lidar may determine the arrangement positions of the plurality of first probes that receive the request communication signal or the target communication signal from among the first probe group 8021, the first probe group 8022, the first probe group 8023, the first probe group 8024, and the first probe group 8025, respectively. Further, the first lidar may determine, from the first detector group 8021, the first detector group 8022, the first detector group 8023, the first detector group 8024, and the first detector group 8025, arrangement positions of the plurality of first detectors that receive the request communication signal or the target communication signal to respectively characterize "H", "E", "L", "O". Thus, the first lidar receives a request communication signal or a target communication signal whose communication content includes "HELLO".

Thus, the first laser radar can determine the communication content corresponding to the received communication signal by identifying the arrangement positions of the plurality of first detectors receiving the communication signal in the first detector array. Further, reception of the communication signal of the predetermined code is achieved.

The lidar may also be used to control the autonomous vehicle by transmitting and receiving consent communication signals, or communication signals that characterize other communication content, as in fig. 8A and 8B.

The above description is only illustrative of the few preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure in the embodiments of the present invention is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.

Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.

Claims

1. A lidar communication method applied to a first lidar, comprising:

determining whether a second laser radar which needs to be communicated exists or not based on the noise rate acquired by the first laser radar during distance measurement;

transmitting a predetermined coded request communication signal for the second lidar to transmit a predetermined coded grant communication signal for the request communication signal in response to the presence of the second lidar;

in response to receiving the consent communication signal, a target communication signal of a predetermined encoding is transmitted for processing by the second lidar after receiving the target communication signal.

2. The method according to claim 1, characterized in that the first lidar is provided with a first laser array for transmitting ranging signals and the request communication signal or the target communication signal of a predetermined code.

3. The method of claim 2, wherein the first lidar transmits the request communication signal or the target communication signal by:

after a first laser in the first laser array transmits a ranging signal, the first laser is utilized to transmit the request communication signal or the target communication signal.

4. The method of claim 2, wherein the first lidar transmits the request communication signal or the target communication signal by:

after each first laser in the first laser array transmits a ranging signal, the request communication signal or the target communication signal is transmitted with a plurality of first lasers in the first laser array.

5. The method of claim 1, wherein the step of determining the position of the substrate comprises,

the communication signal of the preset code comprises a plurality of optical pulse signals, and the corresponding communication content of the communication signal is determined according to the pulse width of each optical pulse signal in the plurality of optical pulse signals;

the communication signals include at least one of the request communication signal, the target communication signal, and the grant communication signal.

6. The method according to claim 1, characterized in that:

the communication signal of the preset code comprises a plurality of optical pulse signals, the corresponding communication content of the communication signal is determined according to the pulse amplitude of each optical pulse signal in the plurality of optical pulse signals;

7. The method according to claim 1, characterized in that:

the communication signal of the preset code comprises a plurality of optical pulse signals, and the corresponding communication content of the communication signal is determined according to the pulse interval of the adjacent optical pulse signals in the plurality of optical pulse signals;

8. The method of claim 2, wherein the step of determining the position of the substrate comprises,

the first lidar transmits the request communication signal or the target communication signal by:

determining a plurality of first lasers with arrangement positions from the first laser array, wherein the arrangement positions are used for representing communication contents corresponding to the request communication signals or the target communication signals;

The request communication signal or the target communication signal is transmitted with the plurality of first lasers.

9. The method of claim 1, wherein the determining whether there is a second lidar that needs to communicate based on a noise ratio obtained by the first lidar at the time of ranging, comprises:

determining the number of sampling points from echo signals returned after the ranging signals transmitted by the first laser radar meet a detection object in response to the echo signals;

determining a number of noise points in the predetermined number of sampling points;

determining whether the second lidar is present based on a ratio of the number of noise points to the number of sampling points.

10. The method according to claim 1, wherein the method further comprises:

determining whether the number of times of transmitting the request communication signal is less than a preset number of times in response to not receiving the grant communication signal;

and when the number of times of transmitting the request communication signal is smaller than the preset number of times, transmitting the request communication signal again.

11. A lidar for performing the method of any of claims 1-10.

12. A lidar communication system, wherein the communication system comprises a first lidar and a second lidar, the first lidar and the second lidar being the lidar of claim 11, respectively, wherein:

the first laser radar transmits a request communication signal with preset codes in response to the fact that the second laser radar which needs to be communicated exists based on the noise rate acquired by the first laser radar during distance measurement;

the second laser radar transmits a predetermined coded consent communication signal in response to the request communication signal;

the first laser radar transmitting a target communication signal of a predetermined code in response to the consent communication signal;

and the second laser radar receives the target communication signal and processes the target communication signal.

13. The system of claim 12, wherein the system further comprises a controller configured to control the controller,

the predetermined coded communication signal comprises a plurality of optical pulse signals,

the communication content corresponding to the communication signals is determined according to the pulse width of each optical pulse signal in the plurality of optical pulse signals;

14. The system according to claim 12, wherein:

the communication content corresponding to the communication signals is determined according to the pulse amplitude of each optical pulse signal in the plurality of optical pulse signals;

15. The system according to claim 12, wherein:

the communication content corresponding to the communication signals is determined according to the pulse intervals of adjacent optical pulse signals in the plurality of optical pulse signals;

16. The system of any one of claims 12-15, wherein,

the first and second lidars are provided with first and second laser arrays for transmitting ranging signals and communication signals, and first and second detector arrays for receiving the ranging signals and the communication signals, respectively.

17. The system of claim 16, wherein the system further comprises a controller configured to control the controller,

the communication signal is transmitted with the first laser or the second laser in the first laser array after the ranging signal is transmitted by the first laser or the second laser in the second laser array.

18. The system of claim 16, wherein the system further comprises a controller configured to control the controller,

after each first laser in the first laser array or each second laser in the second laser array transmits a ranging signal, the communication signal is transmitted with a plurality of first lasers in the first laser array or a plurality of second lasers in the second laser array.

19. The system of claim 16, wherein the system further comprises a controller configured to control the controller,

the second detector in the second detector array is used for receiving the communication signals emitted by the first lasers at the corresponding arrangement positions in the first laser array;

the first detector in the first detector array is used for receiving the communication signals emitted by the second lasers at the corresponding arrangement positions in the second laser array;

the arrangement positions are used for representing communication contents corresponding to the communication signals.

20. The system of any one of claims 12-15 and 17-19,

and the second laser radar outputs communication content corresponding to the target communication signal to a vehicle in communication connection with the second laser radar, so that the vehicle executes a target task based on the communication content corresponding to the target communication signal.