CN115754979A

CN115754979A - Laser radar control method and device, control chip and laser radar

Info

Publication number: CN115754979A
Application number: CN202310010551.5A
Authority: CN
Inventors: 蔺百杨
Original assignee: Beijing Liangdao Intelligent Vehicle Technology Co ltd
Current assignee: Beijing Liangdao Intelligent Vehicle Technology Co ltd
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-03-07
Anticipated expiration: 2043-01-05
Also published as: CN115754979B; CN116466322A

Abstract

The embodiment of the application provides a laser radar control method and device, a control chip and a laser radar, and relates to the technical field of laser radars. The method is applied to a control chip of the laser radar, and the laser radar also comprises a receiving unit and a transmitting unit; the receiving unit comprises a specified number of receiving areas, each receiving area comprising at least one receiver; the transmitting unit comprises a specified number of transmitting areas, each transmitting area comprising at least one transmitter; the designated number of receiving areas corresponds one-to-one to the designated number of transmitting areas. The method comprises the following steps: determining a receiver which has been activated and generates crosstalk noise when activated as an alternative receiver; determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving area; and activating the transmitter corresponding to the first receiver to be activated while activating the transmitting area corresponding to the receiving area to be activated. Thus, the accuracy of the detection result can be improved.

Description

Laser radar control method and device, control chip and laser radar

Technical Field

The application relates to the technical field of laser radars, in particular to a laser radar control method, a laser radar control device, a laser radar control chip and a laser radar.

Background

The solid-state laser radar has the advantages of high reliability, small size, high imaging speed and the like, so the solid-state laser radar is suitable for the field of vehicle driving such as assistant driving and automatic driving. The solid-state lidar is capable of detecting the surrounding environment based on a transmitting unit and a receiving unit. The transmitting unit comprises a plurality of transmitters, the receiving unit comprises a plurality of receivers, and the transmitters in the transmitting unit correspond to the receivers in the receiving unit in a one-to-one mode. The transmitter may be a VCSEL (Vertical-Cavity Surface-Emitting Laser), and the receiver may be a SPAD (Single Photon Avalanche detector).

In the related art, when a plurality of adjacent receivers in a receiving unit are simultaneously in an operating state, crosstalk (crosstalk) may exist between the plurality of receivers, which may cause crosstalk noise in a detection result of the receiver, and further, may cause the accuracy of the detection result to be low.

Disclosure of Invention

An object of the embodiments of the present application is to provide a laser radar control method, device, control chip, and laser radar, so as to improve accuracy of a detection result. The specific technical scheme is as follows:

in a first aspect of an embodiment of the present application, a laser radar control method is provided, where the method is applied to a control chip of a laser radar, and the laser radar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas;

the method comprises the following steps: when all receiving areas are activated according to a first sequence, the following steps are executed until all receiving areas are activated, and a first detection result is obtained:

determining a receiver that has been activated and that generates crosstalk noise when activated as an alternative receiver;

determining a first receiver to be activated from the alternative receivers and a receiving area to be activated from the receiving area which is not activated; the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance;

activating a transmitter corresponding to the first receiver to be activated while activating a transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive respective corresponding measuring pulses;

wherein the first detection result is determined according to a detection result obtained by activating all the receivers for the last time.

In some embodiments, the method further comprises:

after all receiving areas are activated, determining a receiver with crosstalk noise in the first detection result as a target receiver;

according to a second sequence, activating the transmitters corresponding to the target receivers and the target receivers so that the target receivers receive the measuring pulses transmitted by the transmitters corresponding to the target receivers to obtain second detection results of the target receivers; wherein the second order is determined according to a positional relationship between the respective target receivers;

target detection results are determined based on the first detection results of all the receivers and the second detection results of the respective target receivers.

In some embodiments, said activating the transmitter corresponding to each target receiver and each target receiver in the second order comprises:

determining at least one target receiver from the target receivers as a second receiver to be activated according to the second sequence; the distance between every two receivers in the second receivers to be activated is not smaller than a second preset distance;

and activating the transmitter corresponding to the second receiver to be activated and the second receiver to be activated, and returning to execute the step of determining at least one target receiver from the target receivers as the second receiver to be activated according to the second sequence until all the target receivers are activated.

In some embodiments, the determining a receiver of the first detection result that crosstalk noise exists as a target receiver includes:

for each receiver, calculating a ratio of a signal to crosstalk noise in a first detection result of the receiver as a signal-to-noise ratio of the first detection result of the receiver;

and if the signal-to-noise ratio of the first detection result of the receiver is not greater than a preset threshold value, determining the receiver as a target receiver.

In some embodiments, the determining a first receiver to be activated from among the alternative receivers and determining a receiving area to be activated from among the non-activated receiving areas includes:

determining at least one receiving area from the non-activated receiving areas as a receiving area to be activated according to the first sequence; the distance between every two receiving areas in the receiving areas to be activated is not smaller than a third preset distance;

determining at least one receiver, which has a distance not less than the first preset distance from the receiving area to be activated, from the alternative receivers as a first receiver to be activated; wherein the distance between every two receivers in the at least one receiver is not less than the second preset distance.

determining at least one receiver from the alternative receivers as a first receiver to be activated; the distance between every two receivers in the first receivers to be activated is not smaller than the second preset distance;

determining at least one receiving area, which is not less than the first preset distance from the first receiver to be activated, from the inactive receiving areas as receiving areas to be activated; wherein a distance between every two receiving areas in the at least one receiving area is not less than the third preset distance.

In a second aspect of the embodiments of the present application, a lidar control device is provided, where the lidar control device is applied to a control chip of a lidar, and the lidar further includes a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas;

the device comprises modules for activating each receiving area according to a first sequence until all receiving areas are activated to obtain a first detection result;

the device comprises:

a first determining module for determining a receiver which has been activated and generates crosstalk noise when activated, as an alternative receiver;

a second determining module, configured to determine a first receiver to be activated from among the candidate receivers, and determine a receiving area to be activated from among the receiving areas that are not activated; the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance;

the first activation module is used for activating the transmitter corresponding to the first receiver to be activated while activating the transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive the measuring pulse corresponding to each of the receiving area to be activated and the first receiver to be activated; wherein the first detection result is determined according to a detection result obtained by activating all the receivers for the last time.

In some embodiments, the apparatus further comprises:

a third determining module, configured to determine, after all receiving areas are activated, a receiver with crosstalk noise in the first detection result as a target receiver;

the second activation module is used for activating the transmitters corresponding to the target receivers and the target receivers according to a second sequence, so that the target receivers receive the measurement pulses transmitted by the transmitters corresponding to the target receivers, and second detection results of the target receivers are obtained; wherein the second order is determined according to a positional relationship between the respective target receivers;

a result determination module for determining target detection results based on the first detection results of all the receivers and the second detection results of the respective target receivers.

In some embodiments, the second activation module comprises:

the first determining submodule is used for determining at least one target receiver from the target receivers according to the second sequence to serve as a second receiver to be activated; the distance between every two receivers in the second receivers to be activated is not smaller than a second preset distance;

and the first activation submodule is used for activating the transmitter corresponding to the second receiver to be activated and triggering the first determination submodule until all target receivers are activated.

In some embodiments, the third determining module is specifically configured to:

for each receiver, calculating a ratio of a signal to crosstalk noise in a detection result of the receiver as a signal-to-noise ratio of the detection result of the receiver;

and if the signal-to-noise ratio of the detection result of the receiver is not greater than a preset threshold value, determining the receiver as a target receiver.

In some embodiments, the second determining module comprises:

the second determining submodule is used for determining at least one receiving area from the non-activated receiving areas as a receiving area to be activated according to the first sequence; the distance between every two receiving areas in the receiving areas to be activated is not smaller than a third preset distance;

a third determining submodule, configured to determine, from the candidate receivers, at least one receiver whose distance from the receiving area to be activated is not less than the first preset distance as a first receiver to be activated; wherein the distance between every two receivers in the first to-be-activated receivers is not less than the second preset distance.

In some embodiments, the second determining module comprises:

a fourth determining submodule, configured to determine at least one receiver from the candidate receivers as a first receiver to be activated; the distance between every two receivers in the first receivers to be activated is not smaller than the second preset distance;

a fifth determining submodule, configured to determine, from among the inactive receiving areas, at least one receiving area, as a receiving area to be activated, where a distance from the first receiver to be activated is not less than the first preset distance; and the distance between every two receiving areas in the receiving areas to be activated is not less than the third preset distance.

In a third aspect of the embodiments of the present application, a control chip is provided, where the control chip includes a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface are configured to complete communication between the processor and the memory through the communication bus;

a memory for storing a computer program;

and a processor for implementing any of the above laser radar control methods when executing the program stored in the memory.

In a fourth aspect of the embodiments of the present application, a lidar includes a receiving unit, a transmitting unit, and a control chip for executing any one of the lidar control methods described above; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas correspond to the appointed number of transmitting areas in a one-to-one mode, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas.

Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to perform any of the laser radar control methods described above.

The embodiment of the application has the following beneficial effects:

the embodiment of the application provides a laser radar control method, which is applied to a control chip of a laser radar, wherein the laser radar further comprises a receiving unit and a transmitting unit; the receiving unit comprises a specified number of receiving areas, each receiving area comprising at least one receiver; the transmitting unit comprises a specified number of transmitting areas, each transmitting area comprising at least one transmitter; the appointed number of receiving areas correspond to the appointed number of transmitting areas one by one, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas; the method comprises the following steps: when all receiving areas are activated according to a first sequence, the following steps are executed until all receiving areas are activated, and a first detection result is obtained: determining a receiver which has been activated and generates crosstalk noise when activated as an alternative receiver; determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving area; the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance; activating the transmitter corresponding to the first receiver to be activated while activating the transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive the respective corresponding measuring pulse; wherein the first detection result is determined according to the detection result obtained by activating all the receivers for the last time.

Based on the above processing, the control chip can acquire the detection result detected again by the receiver that has been activated and generates crosstalk noise when activated, while acquiring the detection result of the receiver in the reception area. For the receiver which is activated and generates crosstalk noise when activated, when the receiver is activated again, the distance between other activated receiving areas and the receiver is not less than the first preset distance, so that the influence of other receivers on the receiver can be reduced, and the accuracy of the detection result is improved. In addition, based on the above processing, it is also possible to simultaneously obtain the detection result of the receiving area that is not activated and the detection result detected again by the receiver that has been activated and generates crosstalk noise when activated, which can shorten the time period for obtaining the final detection result and improve the detection efficiency.

Of course, it is not necessary for any product or method of the present application to achieve all of the above-described advantages at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.

Fig. 1 is a schematic structural diagram of an area array according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of another area array provided in the embodiment of the present application;

fig. 3 is a flowchart of a laser radar control method according to an embodiment of the present disclosure;

fig. 4 is a schematic diagram illustrating a location of a receiving area in a receiving unit according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a receiving unit according to an embodiment of the present disclosure;

fig. 6 is a flowchart of another laser radar control method according to an embodiment of the present disclosure;

fig. 7 is a structural diagram of a laser radar control apparatus according to an embodiment of the present application;

fig. 8 is a structural diagram of a control chip according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the description herein are intended to be within the scope of the present disclosure.

The solid-state Flash (laser) radar can detect the surrounding environment based on a transmitting unit and a receiving unit. Compared with a mechanical radar, the solid-state laser radar has the advantages Of high reliability, small size, high imaging speed, large Field Of View (FOV) and the like. The radar can be used as a vehicle-mounted radar and is widely applied to scenes such as auxiliary driving, automatic driving and the like.

In a real scene, various types of interference exist in the detection process of the laser radar based on the transmitter and the receiver, and the detection result is affected by the interference of different types. For example, crosstalk may exist between multiple receivers in the laser radar that are adjacent and simultaneously in an operating state, so that crosstalk noise exists in the detection result of the receiver, and the accuracy of the detection result is affected.

The embodiment of the application provides a laser radar control method, which is applied to a control chip of a laser radar. The laser radar also comprises a receiving unit and a transmitting unit; the receiving unit comprises a specified number of receiving areas, each receiving area comprising at least one receiver; the transmitting unit comprises a specified number of transmitting areas, each transmitting area comprising at least one transmitter; the appointed number of receiving areas are in one-to-one correspondence with the appointed number of transmitting areas, so that the receiving areas receive the measuring pulse transmitted by the corresponding transmitting areas.

The number of receivers included in the receiving area and the arrangement of the receivers may be expressed as the dimension of the receiving area, for example, the arrangement of the receivers may be: arranged in a matrix form; the number of emitters included in the emitting area and the arrangement of the emitters may be expressed as dimensions of the emitting area, for example, the arrangement of the emitters may be: arranged in a matrix form. The emitter may be a VCSEL and the receiver may be a SPAD or SiPM (Silicon photomultiplier).

The receiving unit contains a specified number of receiving areas of the same or different dimensions, which may contain at least one receiver for any receiving area. Dimensional representation of the receiving area: the receiving area contains the number and arrangement of receivers. If the receiving area includes a plurality of receivers, the spatial positions of the plurality of receivers included in the receiving area in the receiving unit may be varied. For example, the plurality of receivers may be spatially adjacent, or the plurality of receivers may be spatially separated. If the plurality of receivers included in the receiving unit are arranged in a matrix, the receiving unit may also be referred to as a receiving area array.

Accordingly, the emission unit contains a specified number of emission regions, which may be the same or different in dimension. The dimensions of the emission area represent: the emission area contains the number and arrangement of emitters. For any emission area, the emission area may contain at least one emitter. If the transmitting area includes a plurality of transmitters, the spatial positions of the plurality of transmitters included in the transmitting area may also be varied. For example, the plurality of emitters may be spatially adjacent, or the plurality of emitters may be spatially separated. If the transmitter unit includes a plurality of transmitters arranged in a matrix, the transmitter unit may also be referred to as a transmitting area array.

In one implementation, the receivers in the receiving unit are arranged in a matrix, and correspondingly, the transmitters in the transmitting unit are arranged in a matrix, so that the receiving unit can be divided into a specified number of rectangular areas, and each rectangular area is a receiving area; similarly, the transmitting unit may be divided into a specified number of rectangular regions in the same division manner, and each rectangular region is a transmitting region.

When one transmitter (forming one transmission area) corresponds to one receiver (forming one reception area), the number of receivers included in one reception area is the same as the number of transmitters included in the corresponding transmission area. The master control chip may activate a transmitter and a receiver corresponding to the transmitter. The receiver can receive the measuring pulse transmitted by the transmitter to obtain a detection result.

When one transmitter (forming one transmission area) corresponds to a plurality of receivers (forming one reception area), the number of receivers included in one reception area is larger than the number of transmitters included in the corresponding transmission area. The master control chip may activate one transmitter and a plurality of receivers corresponding to the transmitter. The plurality of receivers can receive the measuring pulse transmitted by the transmitter to obtain a detection result.

When a plurality of transmitters (forming one transmission area) correspond to a plurality of receivers (forming one reception area), the main control chip may activate all transmitters in one transmission area and all receivers in the reception area corresponding to the transmission area. The receiver in the receiving area can receive the measuring pulse transmitted by the transmitting area to obtain a detection result.

The control chip of the laser radar can predetermine the receiving area to which each receiver in the receiving unit belongs, and further, can determine the receivers contained in each of the specified number of receiving areas. Accordingly, the transmission area to which each transmitter in the transmission unit belongs can be determined, and further, the transmitters contained in each of the specified number of transmission areas can be determined. In addition, the correspondence between the receiving areas and the transmitting areas, and the correspondence between the receivers and the transmitters, i.e. for each receiving area in the receiving unit, there is a transmitting area in the transmitting unit corresponding to it, can also be determined.

Fig. 1 is a schematic structural diagram of an area array provided in an embodiment of the present application, and fig. 2 is a schematic structural diagram of another area array provided in the embodiment of the present application. The area arrays shown in fig. 1 and 2 may represent a receiving area array (i.e., a receiving unit) or a transmitting area array (i.e., a transmitting unit). Each circle in fig. 1 and 2 represents a device in an area array, i.e., may be a receiver in a receiving area array or a transmitter in a transmitting area array. For example, in fig. 1, the main control chip may control a single point to activate, that is, to individually activate one device a in the area array; alternatively, the area may be controlled to be activated, that is, each device included in the area a in the area array may be activated. In fig. 2, the main control chip can activate multiple devices (device B and device C) at the same time, and the multiple devices are not adjacent.

Referring to fig. 3, fig. 3 is a flowchart of a laser radar control method provided in an embodiment of the present application, where the method may include: upon activation of all reception areas in a first order, the following steps are performed:

s301: a receiver that has been activated and that generates crosstalk noise when activated is determined as an alternative receiver.

S302: a first receiver to be activated is determined from the alternative receivers and a receiving area to be activated is determined from the non-activated receiving area.

And the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance.

S303: and activating the transmitter corresponding to the first receiver to be activated while activating the transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive the corresponding measuring pulse respectively until all receiving areas are activated, and obtaining a first detection result.

Wherein the first detection result is determined according to the detection result obtained by activating all the receivers for the last time.

It is understood that after step S303 is performed, if all reception areas are not activated, step S301 may be performed back.

Based on the above processing, the control chip can acquire the detection result detected again by the receiver that has been activated and generates crosstalk noise when activated, while acquiring the detection result of the receiver in the reception area. For the receiver which is activated and generates crosstalk noise when activated, when the receiver is activated again, the distance between other activated receiving areas and the receiver is not less than the first preset distance, so that the influence of other receivers on the receiver can be reduced, and the accuracy of a detection result is improved. In addition, based on the above processing, it is also possible to simultaneously obtain the detection result of the non-activated receiving area and the detection result detected again by the receiver that has been activated and generates crosstalk noise when activated, so that the time length for obtaining the final detection result can be shortened, and the detection efficiency can be improved.

In the embodiment of the present application, a manner of dividing the receiving unit into a specified number of receiving areas, dividing the transmitting unit into a specified number of transmitting areas, and activating each transmitting area and the receiving area corresponding to the transmitting area to perform probing according to the first order may be referred to as a two-dimensional addressable manner.

It can be understood that, when the detection result of the receiver in each receiving area needs to be obtained, the control chip may activate the transmitting area corresponding to the receiving area and the receiving area, so that the receiver in the receiving area may receive the measurement pulse transmitted by the corresponding transmitter in the transmitting area, and the detection result of the receiver can also be obtained. The moment when the reception area is activated may be referred to as a reception start moment. The detection result of the receiver comprises: the number of photons received by the receiver in each unit time within a preset time period from the reception start time. For example, for any receiver, the detection result of the receiver can be represented in the form of a histogram. Wherein, the horizontal axis of the histogram represents time, and the unit is nanosecond; the vertical axis represents the number of photons in units of one and the unit time represents 1 nanosecond.

For each receiving area, activating the receiving area means activating each receiver in the receiving area, so that each receiver in the receiving area is in an operating state. Correspondingly, for each emission area, activating the emission area means activating each emitter in the emission area to make each emitter in the emission area in an operating state.

The first order represents an order in which the specified number of reception areas are activated. In the present application, the first order may be fixed or non-fixed. The first order does not imply that all receiving areas need to be given a unique bit order number, and two eligible receiving areas may be activated simultaneously as the same bit order in the first order.

Fig. 4 is a schematic position diagram of a receiving area in a receiving unit according to an embodiment of the present disclosure. Each numbered small rectangle in the figure represents a reception area.

For example, the transmission regions and the reception regions corresponding to the reception regions may be activated in the order of the row number of the row to which each reception region belongs from small to large, and the column number of each reception region in the same row from small to large. For multiple reception areas in the receiving unit in fig. 4:

1) When the number of simultaneously activated reception areas at a time is 1, a first order of activating the plurality of reception areas is: 1-2-3-4-5-6-7-8-9-10-11-12-13-14-15-16. Alternatively, the transmitting regions and the receiving regions corresponding to the receiving regions may be activated sequentially in the outward and inward directions in a spiral manner. For multiple receiving areas in the receiving unit in fig. 4, the sequence of activating the multiple receiving areas is: 1-2-3-4-8-12-16-15-14-13-9-5-6-7-11-10. If the receiving areas are activated in sequence from the outside to the inside based on the spiral manner, the determined first receiver to be activated can be farther away from the area to be activated. Based on the processing, the distance between the first receiver to be activated and the area to be activated does not need to be calculated, the calculation amount can be reduced, and the detection efficiency can be improved.

2) When the number of receiving areas activated at one time is more than 1, this approach is mainly to improve the detection efficiency and to shorten the time required to traverse all the areas, in which case receiving areas with greater distances can be activated at the same time in order to reduce crosstalk as much as possible. For example, the more distant 1's and 16's in FIG. 4 may be located at the same bit in the first sequence, activated at the same time.

In another implementation, the first order may also be determined based on the position of the first to-be-activated receiver, and dynamically adjusted as the position of the first to-be-activated receiver to be activated next differs. For example, the control chip may determine a receiving area having a distance not less than a first preset distance from the first receiver to be activated, activate a transmitting area corresponding to the receiving area, and activate the receiving area.

In this application, for any transmitting area, after the transmitting area and the corresponding receiving area are activated and the corresponding detection result is obtained, the transmitting area and the corresponding receiving area may be closed. Therefore, the crosstalk between a plurality of receivers which are adjacent and are in the working state at the same time can be reduced, the crosstalk noise existing in the detection result of the receiver is reduced, and the accuracy of the detection result is improved.

It is understood that the control chip may perform the above steps S301 to S303 in a loop, that is, each time the control chip performs the steps S301 to S303, the activated receiver changes, and the activated receiving area also changes, until all receiving areas are traversed.

In one implementation, for step S301, a receiver that has been activated and that generates crosstalk noise when activated represents: receivers with crosstalk noise are present in the current detection result. The process of specifically determining whether crosstalk noise exists in the detection result will be described in detail in the following embodiments.

The control chip may obtain a current detection result of each receiver in the activated receiving area, and then determine whether the receiver is the receiver which is activated and generates crosstalk noise when activated, as an alternative receiver, based on the detection result.

For example, in fig. 4, the activated receiving areas of the control chip at a certain time include: receiving area 1 and receiving area 2, the receiving area to which any alternative receiver belongs is receiving area 1 or receiving area 2.

The first receiver to be activated is a subset of the alternative receivers, because the distance between a plurality of alternative receivers may be relatively close, and at the same time, the possibility of generating secondary crosstalk exists in the activation, so that a part of the receivers with relatively long distance can be screened out as the first receiver to be activated.

For step S302, the distance between the first receiver to be activated and the receiving area to be activated is represented as: the minimum value of the distance between the first receiver to be activated and each receiver in the receiving area to be activated; alternatively, the distance between the first receiver to be activated and the receiving area to be activated is expressed as: the distance between the first receiver to be activated and the receiver at the central position of the receiving area to be activated.

The way of determining the first receiver to be activated from among the alternative receivers and the receiving area to be activated from among the non-activated receiving areas may be various, for example, the first receiver to be activated and the receiving area to be activated may be determined by at least the following ways:

in a first mode, the first receiver to be activated may be determined after the reception area to be activated is determined. Step S302, including:

the method comprises the following steps: according to a first sequence, at least one receiving area is determined from the non-activated receiving areas as a receiving area to be activated.

And the distance between every two receiving areas in the receiving areas to be activated is not less than a third preset distance.

Step two: and determining at least one receiver with the distance between the receiver and the receiving area to be activated being not less than a first preset distance from the alternative receivers as a first receiver to be activated.

And the distance between every two receivers in the first receivers to be activated is not less than a second preset distance.

The distance between two receiving areas can be expressed as: a minimum value of a distance between each receiver in one of the receiving areas and each receiver in the other receiving area; alternatively, the distance between two receiving areas can be expressed as: the distance between a receiver at the center position of one receiving area and a receiver at the center position of another receiving area.

In this manner, the first order may be preset, that is, the first order is fixed. The control chip may obtain distances between each candidate receiver and each receiving area to be activated after determining the receiving areas to be activated according to the first sequence, and for any candidate receiver, if the distances corresponding to the candidate receivers are not less than a first preset distance, the candidate receiver may be determined as the first receiver to be activated.

For example, in fig. 4, the activated reception area includes: a reception area 1 and a reception area 2. The receiving areas to be activated at the next moment are the receiving area 3, the receiving area 5, the receiving area 11 and the receiving area 13 (assuming that the distance between each two of the receiving area 3, the receiving area 5, the receiving area 11 and the receiving area 13 is not less than the third preset distance, so that the possibility of crosstalk existing between the areas is low, and the areas can be activated at the same time). Furthermore, for any one of the candidate receivers in the receiving area 1 and the receiving area 2, if the distance between the candidate receiver and each receiving area to be activated is not less than the first preset distance, the receiver may be used as the first receiver to be activated.

And when the number of the first receivers to be activated is more than 1, based on the principle of reducing crosstalk, when the distance between 2 receivers in the first receivers to be activated is less than a second preset distance, only one of the receivers to be activated and the receiving area to be activated can be selected to be simultaneously activated. The remaining one is left to be processed for the next activation cycle.

In this embodiment of the application, because the control chip may simultaneously activate the transmitting areas corresponding to the plurality of receiving areas and activate the plurality of receiving areas, if the determined receiving areas to be activated are multiple, the distance between any two receiving areas in the plurality of receiving areas to be activated is not less than the third preset distance, and thus, the influence of crosstalk generated by other receivers in a short distance on the receivers in the receiving areas can be avoided, and further, the accuracy of the detection result of each receiver in the receiving area is improved.

In addition, the control chip can simultaneously activate the transmitters corresponding to the plurality of first to-be-activated receivers and activate the plurality of first to-be-activated receivers, so that the distance between any two receivers in the plurality of first to-be-activated receivers is not less than the second preset distance, the influence of crosstalk generated by other first to-be-activated receivers with a shorter distance on the first to-be-activated receivers can be avoided, and the accuracy of the detection result of the first to-be-activated receiver is further improved.

Based on the processing, the time for acquiring the detection results of all the receivers in the receiving unit can be reduced, and the efficiency for acquiring the detection results is improved.

In a second mode, the reception area to be activated may be determined after the first receiver to be activated is determined. Step S302, including:

step 1: at least one receiver is determined from the alternative receivers as a first receiver to be activated.

Step 2: and determining at least one receiving area with the distance between the receiving area and the first receiver to be activated being not less than the first preset distance from the inactive receiving area as the receiving area to be activated.

In this manner, the first order may also be determined based on the position of the first inactive receiver, since the first inactive receiver is indeterminate and the first order is non-fixed.

In one implementation, the number of the first to-be-activated receivers determined by the control chip at a time may be one. The control chip can randomly select one receiver from the alternative receivers as the first receiver to be activated. Or, the control chip may use the alternative receiver belonging to the first activated receiving area as the first receiver to be activated according to the sequence of the activated receiving areas.

In another implementation, the number of the first to-be-activated receivers determined by the control chip at a time may be multiple. For example, the control chip may randomly select one alternative receiver from the activated receiving areas as the first receiver to be activated.

After obtaining the first to-be-activated receiver, the control chip may obtain the distances between the currently inactive receiving area and each first to-be-activated receiver. Further, an inactive receiving area (which may be referred to as a second candidate receiving area) may be determined, where each corresponding distance is not less than the first preset distance. If there is only one second candidate receiving area, the second candidate receiving area may be determined as the receiving area to be activated. If a plurality of second candidate receiving areas exist, determining a second candidate receiving area, which is determined from the second candidate receiving areas and has a distance with any one of other second candidate receiving areas not smaller than a third preset distance, as a receiving area to be activated; or randomly selecting one receiving area from the second alternative receiving areas as the receiving area to be activated.

For example, in fig. 4, the activated reception area includes: a reception area 1 and a reception area 2. The alternative receiver is present in either reception area 1, or reception area 2. After the control chip determines the first receiver to be activated from the candidate receivers, if it is determined that the distances between the receiving

areas

4, 9, and 11 and the first receiver to be activated are not less than the first preset distance, and the distance between every two receiving areas of the receiving

areas

4, 9, and 11 is not less than the third preset distance, the control chip may determine the receiving

areas

4, 9, and 11 as the receiving areas to be activated.

In the embodiment of the present application, the control chip may activate the transmitters corresponding to the multiple first to-be-activated receivers simultaneously, and activate the multiple first to-be-activated receivers, so that a distance between any two receivers in the multiple first to-be-activated receivers is not less than a second preset distance, and thus, an influence of crosstalk generated by other first to-be-activated receivers with a shorter distance on the first to-be-activated receiver can be avoided, and further, accuracy of a detection result of the first to-be-activated receiver is improved.

In addition, the control chip can simultaneously activate the transmitting areas corresponding to the plurality of receiving areas and activate the plurality of receiving areas, so that if the determined receiving areas to be activated are multiple, the distance between any two receiving areas in the plurality of receiving areas to be activated is not less than a third preset distance, the influence of crosstalk generated by other receivers in a close distance on the receivers in the receiving areas can be avoided, and the accuracy of the detection result of each receiver in the receiving area is improved.

For step S303, the control chip may simultaneously activate the transmitting area corresponding to the receiving area to be activated and the transmitter corresponding to the first receiver to be activated, and activate the receiving area to be activated and the first receiver to be activated. The receiving area to be activated and the first receiver to be activated may receive the corresponding measurement pulse, respectively, to obtain a first detection result.

The first detection result is a detection result obtained when all receivers in the receiving unit are activated for the last time when all receiving areas are activated.

Because some receivers can generate crosstalk in the process of traversing all receiving areas, the receivers need to be activated for two or even three times, some receivers do not have crosstalk noise when being activated for the first time, and cannot be activated again in the subsequent process, and the result of the first activation is the detection result obtained by the last activation; some receivers can be deactivated by being activated again when the crosstalk generated by the first activation is eliminated, and the result generated by the second activation is the detection result obtained by the last activation; however, some receivers still do not cancel the crosstalk generated after being activated again even many times, and the detection result of the receiver is the detection result obtained by the last activation of the receiver when all the zone traversal is completed, or some receivers do not turn on again in one zone traversal due to the fact that the distance condition is not satisfied with other receivers or the receiving zone to be turned on although the crosstalk exists, and the turn-on also conforms to the definition of the last activation. And in one traversal of the area, the detection results obtained by the last activation of all the receivers are integrated together to obtain a first detection result.

Based on the above processing, for any activated first to-be-activated receiver, because there is no other activated receiver with a short distance, the influence of crosstalk on the first to-be-activated receiver by other receivers with short distances can be avoided, and further, the accuracy of the detection result of the first to-be-activated receiver is improved.

In addition, the control chip does not need to determine the receiver (i.e. the receiver with crosstalk noise in the detection result) which needs to be activated again and reactivate after activating all the receiving areas and the corresponding transmitting areas. That is to say, in the present application, while activating the receiving area to be activated and the corresponding transmitting area, the receiver and the corresponding transmitter that are determined to be activated again in the other receiving areas can be activated. Therefore, the accuracy of the detection result can be improved, and the detection efficiency can be improved.

In the related art, the control chip may obtain the detection results of all the receivers in the receiving unit in a row detection manner. That is, the transmitters corresponding to one row of receivers in the receiving unit and the row of receivers are activated each time to obtain the detection results of the row of receivers, and then, after the detection results corresponding to all the rows are obtained, one frame of detection image can be obtained based on the detection results. Alternatively, the detection results of all receivers in the receiving unit may be obtained in a column detection manner, which is similar to the row detection manner described above. The manner of row probing and column probing may also be referred to as a one-dimensional (1d) addressable manner.

The detection mode in this application only needs to be through the detection of less number of times, just can obtain the detection result of all receivers, and then, can shorten the length of time that needs to be consumed of obtaining a frame detection image, improves the frame rate of the detection image that obtains, improves the image quality of detecting the image. Furthermore, the performance of the product of the laser radar can be improved, the response speed of the system is improved, and the requirement for detecting the fast moving object is met.

In some embodiments, referring to fig. 6, fig. 6 is a flowchart of another lidar control method provided in embodiments of the present application. On the basis of fig. 3, there are two cases for the first detection result:

1) If the first detection result does not include any receiver with crosstalk, the first detection result can be output as a basis for result analysis;

2) If there is a crosstalk receiver in the first detection result, the method further includes performing post-processing on the part of the receiver, and therefore the method further includes:

s304: after all receiving areas are activated, the receiver with crosstalk noise in the first detection result is determined as a target receiver.

S305: and activating the transmitters corresponding to the target receivers and the target receivers according to a second sequence, so that the target receivers receive the measuring pulse transmitted by the transmitters corresponding to the target receivers, and a second detection result of the target receivers is obtained.

Wherein the second order is determined according to the positional relationship between the respective target receivers.

S306: target detection results are determined based on the first detection results of all the receivers and the second detection results of the respective target receivers.

Based on this, after activating all the receiving areas, the control chip may determine a receiver in which crosstalk noise exists as a target receiver based on the first detection result. The number of target receivers may be multiple and one more activation operation may be required for multiple target receivers to completely eliminate crosstalk.

And in each time of simultaneously activated target receivers, no target receiver with the distance between every two target receivers smaller than a second preset distance exists.

Based on the above processing, for any activated target receiver, because there is no other activated receiver with a short distance, the influence of crosstalk generated by other receivers with a short distance on the target receiver can be avoided, and further, the accuracy of the detection result of the target receiver is improved.

The control chip can determine the second sequence based on the position relationship between the target receivers, so that the target receivers can be prevented from influencing each other when activated.

The way in which the control chip activates the transmitter corresponding to each target receiver and each target receiver may be various, for example, the target receivers may be activated by at least the following ways:

mode 1: according to the second order, there may be a plurality of target receivers that are activated in the same order, that is, according to the positions between the respective target receivers, it may be determined that the plurality of target receivers are in an operating state, and the distances between the plurality of target receivers satisfy a certain condition. For example, a distance between any two of the plurality of target receivers is not less than a second preset distance.

Based on this, the control chip can activate the plurality of transmitters corresponding to the plurality of target receivers simultaneously and activate the plurality of target receivers, so that the time consumed for obtaining the second detection results of all the target receivers can be shortened, and the detection efficiency can be improved.

In some embodiments, the step S305 includes:

step (1): and determining at least one target receiver from the target receivers as a second receiver to be activated according to a second sequence.

And the distance between every two target receivers in the second receivers to be activated is not less than a second preset distance.

Step (2): and (3) activating the transmitter corresponding to the second receiver to be activated and the second receiver to be activated, and returning to execute the step (1) until all the target receivers are activated.

The control chip activates the transmitter corresponding to the second receiver to be activated and the second receiver to be activated, so that the detection result (i.e. the second detection result) of the second receiver to be activated can be obtained.

Referring to fig. 5, fig. 5 is a schematic structural diagram of a receiving unit according to an embodiment of the present disclosure. In fig. 5, one circle represents one receiver in the present application.

Assume that the target receivers are receiver 1, receiver 2, receiver 3, receiver 4. When the transmitters corresponding to the

receivers

1 and 2 are activated simultaneously and the

receivers

1 and 2 are activated, both the

receivers

1 and 2 are affected by crosstalk because the distance between the

receivers

1 and 2 is short. Accordingly, when the transmitters corresponding to the

receivers

3 and 4 are simultaneously activated and the

receivers

3 and 4 are activated, both the

receivers

3 and 4 are affected by crosstalk due to the close distance between the

receivers

3 and 4. That is, the receiver 1 and the receiver 2 are near points interfered by crosstalk, and the receiver 3 and the receiver 4 are near points interfered by crosstalk.

However, when the transmitters corresponding to the

receivers

2 and 3 are simultaneously activated and the

receivers

2 and 3 are activated and only the

receivers

2 and 3 are activated, neither the receivers 2 nor 3 are affected by crosstalk because the distance between the

receivers

2 and 3 is long. Similarly, when the transmitters corresponding to the

receivers

1 and 4 are activated simultaneously, the

receivers

1 and 4 are activated, and only the

receivers

1 and 4 are activated, the

receivers

1 and 4 are not affected by crosstalk because the distance between the

receivers

1 and 4 is long. That is, the receiver 2 and the receiver 3 are far-end disturbed by crosstalk, and the receiver 1 and the receiver 4 are far-end disturbed by crosstalk.

Therefore, an exemplary second order may be: receiver 1 and receiver 3 are activated simultaneously first, and then receiver 2 and receiver 4 are activated simultaneously.

In this embodiment of the application, because the control chip can simultaneously activate the plurality of transmitters corresponding to the plurality of target receivers and activate the plurality of target receivers, if the determined second to-be-activated receivers are multiple, the distance between any two receivers in the plurality of to-be-activated receivers is not less than the second preset distance, so that the influence of crosstalk generated by other target receivers close to each other on the target receivers can be avoided, and the accuracy of the second detection result of the target receiver is further improved.

Based on the above processing, for any activated target receiver, because there is no other simultaneously activated target receiver with a short distance, the influence of crosstalk generated by other target receivers with a short distance on the target receiver can be avoided, and further, the accuracy of the second detection result of the target receiver is improved.

Mode 2: the control chip may simultaneously activate the respective transmitters corresponding to the respective target receivers and activate the respective target receivers.

In this embodiment, the control chip may further activate the transmitters corresponding to all target receivers in the receiving unit at the same time, and activate all target receivers. For any target receiver, when the target receiver is activated again, only other part of receivers in the receiving area to which the target receiver belongs are activated again, so that the influence of other receivers on the target receiver can be reduced, and the accuracy of the second detection result is improved. In addition, the time consumed for acquiring the second detection results of all the target receivers can be shortened, and the detection efficiency is improved.

Mode 3: the control chip only activates the transmitter corresponding to one target receiver and the target receiver at a time.

In this manner, the activation sequence between targets may be random or determined based on the location of the target receivers.

Based on the processing, only one transmitter and one target receiver corresponding to the target receiver are activated at each time, so that the problem of crosstalk generated when the target receivers close to each other work simultaneously can be avoided, further, errors caused by crosstalk can be reduced, and the accuracy of detection results is improved. In addition, the target receivers are activated by adopting the method, the target receivers needing to be activated at present are determined without the distance between the target receivers, further, the calculated amount can be reduced, the consumed time for obtaining the second detection results of all the target receivers is further shortened, and the detection efficiency is improved.

In some embodiments, after determining all the target receivers in the receiving unit, the control chip may further determine whether the number of the target receivers is less than a preset number. If the number of target receivers is smaller than the preset number, which indicates that the number of target receivers is smaller, the second detection result of each target receiver may be obtained based on the above-mentioned manner 3.

If the number of target receivers is not less than the preset number, which indicates that the number of target receivers is greater, the second detection result of each target receiver may be obtained based on the above mode 1 or mode 2, so as to improve the efficiency of obtaining the detection result.

In determining the target detection result, the target receiver may use its second detection result; the first detection result is used for other receivers except the target receiver.

In addition, a detection image of one frame may be obtained based on the target detection result. Based on the above processing, the time consumed for obtaining a frame of detection image is shortened, the frame rate of the obtained detection image is improved, and the image quality of the detection image is improved. Furthermore, the performance of the product of the laser radar can be improved, and the response speed of the system is improved.

In some embodiments, the step S304 includes:

step (1): for each receiver, the ratio of the signal to the crosstalk noise in the detection result of the receiver is calculated as the signal-to-noise ratio of the first detection result of the receiver.

Step (2): and if the signal-to-noise ratio of the detection result of the receiver is not greater than a preset threshold value, determining the receiver as a target receiver.

In practical scenarios, different types of interference, such as crosstalk, ambient light interference, and microcurrent interference, are present, and appear differently in the histogram. Therefore, for each type of interference, the detection result can be obtained in advance under the condition that only the type of interference exists, and the expression form of noise generated by each type of interference in the histogram can be obtained, namely, the histogram model corresponding to the type of interference can be obtained.

For example, after obtaining the detection results (i.e., the first detection results) of all the receivers in the receiving unit, matching may be performed in the detection results based on the histogram models corresponding to each type of interference, so as to determine the crosstalk noise in the detection results. Further, a ratio of a signal to crosstalk noise in the detection result of the receiver may be calculated as a signal-to-noise ratio of the detection result of the receiver. If the signal-to-noise ratio of the detection result of the receiver is not greater than the preset threshold, which indicates that the influence of crosstalk noise in the detection result on the detection result is large, the receiver to which the detection result belongs may be used as the target receiver. For example, the preset threshold is 2.

Based on the above processing, it is possible to determine a receiver to which a detection result whose signal-to-noise ratio for crosstalk noise is not greater than a preset threshold belongs. Subsequently, the control chip may reactivate the transmitter and the receiver corresponding to the receiver to obtain a new detection result of the receiver. In the process of reacquiring the detection result, the distance between the receivers to be activated is not less than the second preset distance, so that the problem of crosstalk generated when the receivers with a short distance work simultaneously can be avoided, further, the error caused by crosstalk can be reduced, and the accuracy of the detection result is improved.

Based on the same inventive concept, an embodiment of the present application further provides a lidar control device, and referring to fig. 7, fig. 7 is a structural diagram of the lidar control device provided in the embodiment of the present application. The device is applied to a control chip of the laser radar, and the laser radar further comprises a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas;

the device comprises:

a first determining module 701, configured to determine a receiver that has been activated and generates crosstalk noise when activated, as an alternative receiver;

a second determining module 702, configured to determine a first receiver to be activated from among the alternative receivers, and determine a receiving area to be activated from among the receiving areas that are not activated; the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance;

a first activating module 703, configured to activate a transmitter corresponding to the first receiver to be activated while activating a transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive respective corresponding measurement pulses; wherein the first detection result is determined according to a detection result obtained by activating all the receivers for the last time.

In some embodiments, the apparatus further comprises:

a third determining module, configured to determine, after activating all receiving areas, a receiver with crosstalk noise in the first detection result as a target receiver;

In some embodiments, the second activation module comprises:

the first determining submodule is used for determining at least one target receiver from the target receivers according to the second sequence to serve as a second receiver to be activated; the distance between every two target receivers in the second receivers to be activated is not smaller than a second preset distance;

calculating the ratio of a signal to crosstalk noise in a first detection result of each receiver as the signal-to-noise ratio of the detection result of the receiver;

In some embodiments, the second determining module 702 includes:

a fourth determining submodule, configured to determine at least one receiver from the candidate receivers as a first to-be-activated receiver; the distance between every two receivers in the first receivers to be activated is not smaller than the second preset distance;

The embodiment of the present application further provides a control chip, as shown in fig. 8, which includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804, where the processor 801, the communication interface 802, and the memory 803 complete mutual communication through the communication bus 804,

a memory 803 for storing a computer program;

the processor 801 is configured to implement the steps of any one of the laser radar control methods in the above embodiments when executing the program stored in the memory 803.

The communication bus mentioned above may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the control chip and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

The embodiment of the application also provides a laser radar, which comprises a receiving unit, a transmitting unit and a control chip for executing any laser radar control method in the embodiment; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas.

In a further embodiment provided by the present application, there is also provided a computer program product containing instructions which, when run on a computer, cause the computer to perform any of the lidar control methods of the embodiments described above.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the embodiments of the apparatus, the control chip, the laser radar, and the computer-readable storage medium, since they are substantially similar to the embodiments of the method, the description is simple, and the relevant points can be referred to the partial description of the embodiments of the method.

The above description is only for the preferred embodiment of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. The laser radar control method is applied to a control chip of a laser radar, and the laser radar further comprises a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas;

determining a receiver which has been activated and generates crosstalk noise when activated as an alternative receiver;

determining a first receiver to be activated from the alternative receivers, and determining a receiving area to be activated from the non-activated receiving area; the distance between the receiving area to be activated and the first receiver to be activated is not less than a first preset distance;

2. The method of claim 1, further comprising:

3. The method of claim 2, wherein activating the transmitter corresponding to each target receiver and each target receiver in the second order comprises:

4. The method of claim 2, wherein determining a receiver of the first probing result that crosstalk noise exists as a target receiver comprises:

calculating the ratio of a signal to crosstalk noise in the detection result of each receiver as the signal-to-noise ratio of the first detection result of the receiver;

5. The method according to claim 1, wherein determining a first receiver to be activated from the alternative receivers and determining a receiving area to be activated from the non-activated receiving area comprises:

determining at least one receiver, which has a distance not less than the first preset distance from the to-be-activated receiving area, from the alternative receivers as a first to-be-activated receiver; wherein the distance between every two receivers in the at least one receiver is not less than a second preset distance.

6. The method according to claim 1, wherein determining a first receiver to be activated from the alternative receivers and determining a receiving area to be activated from the non-activated receiving area comprises:

determining at least one receiver from the alternative receivers as a first receiver to be activated; the distance between every two receivers in the first receivers to be activated is not smaller than a second preset distance;

determining at least one receiving area, which is not less than the first preset distance from the first receiver to be activated, from the inactive receiving areas as receiving areas to be activated; wherein a distance between every two receiving areas in the at least one receiving area is not less than a third preset distance.

7. The laser radar control device is characterized by being applied to a control chip of a laser radar, and the laser radar further comprises a receiving unit and a transmitting unit; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas;

the device comprises:

the first activation module is used for activating the transmitter corresponding to the first receiver to be activated while activating the transmitting area corresponding to the receiving area to be activated, so that the receiving area to be activated and the first receiver to be activated receive the corresponding measuring pulse respectively; wherein the first detection result is determined according to a detection result obtained by activating all the receivers for the last time.

8. A control chip is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.

9. Lidar characterized in that it comprises a receiving unit and a transmitting unit, and a control chip for performing the method according to any of claims 1-6; the receiving unit includes a specified number of receiving areas, each receiving area including at least one receiver; the transmission unit includes the specified number of transmission regions, each transmission region including at least one transmitter; the appointed number of receiving areas and the appointed number of transmitting areas are in one-to-one correspondence, so that the receiving areas receive the measuring pulses transmitted by the corresponding transmitting areas.

10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 6.