CN117572449A

CN117572449A - Laser radar point cloud synchronization method and device

Info

Publication number: CN117572449A
Application number: CN202311657928.2A
Authority: CN
Inventors: 甘子龙; 胡攀攀; 张磊
Original assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Current assignee: Wuhan Wanji Photoelectric Technology Co Ltd
Priority date: 2023-12-04
Filing date: 2023-12-04
Publication date: 2024-02-20

Abstract

The application discloses a laser radar point cloud synchronization method and device, wherein the method comprises the steps of obtaining current point cloud azimuth angle information corresponding to a current space obtained based on main radar scanning; determining a current macro pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; controlling the current macro pixel set to receive a target echo corresponding to a target laser beam, and obtaining current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information; the target echo is the reflected beam of the target laser beam in the current space; and controlling the main radar to be in point cloud synchronization with the blind-complement radar based on the current point cloud azimuth information and the current point cloud information. By means of the technical scheme, point cloud synchronization of the blind-complement radar and the main radar can be achieved, and further accuracy of point cloud fusion of the blind-complement radar and the main radar is improved.

Description

Laser radar point cloud synchronization method and device

Technical Field

The application relates to the technical field of automatic driving, in particular to a laser radar point cloud synchronization method and device.

Background

In the field of automatic driving, in order to ensure full coverage of long and short distances of a vehicle-mounted laser radar, a combined form of a scanning radar and a solid-state flash radar begins to appear. The scanning radar takes the advantages of large horizontal view field angle and long-distance measurement as a main radar, and the solid-state flash radar takes the characteristics of large vertical view field angle and near distance measurement as a blind supplementing radar, so that the coverage of the far and near areas around the vehicle can be realized.

Because the hardware structures and imaging principles of the scanning radar and the solid-state flash radar are different, in order to achieve the synchronization of radar data similar to the combination form, a synchronization method needs to be provided, so that the time-space synchronization of the acquisition of a plurality of radar point clouds is realized, and the precision of the point cloud fusion is improved.

Disclosure of Invention

The application provides a laser radar point cloud synchronization method and device, which can improve the accuracy and efficiency of selecting a target vehicle under different working conditions.

In one aspect, the present application provides a laser radar point cloud synchronization method, where the method includes:

acquiring current point cloud azimuth information corresponding to a current space obtained based on main radar scanning;

determining a current macro pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; the preset azimuth mapping information characterizes the corresponding relation between the point cloud azimuth information and the macro pixels; the current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth information in the blind-complement radar; the macro-pixel consists of a preset number of photon detectors and is used for receiving and processing the detected optical signals;

Controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information; the preset array mapping information represents the corresponding relation between the laser transmitters in the blind-supplementing radar and the macro pixels;

controlling the current macro pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of a blind-patch radar corresponding to the current point cloud azimuth information; the target echo is a reflected beam of the target laser beam in the current space;

and controlling the main radar to be in point cloud synchronization with the blind-complement radar based on the current point cloud azimuth information and the current point cloud information.

In some possible embodiments, the controlling the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on the preset array mapping information includes:

under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a single macro pixel, controlling the single laser emitter corresponding to each macro pixel in the current macro pixel set to emit the target laser beam based on a preset emission sequence; the preset emission sequence comprises sequentially controlling the single laser emitters to emit the target laser beams;

The controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and the obtaining the current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information comprises the following steps:

controlling a single macro pixel corresponding to a single laser transmitter for transmitting the target laser beam to receive the target echo;

and under the condition that each macro pixel in the current macro pixel set receives the target echo, generating the current point cloud information based on the target echo received by each macro pixel in the current macro pixel set.

under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a plurality of macro pixels, controlling the single laser emitter corresponding to each plurality of macro pixels in the current macro pixel set to emit the target laser beam based on a preset emission sequence; the preset emission sequence comprises sequentially controlling the single laser emitters to emit the target laser beams;

controlling a plurality of macro pixels corresponding to a single laser transmitter transmitting the target laser beam to receive the target echo based on a preset receiving sequence; the preset receiving sequence comprises the steps of controlling the macro pixels to receive the target echo, controlling the macro pixels to receive the target echo in rows and controlling the macro pixels to receive the target echo in columns;

and generating the current point cloud information based on the target echo received by each of the plurality of macro pixels in the current macro pixel set under the condition that the target echo is received by each of the plurality of macro pixels in the current macro pixel set.

under the condition that the preset array mapping information is the corresponding relation between a plurality of laser transmitters and a single macro pixel, controlling the plurality of laser transmitters corresponding to each macro pixel in the current macro pixel set to simultaneously transmit the target laser beams based on a preset transmission sequence; the preset emission sequence comprises sequentially controlling the plurality of laser emitters to emit the target laser beams simultaneously;

controlling a single macro-pixel corresponding to a plurality of laser transmitters transmitting the target laser beam to receive the target echo;

In some possible embodiments, the preset azimuth mapping information is determined in the following manner:

acquiring echo point coordinate information corresponding to echo points on each macro pixel in the blind-patch radar and a plurality of point cloud information corresponding to a target space obtained based on the main radar scanning; the echo point is a reflection point corresponding to an echo reflected from the target space to the macro pixel on the macro pixel in the field of view of the blind-complement radar, wherein the laser transmitter transmits a laser beam to the target space; the echo point coordinate information is the coordinate information of the echo point corresponding to the target space, which is obtained based on the blind-patch radar scanning; the point cloud information comprises point cloud coordinate information and point cloud azimuth information;

Determining a point cloud corresponding to each echo point based on the plurality of point cloud coordinate information and the echo point coordinate information; the point cloud corresponding to each echo point is a point cloud with a distance from the echo point smaller than a preset distance;

and generating the preset azimuth mapping information based on the macro pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point.

In some possible embodiments, the echo point coordinate information corresponding to the echo point on each macro pixel in the blind-patch radar is determined in the following manner:

controlling a laser emitter corresponding to a designated macro pixel in the blind supplementing radar to emit a laser beam;

controlling the designated macro pixel to receive the echo corresponding to the laser beam;

and determining an echo point corresponding to the specified macro pixel and echo point coordinate information corresponding to the echo point based on the electric signal converted by the echo at the specified macro pixel.

In some possible embodiments, the controlling the laser emitter corresponding to the designated macro pixel in the blind-complement radar to emit the laser beam includes:

controlling all laser transmitters corresponding to all macro pixels to transmit the laser beams based on the preset array mapping information and the preset transmission sequence under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind supplementing radar; the preset emission sequence comprises the steps of sequentially controlling a laser emitter to emit the laser beams, controlling the laser emitter to emit the laser beams according to rows and controlling the laser emitter to emit the laser beams according to columns;

The controlling the designated macro-pixel to receive the echo corresponding to the laser beam includes:

controlling macro pixels corresponding to laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams based on the preset array mapping information and a preset receiving sequence until all the macro pixels receive the echoes corresponding to the laser beams; the preset receiving sequence comprises the steps of controlling macro pixels to sequentially receive the echoes, controlling the macro pixels to receive the echoes according to rows, and controlling the macro pixels to receive the echoes according to columns;

or,

the controlling the laser emitter corresponding to the designated macro pixel in the blind supplementing radar to emit the laser beam comprises the following steps:

controlling a target laser transmitter corresponding to the target macro pixel to transmit the laser beam based on the preset array mapping information and the preset transmitting sequence under the condition that the designated macro pixel is the target macro pixel in the receiving module of the blind supplementing radar; the target macro-pixel comprises at least one macro-pixel;

and controlling a macro pixel corresponding to a laser transmitter transmitting the laser beam to receive the echo corresponding to the laser beam based on the preset array mapping information and the preset receiving sequence until the target macro pixel receives the echo corresponding to the laser beam.

In some possible embodiments, the preset array mapping information is determined in the following manner:

acquiring a first distribution number of laser transmitters in a transmitting module of the blind-patch radar and a second distribution number of macro pixels in a receiving module;

and carrying out optical path calibration on the emission optical path of the laser transmitter and the echo optical path of the macro pixel based on the first distribution number and the second distribution number, and generating the preset array mapping information.

In some possible implementations, the generating the preset array mapping information includes:

when the first distribution quantity is equal to the second distribution quantity, carrying out optical path calibration on an emission optical path of the laser transmitter and an echo optical path of the macro pixel to obtain a corresponding relation between a single laser transmitter and a single macro pixel, and taking the corresponding relation between the single laser transmitter and the single macro pixel as the preset array mapping information;

when the first distribution quantity is smaller than the second distribution quantity, carrying out optical path calibration on an emission optical path of the laser transmitter and an echo optical path of the macro pixel to obtain a corresponding relation between the single laser transmitter and a plurality of macro pixels, and taking the corresponding relation between the single laser transmitter and the plurality of macro pixels as the preset array mapping information;

And under the condition that the first distribution quantity is larger than the second distribution quantity, calibrating the transmitting light paths of the laser transmitters and the echo light paths of the macro pixels to obtain the corresponding relation between the plurality of laser transmitters and the single macro pixel, and taking the corresponding relation between the plurality of laser transmitters and the single macro pixel as the preset array mapping information.

Another aspect provides a laser radar point cloud synchronization device, the device comprising:

the information acquisition module is used for acquiring current point cloud azimuth angle information corresponding to the current space obtained based on main radar scanning;

the information matching module is used for determining a current macro pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information; the preset azimuth mapping information characterizes the corresponding relation between the point cloud azimuth information and the macro pixels; the current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth information in the blind-complement radar; the macro-pixel consists of a preset number of photon detectors and is used for receiving and processing the detected optical signals;

The radar control module is used for controlling a current laser emitter corresponding to the current macro pixel set to emit a target laser beam based on preset array mapping information; the preset array mapping information represents the corresponding relation between the laser transmitters in the blind-supplementing radar and the macro pixels; controlling the current macro pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of a blind-patch radar corresponding to the current point cloud azimuth information; the target echo is a reflected beam of the target laser beam in the current space;

and the synchronous control module is used for controlling the main radar to be in point cloud synchronization with the blind-patch radar based on the current point cloud azimuth information and the current point cloud information.

The laser radar point cloud synchronization method and device provided by the application have the following technical effects:

according to the method, the current point cloud azimuth angle information corresponding to the current space obtained based on main radar scanning is obtained; further, based on preset azimuth angle information and current point cloud azimuth angle information, determining a current macro pixel set corresponding to the current point cloud azimuth angle information, wherein the preset azimuth angle information represents a corresponding relation between the point cloud azimuth angle information and macro pixels, and the current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth angle information; further, based on preset array mapping information, controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam, wherein the preset array mapping information represents the corresponding relation between the laser emitter and the macro-pixels in the blind-supplementing radar; further controlling the current macro pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information; and then based on the current point cloud azimuth information and the current point cloud information, the main radar and the blind-patch radar point cloud are controlled to be synchronous, so that the point cloud synchronization of the blind-patch radar and the main radar can be realized, the precision of the fusion of the blind-patch radar and the main radar point cloud is further improved, the precision of the environmental perception of an automatic driving vehicle is further improved, and the driving safety of the automatic driving vehicle is further improved.

Drawings

In order to more clearly illustrate the technical solutions and advantages of embodiments of the present application or of the prior art, the following description will briefly introduce the drawings that are required to be used in the embodiments or the prior art descriptions, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a laser radar point cloud synchronization method provided in an embodiment of the present application;

fig. 2 is a flowchart of a method for determining preset azimuth mapping information according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a laser radar point cloud synchronization device provided in an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Fig. 1 is a schematic flow chart of a laser radar point cloud synchronization method according to an embodiment of the present application, where the method operation steps of the embodiment or the flowchart are provided, but more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented in a real system or server product, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multithreaded environment). As shown in fig. 1, the method may include:

S101: acquiring current point cloud azimuth information corresponding to a current space obtained based on main radar scanning;

in a specific embodiment, the main radar is a radar with the advantages of large horizontal field angle, long-distance measurement and the like; alternatively, the main radar may be set in combination with practical application requirements, and specifically, the main radar may be a mechanical scanning radar or a rotating mirror scanning radar. The current space is the space scanned by the main radar in the field of view; alternatively, the current space may be an environment in which the vehicle is currently traveling. In particular, the current space may be determined based on the actual ambient space. The current point cloud azimuth information is azimuth information of a current point cloud corresponding to a current space obtained based on main radar scanning; optionally, the current point cloud azimuth information includes horizontal azimuth information and vertical azimuth information of the current point cloud.

S103: determining a current macro pixel set corresponding to the current point cloud azimuth information based on preset azimuth mapping information and the current point cloud azimuth information;

in a specific embodiment, the preset azimuth mapping information characterizes a correspondence between the point cloud azimuth information and the macro-pixels. The current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth information in the blind-added radar; the macro-pixel is composed of a preset number of photon detectors and is used for receiving and processing the detected light signals. Alternatively, a macropixel may be composed of 3*3 photon detectors.

In an alternative embodiment, fig. 2 is a flowchart of a method for determining preset azimuth mapping information according to an embodiment of the present application, as shown in fig. 2, where the preset azimuth mapping information is determined in the following manner:

s2001: acquiring echo point coordinate information corresponding to echo points on each macro pixel in the blind-patch radar and a plurality of point cloud information corresponding to a target space obtained based on main radar scanning;

s2003: determining a point cloud corresponding to each echo point based on the plurality of point cloud coordinate information and each echo point coordinate information;

s2005: and generating preset azimuth mapping information based on the macro pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point.

In a specific embodiment, the blind-complement radar is a radar with the characteristics of high resolution, large vertical view field angle, near ranging and the like; optionally, the blind-complement radar can be set in combination with practical application requirements, and specifically, the blind-complement radar can be a solid-state flash radar. The echo point is a reflection point corresponding to the echo reflected from the target space to the macro pixel on the macro pixel in the field of view of the blind-supplement radar, and the laser transmitter transmits a laser beam to the target space; the echo point coordinate information is coordinate information of an echo point corresponding to the target space obtained based on blind-patch radar scanning. Optionally, the echo point is a reflection point corresponding to the echo detected by the macro pixel on the macro pixel in the field of view of the blind-patch radar, where the laser transmitter transmits a laser beam to the target space, and reflects the laser beam from the target space to the macro pixel. The point cloud information is information of point cloud corresponding to the target space obtained based on main radar scanning, and optionally, the point cloud information comprises point cloud coordinate information and point cloud azimuth angle information.

Optionally, the echo point and the point cloud are obtained by scanning the same spatial environment in respective fields of view of the blind-mate radar and the main radar. The target space is the same space scanned by the blind-mate radar and the main radar in the respective fields of view, alternatively, the target space can be a simple environmental space, such as a closed open room. In the embodiment of the application, the target space is not limited to a closed open room, but can be a specific outdoor environment; optionally, the target space may be set in combination with the actual application requirement. Optionally, the point cloud corresponding to each echo point is a point cloud with a distance from the echo point smaller than a preset distance; specifically, the point cloud corresponding to each echo point is the closest point cloud to the echo point.

In a specific embodiment, acquiring echo point coordinate information corresponding to an echo point on each macro pixel in the blind-patch radar and a plurality of point cloud information corresponding to a target space obtained based on main radar scanning; and further, determining a point cloud corresponding to each echo point based on the plurality of point cloud coordinate information and each echo point coordinate information, optionally, determining point cloud coordinate information closest to each echo point coordinate information according to the plurality of point cloud coordinate information and each echo point coordinate information, wherein each echo point coordinate information has a corresponding echo point, and each point cloud coordinate information has a corresponding point cloud, thereby determining the point cloud corresponding to each echo point, that is, determining the point cloud closest to the echo point; and generating preset azimuth mapping information based on the macro pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point, wherein optionally, the echo point has the corresponding macro pixel and the corresponding point cloud, and the point cloud information of the point cloud comprises the point cloud coordinate information and the point cloud azimuth information, so that the macro pixel corresponding to the echo point and the point cloud corresponding to the echo point can be corresponding, and the macro pixel corresponding to the echo point and the point cloud azimuth information of the point cloud corresponding to the echo point can be corresponding, and the preset azimuth mapping information is generated. Based on preset azimuth mapping information, macro pixels corresponding to the point cloud azimuth information can be determined, namely row and column indexes of macro pixels corresponding to the point cloud azimuth information in a receiving module of the blind-complement radar are determined, and the receiving module can be a macro pixel array. Optionally, in the case that the preset azimuth mapping information has been determined, when the relative position or the relative angle between the main radar and the blind-complement radar is not changed, the preset azimuth mapping information does not need to be determined again; when the relative position or the relative angle between the main radar and the blind supplementing radar is changed, the preset azimuth mapping information needs to be determined again.

In an alternative embodiment, the coordinate information of the echo point corresponding to the echo point on each macro pixel in the blind-patch radar is determined in the following manner:

controlling a laser emitter corresponding to the designated macro pixel in the blind supplementing radar to emit a laser beam;

In a specific embodiment, the echo is a reflected beam of light within the range of the blind-patch radar field of view that is reflected from the laser transmitter to the macro-pixel from where it is emitted to the target space, and detected by the macro-pixel. Optionally, the designated macro-pixel is a macro-pixel that needs to receive the echo, and the designated macro-pixel may be set in accordance with the actual application requirement.

In a specific embodiment, controlling a laser emitter corresponding to a designated macro pixel in the blind-complement radar to emit a laser beam in the target space; further appointing macro pixels to receive echoes corresponding to the laser beams; and determining the echo point corresponding to the echo in the designated macro pixel and the echo point coordinate information corresponding to the echo point based on the electric signal converted by the echo in the designated macro pixel, and optionally determining the echo point corresponding to the echo in the designated macro pixel and the echo point coordinate information corresponding to the echo point based on the electric signal converted by the optical signal and output by the echo in the designated macro pixel. Optionally, the intensity of the signal can be increased by overlapping through multiple exposure, that is, by controlling the laser transmitter in the blind-supplementing radar to transmit the laser beam and the macro pixel to receive the echo, so that the detection result of the coordinate information of the echo point is more accurate and reliable.

In an alternative embodiment, the controlling the laser emitter corresponding to the designated macro pixel in the blind-complement radar to emit the laser beam includes:

under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind supplementing radar, controlling all laser transmitters corresponding to all macro pixels to transmit laser beams based on preset array mapping information and preset transmitting sequences;

controlling macro pixels corresponding to the laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams based on the preset array mapping information and the preset receiving sequence until all the macro pixels receive the echoes corresponding to the laser beams;

or,

the controlling the laser emitter corresponding to the designated macro pixel in the blind-supplementing radar to emit the laser beam comprises the following steps:

under the condition that the designated macro pixel is a target macro pixel in a receiving module of the blind-complement radar, controlling a target laser transmitter corresponding to the target macro pixel to transmit a laser beam based on preset array mapping information and a preset transmitting sequence; the target macro-pixel comprises at least one macro-pixel;

And controlling the macro pixel corresponding to the laser transmitter transmitting the laser beam to receive the echo corresponding to the laser beam based on the preset array mapping information and the preset receiving sequence until the target macro pixel receives the echo corresponding to the laser beam.

In a specific embodiment, the preset array mapping information characterizes a correspondence between a laser emitter and a macro pixel in the blind-complement radar. The preset firing order is an order in which the laser transmitters are controlled to emit laser beams, and optionally, the preset firing order includes sequentially controlling the laser transmitters to emit laser beams, controlling the laser transmitters to emit laser beams in rows, and controlling the laser transmitters to emit laser beams in columns. The preset receiving sequence is the sequence of controlling the macro pixels to receive the echoes, and optionally, the preset receiving sequence comprises controlling the macro pixels to receive the echoes sequentially, controlling the macro pixels to receive the echoes according to rows and controlling the macro pixels to receive the echoes according to columns.

In a specific embodiment, under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind-complement radar, controlling all laser transmitters corresponding to all macro pixels to transmit laser beams based on preset array information and preset transmitting sequences; optionally, the correspondence between all macro pixels and all laser transmitters is determined based on preset array information, so that the laser transmitters corresponding to the macro pixels needing to receive the echo can be determined; the firing order of all laser transmitters is determined based on a preset firing order. And then based on the preset array mapping information and the preset receiving sequence, controlling macro pixels corresponding to the laser transmitters for transmitting the laser beams to receive echoes corresponding to the laser beams until all the macro pixels receive the echoes corresponding to the laser beams; optionally, determining a macro-pixel corresponding to the laser emitter emitting the laser beam based on the preset array information; determining a receiving order of macro pixels corresponding to a laser transmitter transmitting a laser beam based on a preset receiving order; and determining the echo point corresponding to each macro pixel until each macro pixel in all macro pixels receives the echo corresponding to the laser beam.

In a specific embodiment, in the case that the designated macro pixel is a target macro pixel in a receiving module of the blind-complement radar, controlling a target laser transmitter corresponding to the target macro pixel to transmit a laser beam based on preset array information and a preset transmission sequence; optionally, the target macro pixel may be a determined macro pixel that needs to receive an echo, and optionally, the target macro pixel includes at least one macro pixel, and specifically, the target macro pixel may be set in combination with an actual application requirement; optionally, determining a corresponding relationship between the target macro-pixel and the target laser emitter based on preset array information, so as to determine the laser emitter corresponding to the macro-pixel needing to receive the echo; and determining the emission sequence of the target laser emitter based on the preset emission sequence. Further, based on the preset array mapping information and the preset receiving sequence, controlling macro pixels corresponding to the laser transmitters for transmitting the laser beams to receive echoes corresponding to the laser beams until target macro pixels receive the echoes corresponding to the laser beams; optionally, determining a macro-pixel corresponding to the laser emitter emitting the laser beam based on the preset array information; determining a receiving order of macro pixels corresponding to a laser transmitter transmitting a laser beam based on a preset receiving order; and determining the echo point corresponding to each macro pixel until each macro pixel in the target macro pixels receives the echo corresponding to the laser beam.

In an alternative embodiment, the preset array mapping information is determined in the following manner:

acquiring a first distribution number of laser transmitters in a transmitting module of the blind supplementing radar and a second distribution number of macro pixels in a receiving module;

and carrying out optical path calibration on the emission optical path of the laser transmitter and the echo optical path of the macro pixel based on the first distribution quantity and the second distribution quantity, and generating preset array mapping information.

In a specific embodiment, the laser transmitters are configured to emit laser beams, and the laser transmitters are individually addressable to enable determination of the laser transmitter to which each laser beam corresponds; optionally, the laser emitter can be set in combination with actual application requirements; specifically, the Laser transmitter may be a VCSEL (Vertical-Cavity Surface-Emitting Laser). Optionally, the transmitting module of the blind supplementing radar is a laser emitter array formed by respectively arranging a certain number of laser emitters in the horizontal direction and the vertical direction. The receiving module of the blind supplementing radar is a macro-pixel array formed by respectively arranging a certain number of photon detectors in the horizontal direction and the vertical direction. Optionally, a plurality of photon detectors are generally selected to form a macro pixel, where the macro pixel is the minimum unit for receiving the processed optical signal; alternatively, 3*3 or 6*6 photon detectors are generally selected as macro-pixels; specifically, the number of photon detectors that make up the macropixel may be set in conjunction with practical application requirements. Optionally, the photon detector can be set in combination with actual application requirements; in particular, the photon detector may be a SPAD (Single Photon Avalanche Diodes, single photon avalanche diode).

In a specific embodiment, the preset array mapping information includes not only a correspondence between the laser emitters and the number of macro-pixels, but also a correspondence between the laser emitters and the macro-pixel positions. Optionally, the preset array mapping information is generally determined when the blind-complement radar leaves the factory.

In an optional embodiment, the performing optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel based on the first distribution number and the second distribution number, and generating the preset array mapping information includes:

under the condition that the first distribution quantity is equal to the second distribution quantity, carrying out optical path calibration on the emission optical path of the laser transmitter and the echo optical path of the macro pixel to obtain the corresponding relation between the single laser transmitter and the single macro pixel, and taking the corresponding relation between the single laser transmitter and the single macro pixel as preset array mapping information;

under the condition that the first distribution quantity is smaller than the second distribution quantity, carrying out optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel to obtain the corresponding relation between the single laser emitter and the plurality of macro pixels, and taking the corresponding relation between the single laser emitter and the plurality of macro pixels as preset array mapping information;

And under the condition that the first distribution quantity is larger than the second distribution quantity, carrying out optical path calibration on the emission optical paths of the laser transmitters and the echo optical paths of the macro pixels to obtain the corresponding relations between the plurality of laser transmitters and the single macro pixels, and taking the corresponding relations between the plurality of laser transmitters and the single macro pixels as preset array mapping information.

In a specific embodiment, the light path calibration is performed on the emission light path of the laser emitter and the echo light path of the macro pixel, so that the light path corresponding relation between the laser emitter and the macro pixel can be determined, and further the corresponding relation between the laser emitter and the macro pixel is determined. Optionally, the laser emitter array is composed of a certain number of laser emitters in m rows in horizontal direction and n columns in vertical direction; the macro pixel array consists of a certain number of photon detectors in m rows of horizontal directions and n columns of vertical directions; the single laser emitter corresponds to a single macro-pixel such that the laser emitter at (i, j) corresponds to a macro-pixel at (i, j). Optionally, the laser emitter array is composed of a certain number of laser emitters in m rows in horizontal direction and n columns in vertical direction; the macro pixel array consists of a certain number of photon detectors in the horizontal direction of 2m rows and the vertical direction of 2n columns; when the correspondence between a single laser emitter and a plurality of macro-pixels is that between a single laser emitter and four macro-pixels, the correspondence between a single laser emitter and four macro-pixels is that the laser emitter at (i, j) corresponds to the macro-pixels at (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1), and (2 i,2 j). Optionally, the laser emitter array is composed of a certain number of laser emitters in 2m rows in the horizontal direction and 2n columns in the vertical direction; the macro pixel array consists of a certain number of photon detectors in m rows of horizontal directions and n columns of vertical directions; when the correspondence between the plurality of laser emitters and the single macro-pixel is that between the four laser emitters and the single macro-pixel, the correspondence between the four laser emitters and the single macro-pixel is that the laser emitters at (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) correspond to the macro-pixel at (i, j).

In a specific embodiment, under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind-complement radar, based on the corresponding relation between the single laser emitter and the single macro pixels of the preset array information, sequentially controlling the single laser emitter corresponding to each macro pixel in all the macro pixels to emit laser beams, and controlling the single macro pixel corresponding to the single laser emitter emitting the laser beams to receive echoes corresponding to the laser beams; until each of all macro-pixels receives an echo.

Optionally, controlling each row of laser transmitters corresponding to each row of macro pixels in all macro pixels to transmit laser beams according to rows, and controlling each row of macro pixels corresponding to each row of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or receiving echoes corresponding to the laser beams according to rows; until each of all macro-pixels receives an echo.

Optionally, controlling each row of laser transmitters corresponding to each row of macro pixels in all macro pixels to transmit laser beams according to the rows, and controlling each row of macro pixels corresponding to each row of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or receiving echoes corresponding to the laser beams according to the rows; until each of all macro-pixels receives an echo.

In a specific embodiment, under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind-complement radar, based on the corresponding relation between a single laser emitter and a plurality of macro pixels in preset array information, sequentially controlling a single laser emitter corresponding to each of the plurality of macro pixels in all the macro pixels to emit laser beams, and sequentially controlling a plurality of macro pixels corresponding to the single laser emitter emitting the laser beams to sequentially receive echoes corresponding to the laser beams or to receive echoes corresponding to the laser beams in rows or to receive echoes corresponding to the laser beams in columns; until each of all macro-pixels receives an echo.

Optionally, controlling each row of laser transmitters corresponding to each plurality of macro pixels in each row of all macro pixels to transmit laser beams according to the rows, and controlling the plurality of macro pixels corresponding to each row of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or echoes corresponding to the laser beams received according to the rows or echoes corresponding to the laser beams received according to the columns; until each of all macro-pixels receives an echo.

Optionally, controlling each row of laser transmitters corresponding to each plurality of macro pixels in each row of all macro pixels to transmit laser beams according to the rows, and controlling the plurality of macro pixels corresponding to each row of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or echoes corresponding to the laser beams according to the rows; until each of all macro-pixels receives an echo.

In a specific embodiment, under the condition that a designated macro pixel is all macro pixels in a receiving module of the blind-complement radar, based on the corresponding relation between a plurality of laser transmitters and a single macro pixel of preset array information, sequentially controlling a plurality of laser transmitters corresponding to each macro pixel in all macro pixels to simultaneously transmit laser beams, and controlling the single macro pixel corresponding to the plurality of laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams; until each of all macro-pixels receives an echo.

Optionally, controlling a plurality of laser transmitters corresponding to each macro pixel in each row of all macro pixels to transmit laser beams simultaneously according to rows, and controlling each row of macro pixels corresponding to the plurality of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or receiving echoes corresponding to the laser beams according to rows; until each of all macro-pixels receives an echo.

Optionally, controlling a plurality of laser transmitters corresponding to each macro pixel in each column of all macro pixels to transmit laser beams simultaneously according to the columns, and controlling each column of macro pixels corresponding to the plurality of laser transmitters transmitting the laser beams to sequentially receive echoes corresponding to the laser beams or receiving echoes corresponding to the laser beams according to the columns; until each of all macro-pixels receives an echo.

Optionally, under the condition that the designated macro pixel is a target macro pixel in a receiving module of the blind-complement radar, controlling a target laser transmitter corresponding to the target macro pixel to transmit a laser beam based on preset array information and a preset transmitting sequence; controlling macro pixels corresponding to the laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams based on the preset array mapping information and the preset receiving sequence until the target macro pixels receive echoes corresponding to the laser beams for specific refinement can be seen in the situation that the designated macro pixels are all macro pixels in a receiving module of the blind-complement radar, and controlling all the laser transmitters corresponding to all the macro pixels to transmit the laser beams based on the preset array information and the preset transmitting sequence; and further, based on the preset array mapping information and the preset receiving sequence, controlling macro pixels corresponding to the laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams until all macro pixels receive relevant refinements of the echoes corresponding to the laser beams, which are not described herein.

S105: controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam based on preset array mapping information;

S107: controlling the current macro pixel set to receive a target echo corresponding to a target laser beam, and obtaining current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information;

in a specific embodiment, the preset array mapping information characterizes a correspondence between a laser transmitter and a macro pixel in the blind-complement radar; the target echo is the reflected beam of the target laser beam in the current space. Optionally, details of the preset array mapping information are referred to above, and are not described herein. Optionally, the target echo is a reflected beam that is reflected from a current laser transmitter to a current space, reflected from the current space to a current set of macro-pixels, and detected by the current set of macro-pixels, in the range of the blind-complement radar field of view. Optionally, the current laser transmitter comprises at least one laser transmitter. The current point cloud information is point cloud information corresponding to the current space and the current point cloud azimuth information obtained based on blind-patch radar scanning.

In an optional embodiment, controlling the current laser emitter corresponding to the current macro-pixel set to emit the target laser beam based on the preset array mapping information includes:

Under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a single macro pixel, controlling the single laser emitter corresponding to each macro pixel in the current macro pixel set to emit a target laser beam based on a preset emission sequence; the preset emission sequence comprises the steps of sequentially controlling a single laser emitter to emit target laser beams;

the controlling the current macro-pixel set to receive the target echo corresponding to the target laser beam, and obtaining the current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information includes:

controlling a single macro-pixel corresponding to a single laser transmitter transmitting a target laser beam to receive a target echo;

and under the condition that each macro pixel in the current macro pixel set receives the target echo, generating current point cloud information based on the target echo received by each macro pixel in the current macro pixel set.

In a specific embodiment, under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a single macro pixel, sequentially controlling the single laser emitter corresponding to each macro pixel in the current macro pixel set to emit a target laser beam; and further controls a single macro-pixel corresponding to a single laser transmitter transmitting the target laser beam to receive the target echo. Optionally, controlling the (i, j) th laser emitter corresponding to the (i, j) th macropixel to emit the target laser beam, and controlling the (i, j) th macropixel corresponding to the (i, j) th laser emitter emitting the target laser beam to receive the target echo; under the condition that the (i, j) th laser emitter emits a target laser beam and the (i, j) th macro pixel receives the target echo, controlling the (i, j+1) th laser emitter corresponding to the next single macro pixel, namely the (i, j+1) th macro pixel to emit the target laser beam, controlling the (i, j+1) th macro pixel corresponding to the (i, j+1) th laser emitter emitting the target laser beam to receive the target echo, and sequentially proceeding until each macro pixel in the current macro pixel set receives the target echo. The laser transmitter is controlled to emit laser beams in sequence, so that interference can be reduced, and power loss can be reduced. Optionally, the emission of the laser emitter and the receiving situation of the macro pixel are specifically combined with the practical application situation.

under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a plurality of macro pixels, controlling the single laser emitter corresponding to each plurality of macro pixels in the current macro pixel set to emit target laser beams based on a preset emission sequence; the preset emission sequence comprises the steps of sequentially controlling a single laser emitter to emit target laser beams;

controlling a plurality of macro pixels corresponding to a single laser transmitter transmitting a target laser beam to receive target echoes based on a preset receiving sequence; the preset receiving sequence comprises the steps of controlling a plurality of macro pixels to receive target echoes, controlling the macro pixels to receive the target echoes according to rows, and controlling the macro pixels to receive the target echoes according to columns;

and under the condition that each of a plurality of macro pixels in the current macro pixel set receives the target echo, generating current point cloud information based on the target echo received by each of the plurality of macro pixels in the current macro pixel set.

In a specific embodiment, under the condition that the preset array mapping information is the corresponding relation between a single laser emitter and a plurality of macro pixels, sequentially controlling the single laser emitter corresponding to each plurality of macro pixels in the current macro pixel set to emit a target laser beam; and further controls a plurality of macro-pixels corresponding to a single laser transmitter transmitting the target laser beam to receive the target echo. Optionally, the (i, j) th laser emitter corresponding to the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) th macropixel is controlled to emit the target laser beam, the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) th macropixel corresponding to the (i, j) th laser emitter emitting the target laser beam is controlled to sequentially receive the target echo, or the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) th macropixel corresponding to the (i, j) th laser emitter emitting the target laser beam is controlled to receive the target echo in rows, or the (2 i-1,2 j-1), (2 i,2 j-1) th macropixel corresponding to the (i, j) th laser emitter emitting the target laser beam is controlled to receive the target echo in rows; in the case where the (i, j) th laser emitter emits the target laser beam and the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) th macropixels are completed, then the single laser emitter corresponding to the next macropixels, i.e., (2 i-1, 2j+1), (2 i-1, 2j+2), (2i, 2j+1) and (2 i, 2j+2) th macropixels, i.e., (i, j+1) th laser emitter emits the target laser beam, and the plurality of macropixels corresponding to the single laser emitter emitting the target laser beam, i.e., (i, j+1) th macropixels, i-1, 2j+2), (2i, 2j+1) and (2 i, 2j+2) th macropixels are controlled to receive the target echo, and so on until each macropixel in the current macropixel set receives the target echo. Optionally, the emission of the laser emitter and the receiving situation of the macro pixel are specifically combined with the practical application situation.

under the condition that the preset array mapping information is the corresponding relation between a plurality of laser transmitters and a single macro pixel, controlling the plurality of laser transmitters corresponding to each macro pixel in the current macro pixel set to simultaneously transmit target laser beams based on a preset transmission sequence; the preset emission sequence comprises the steps of sequentially controlling a plurality of laser emitters to emit target laser beams simultaneously;

controlling a single macro pixel corresponding to a plurality of laser transmitters transmitting target laser beams to receive target echoes;

In a specific embodiment, under the condition that the preset array mapping information is the corresponding relation between a plurality of laser transmitters and a single macro pixel, sequentially controlling the plurality of laser transmitters corresponding to each macro pixel in the current macro pixel set to simultaneously transmit target laser beams; and further controls a single macro-pixel corresponding to a plurality of laser transmitters emitting the target laser beam to receive the target echo. Optionally, controlling the (i, j) th macropixel corresponding to the (i, j) th macropixel to receive the target echo, and controlling the (i, j) th macropixel corresponding to the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) th laser emitters that emit the target laser beams to emit the target laser beams simultaneously; when the (2 i-1,2 j-1), (2 i-1,2 j), (2 i,2 j-1) and (2 i,2 j) laser transmitters simultaneously transmit the target laser beams and the (i, j) th macro pixel receives the target echo, then controlling a plurality of laser transmitters corresponding to the next single macro pixel (i, j+1) th macro pixel (2 i-1, 2j+1), (2 i-1, 2j+2), (2 i, 2j+1) and (2 i, 2j+2) laser transmitters simultaneously transmit the target laser beams, controlling a plurality of lasers transmitting the target laser beams (2 i-1, 2j+1), (2 i-1, 2j+2), (2 i, 2j+1) and (2 i, 2j+2) macro pixels corresponding to the laser transmitters to receive the target echo, and sequentially proceeding until each target echo in the current pixel set is received. Optionally, the emission of the laser emitter and the receiving situation of the macro pixel are specifically combined with the practical application situation.

S109: and controlling the main radar to be in point cloud synchronization with the blind-complement radar based on the current point cloud azimuth information and the current point cloud information.

In a specific embodiment, the main radar and the blind-complement radar point cloud are controlled to be synchronous based on the current point cloud azimuth information and the current point cloud information corresponding to the current point cloud azimuth information. The current point cloud information is the point cloud information of the blind-complement radar which is the same time and the same angle as the current point cloud azimuth information of the main radar. Through the embodiment of the application, the blind-complement radar point cloud and the main radar point cloud can achieve space-time synchronization of azimuth angles, so that a better effect is obtained in a multi-radar point cloud fusion stage, and multi-radar point cloud fusion precision is improved.

As can be seen from the technical solutions provided in the embodiments of the present specification, the present specification obtains current point cloud azimuth information corresponding to a current space based on main radar scanning; further, based on preset azimuth angle information and current point cloud azimuth angle information, determining a current macro pixel set corresponding to the current point cloud azimuth angle information, wherein the preset azimuth angle information represents a corresponding relation between the point cloud azimuth angle information and macro pixels, and the current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth angle information; further, based on preset array mapping information, controlling a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam, wherein the preset array mapping information represents the corresponding relation between the laser emitter and the macro-pixels in the blind-supplementing radar; further controlling the current macro pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of the blind-patch radar corresponding to the current point cloud azimuth information; and then based on the current point cloud azimuth information and the current point cloud information, the main radar and the blind-patch radar point cloud are controlled to be synchronous, so that the point cloud synchronization of the blind-patch radar and the main radar can be realized, the precision of the fusion of the blind-patch radar and the main radar point cloud is further improved, the precision of the environmental perception of an automatic driving vehicle is further improved, and the driving safety of the automatic driving vehicle is further improved.

The embodiment of the application also provides a laser radar point cloud synchronization device, and correspondingly, fig. 3 is a schematic structural diagram of the laser radar point cloud synchronization device provided by the embodiment of the application; as shown in fig. 3, the above apparatus includes:

an information acquisition module 310, configured to acquire current point cloud azimuth information corresponding to a current space obtained based on a main radar scan;

an information matching module 320, configured to determine, based on preset azimuth mapping information and the current point cloud azimuth information, a current macro pixel set corresponding to the current point cloud azimuth information; the preset azimuth mapping information characterizes the corresponding relation between the point cloud azimuth information and the macro pixels; the current macro pixel set is a set of macro pixels corresponding to the current point cloud azimuth information in the blind-complement radar; the macro-pixel consists of a preset number of photon detectors and is used for receiving and processing the detected optical signals;

a radar control module 330, configured to control, based on preset array mapping information, a current laser emitter corresponding to the current macro-pixel set to emit a target laser beam; the preset array mapping information represents the corresponding relation between the laser transmitters in the blind-supplementing radar and the macro pixels; controlling the current macro pixel set to receive a target echo corresponding to the target laser beam, and obtaining current point cloud information of a blind-patch radar corresponding to the current point cloud azimuth information; the target echo is a reflected beam of the target laser beam in the current space;

And the synchronization control module 340 is configured to control the main radar to be in point cloud synchronization with the blind-patch radar based on the current point cloud azimuth information and the current point cloud information.

In an alternative embodiment, the radar control module 330 includes:

the first radar control unit is used for controlling the single laser emitter corresponding to each macro pixel in the current macro pixel set to emit the target laser beam based on a preset emission sequence under the condition that the preset array mapping information is the corresponding relation between the single laser emitter and the single macro pixel; the preset emission sequence comprises sequentially controlling the single laser emitters to emit the target laser beams; controlling a single macro pixel corresponding to a single laser transmitter for transmitting the target laser beam to receive the target echo; and under the condition that each macro pixel in the current macro pixel set receives the target echo, generating the current point cloud information based on the target echo received by each macro pixel in the current macro pixel set.

In an alternative embodiment, the radar control module 330 includes:

the second radar control unit is used for controlling a single laser emitter corresponding to each of a plurality of macro pixels in the current macro pixel set to emit the target laser beam based on a preset emission sequence under the condition that the preset array mapping information is the corresponding relation between the single laser emitter and the plurality of macro pixels; the preset emission sequence comprises sequentially controlling the single laser emitters to emit the target laser beams; controlling a plurality of macro pixels corresponding to a single laser transmitter transmitting the target laser beam to receive the target echo based on a preset receiving sequence; the preset receiving sequence comprises the steps of controlling the macro pixels to receive the target echo, controlling the macro pixels to receive the target echo in rows and controlling the macro pixels to receive the target echo in columns; and generating the current point cloud information based on the target echo received by each of the plurality of macro pixels in the current macro pixel set under the condition that the target echo is received by each of the plurality of macro pixels in the current macro pixel set.

In an alternative embodiment, the radar control module 330 includes:

the third radar control unit is used for controlling the plurality of laser transmitters corresponding to each macro pixel in the current macro pixel set to simultaneously transmit the target laser beams based on a preset transmission sequence under the condition that the preset array mapping information is the corresponding relation between the plurality of laser transmitters and a single macro pixel; the preset emission sequence comprises sequentially controlling the plurality of laser emitters to emit the target laser beams simultaneously; controlling a single macro-pixel corresponding to a plurality of laser transmitters transmitting the target laser beam to receive the target echo; and under the condition that each macro pixel in the current macro pixel set receives the target echo, generating the current point cloud information based on the target echo received by each macro pixel in the current macro pixel set.

In an alternative embodiment, the apparatus further comprises:

the data acquisition module is used for acquiring echo point coordinate information corresponding to echo points on each macro pixel in the blind-supplement radar and a plurality of point cloud information corresponding to a target space obtained based on the main radar scanning; the echo point is a reflection point corresponding to an echo reflected from the target space to the macro pixel on the macro pixel in the field of view of the blind-complement radar, wherein the laser transmitter transmits a laser beam to the target space; the echo point coordinate information is the coordinate information of the echo point corresponding to the target space, which is obtained based on the blind-patch radar scanning; the point cloud information comprises point cloud coordinate information and point cloud azimuth information;

The point cloud determining module is used for determining a point cloud corresponding to each echo point based on the plurality of point cloud coordinate information and the echo point coordinate information; the point cloud corresponding to each echo point is a point cloud with a distance from the echo point smaller than a preset distance;

the first information generating module is configured to generate the preset azimuth mapping information based on the macro pixel corresponding to each echo point and the point cloud azimuth information of the point cloud corresponding to each echo point.

In an alternative embodiment, the data acquisition module includes:

the radar transmitting and receiving control unit is used for controlling a laser transmitter corresponding to the designated macro pixel in the blind supplementing radar to transmit a laser beam; controlling the designated macro pixel to receive the echo corresponding to the laser beam;

and the information determining unit is used for determining the echo point corresponding to the specified macro pixel and the echo point coordinate information corresponding to the echo point based on the electric signal converted by the echo at the specified macro pixel.

In an alternative embodiment, the radar transmission reception control unit includes:

the first radar transmitting and receiving control subunit is used for controlling all laser transmitters corresponding to all macro pixels to transmit the laser beams based on the preset array mapping information and the preset transmitting sequence under the condition that the designated macro pixels are all macro pixels in a receiving module of the blind supplementing radar; the preset emission sequence comprises the steps of sequentially controlling a laser emitter to emit the laser beams, controlling the laser emitter to emit the laser beams according to rows and controlling the laser emitter to emit the laser beams according to columns; controlling macro pixels corresponding to laser transmitters transmitting the laser beams to receive echoes corresponding to the laser beams based on the preset array mapping information and a preset receiving sequence until all the macro pixels receive the echoes corresponding to the laser beams; the preset receiving sequence comprises the steps of controlling macro pixels to sequentially receive the echoes, controlling the macro pixels to receive the echoes according to rows, and controlling the macro pixels to receive the echoes according to columns;

The second radar transmitting and receiving control subunit is used for controlling a target laser transmitter corresponding to the target macro pixel to transmit the laser beam based on the preset array mapping information and the preset transmitting sequence under the condition that the designated macro pixel is the target macro pixel in the receiving module of the blind supplementing radar; the target macro-pixel comprises at least one macro-pixel; and controlling a macro pixel corresponding to a laser transmitter transmitting the laser beam to receive the echo corresponding to the laser beam based on the preset array mapping information and the preset receiving sequence until the target macro pixel receives the echo corresponding to the laser beam.

In an alternative embodiment, the apparatus further comprises:

the data determining module is used for acquiring the first distribution number of the laser transmitters in the transmitting module of the blind supplementing radar and the second distribution number of the macro pixels in the receiving module;

and the second information generation module is used for carrying out optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel based on the first distribution quantity and the second distribution quantity, and generating the preset array mapping information.

In an alternative embodiment, the second information generating module includes:

the first information generating unit is used for carrying out optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel under the condition that the first distribution number is equal to the second distribution number, so as to obtain the corresponding relation between a single laser emitter and a single macro pixel, and taking the corresponding relation between the single laser emitter and the single macro pixel as the preset array mapping information;

the second information generating unit is used for carrying out optical path calibration on the emission optical path of the laser emitter and the echo optical path of the macro pixel under the condition that the first distribution number is smaller than the second distribution number to obtain the corresponding relation between the single laser emitter and the plurality of macro pixels, and taking the corresponding relation between the single laser emitter and the plurality of macro pixels as the preset array mapping information;

and the third information generating unit is used for carrying out optical path calibration on the emission optical paths of the laser transmitters and the echo optical paths of the macro pixels under the condition that the first distribution number is larger than the second distribution number, so as to obtain the corresponding relation between the plurality of laser transmitters and the single macro pixel, and taking the corresponding relation between the plurality of laser transmitters and the single macro pixel as the preset array mapping information.

The embodiment of the application also provides electronic equipment, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the laser radar point cloud synchronization method.

The embodiment of the application also provides a computer readable storage medium, wherein at least one instruction, at least one section of program, code set or instruction set is stored in the storage medium, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by a processor to realize the laser radar point cloud synchronization method.

It will be appreciated that in the specific embodiments of the present application, where user-related data is involved, user permissions or consent may be required when the above embodiments of the present application are applied to specific products or technologies, and the collection, use and processing of the related data may be required to comply with relevant laws and regulations and standards in the relevant countries and regions.

It should be noted that: the foregoing sequence of the embodiments of the present application is only for describing, and does not represent the advantages and disadvantages of the embodiments. And the foregoing description has been directed to specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device and server embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and references to the parts of the description of the method embodiments are only required.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the above storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but rather is intended to cover any and all modifications, equivalents, alternatives, and improvements within the spirit and principles of the present application.

Claims

1. A method for laser radar point cloud synchronization, the method comprising:

2. The lidar point cloud synchronization method of claim 1, wherein controlling a current laser emitter corresponding to the current set of macro-pixels to emit a target laser beam based on preset array mapping information comprises:

3. The lidar point cloud synchronization method of claim 1, wherein controlling a current laser emitter corresponding to the current set of macro-pixels to emit a target laser beam based on preset array mapping information comprises:

4. The lidar point cloud synchronization method of claim 1, wherein controlling a current laser emitter corresponding to the current set of macro-pixels to emit a target laser beam based on preset array mapping information comprises:

5. The lidar point cloud synchronization method of claim 1, wherein the preset azimuth mapping information is determined by:

6. The method for synchronizing point clouds of laser radar according to claim 5, wherein the coordinate information of the echo point corresponding to the echo point on each macro pixel in the blind-patch radar is determined by the following method:

7. The method of claim 6, wherein controlling the laser emitters of the blind-mate radar corresponding to the designated macro-pixels to emit laser beams comprises:

or,

8. The lidar point cloud synchronization method according to any of claims 1 to 7, wherein the preset array mapping information is determined by:

9. The method of claim 5, wherein the performing optical path calibration on the transmission optical path of the laser transmitter and the echo optical path of the macro pixel based on the first distribution number and the second distribution number, and generating the preset array mapping information includes:

10. A lidar point cloud synchronization device, the device comprising: