WO2022133914A1

WO2022133914A1 - Laser emission control method and apparatus, and related device

Info

Publication number: WO2022133914A1
Application number: PCT/CN2020/139048
Authority: WO
Inventors: 王永波; 江申; 杜亚军
Original assignee: 深圳市速腾聚创科技有限公司
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2022-06-30
Also published as: WO2022134313A1; CN112867938A; CN112867938B

Abstract

A laser emission control method. The method comprises: emitting secondary-emission laser at a first moment of a detection period (S110); and according to a first detection echo corresponding to the secondary-emission laser, adjusting primary-emission laser emitted at a second moment of the detection period (S120). The method is beneficial for the safety of human eyes.

Description

Laser emission control method, device and related equipment

technical field

Embodiments of the present invention relate to the technical field of laser radar, and in particular, to a laser emission control method, device, and related equipment.

Background technique

Lidar is a radar system that emits a laser beam to detect the position, velocity and other characteristic quantities of the target. Its working principle is to transmit the outgoing signal to the target, and then compare the received echo signal reflected from the target with the outgoing signal. Parameters such as speed, attitude, and even shape, so as to detect, track and identify the detected object.

At present, in order to ensure a sufficient detection distance, the energy of the outgoing signal is generally as large as possible. The outgoing signal emitted by the lidar has a certain diffusion angle, and the light spot size tends to spread from the near field to the far field. When a pedestrian (or animal) appears in the near field, the outgoing signal that has not been diffused will be directed to the human eye, and most of the energy of the outgoing signal will enter the human eye and cause damage.

SUMMARY OF THE INVENTION

In view of the above problems, embodiments of the present invention provide a laser emission control method, device, and related equipment, which are used to solve the technical problem of near-field human eye safety of lidar in the prior art.

According to an aspect of the embodiments of the present invention, a laser emission control method is provided, the method comprising:

emit secondary laser light at the first moment of the detection period;

The main emission light emitted at the second moment of the detection period is adjusted according to the first detection echo corresponding to the secondary emission light.

According to another aspect of the embodiments of the present invention, a laser emission control device is provided, comprising:

The secondary emission module is used to emit the secondary emission laser at the first moment of the detection period;

A main emission module, configured to adjust the main emission laser emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emission laser light.

According to yet another aspect of the embodiments of the present invention, a laser radar is provided, and the laser radar includes the above-mentioned laser emission control device.

According to yet another aspect of the embodiments of the present invention, an automatic driving device is provided, including a driving device body and the above-mentioned lidar, where the lidar is installed on the driving device body.

In the embodiment of the present invention, the secondary emitting laser light is first emitted at the first moment in a detection period, and the main emitting laser light emitted at the second moment is adjusted according to the situation of the first detection echo returned by the secondary emitting laser light. Before the start of each detection, the lidar cannot predict the condition of the detected object, including its existence, distance, position, speed, etc., so it is impossible to adjust the emission of the outgoing laser in advance. First, a secondary laser with lower power is emitted to obtain the detected object in the near-field area; even if there are pedestrians in the near-field area, it does not exceed the eye safety threshold. Next, the detected object condition in the near-field area is acquired according to the first detection echo, and the main emitting laser is adjusted based on this. While ensuring the safety of human eyes, it does not affect the detection ability of lidar.

The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to understand the technical means of the embodiments of the present invention more clearly, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and The advantages can be more clearly understood, and the following specific embodiments of the present invention are given.

Description of drawings

The drawings are only used to illustrate the embodiments and are not considered to be limiting of the present invention. Also, the same components are denoted by the same reference numerals throughout the drawings. In the attached image:

1 shows a schematic flowchart of a laser emission control method provided by an embodiment of the present invention;

2 shows a schematic flowchart of a laser emission control method provided by another embodiment of the present invention;

3 shows a schematic flowchart of a laser emission control method provided by another embodiment of the present invention;

FIG. 4 shows a schematic structural diagram of a laser emission control device provided by an embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein.

In order to ensure the detection distance of the lidar, it is necessary to increase the energy of the outgoing laser as much as possible. Higher energy lasers can cause eye and skin damage. Especially in the eyes, the laser can be focused on the retina by the eyes and cause retinal damage, which can seriously lead to retinal burnout. The outgoing laser emitted by the lidar has a certain diffusion angle, and the light spot size tends to spread from the near field to the far field. When the outgoing laser reaches the far-field area, it travels a long distance in space, and the energy is lost; in addition, the spot size of the outgoing laser in the far-field area is large, only part of the light enters the eye, and the part that enters the eye emits the laser less energy. Eye safety is usually guaranteed in the far field region. On the contrary, in the near-field region, the loss of the outgoing laser light is small and the light spot is concentrated, which is easy to affect the safety of human eyes.

Based on the above-mentioned problem of human eye safety in the near-field area, FIG. 1 shows a flowchart of an embodiment of a laser emission control method provided by the present invention. The method can be executed by a laser radar, and the laser radar can include a laser and a laser emission control device. As shown in Figure 1, the method includes the following steps:

Step 110: Emit the secondary laser light at the first moment of the detection period.

The lidar works periodically, and completes at least one detection in each detection period, that is, a corresponding transmission and reception, and obtains detection data. In the embodiment of the present invention, the secondary laser is first emitted at the first moment of each detection period, and the power of the secondary laser is relatively small, and can only detect the near-field area; at the same time, the secondary laser is irradiated to the human eye in the near-field , can also reduce the damage to the human eye. In the embodiment of the present invention, the power of the secondary laser light is not specifically limited, and those skilled in the art can set it according to specific usage requirements. Preferably, the power of the secondary laser light is less than or equal to a safety threshold for human eyes. The power of such a secondary laser complies with the requirements of human eye safety, and even if it is irradiated to the human eye in the near-field area, it will not cause harm to the human eye. The eye safety threshold can be obtained by querying the relevant laser safety protection standards.

The power of the secondary lasing can also be determined according to the maximum distance of the near field region. Under other conditions being the same, the ranging capability of the lidar is positively correlated with the power of the outgoing laser. The greater the power of the outgoing laser, the better the ranging capability of the lidar. It can be seen from the foregoing that the problem of eye safety in the near-field area of the lidar field of view is relatively prominent, so the detection distance corresponding to the secondary laser can at least cover the near-field area. Preferably, the detection distance corresponding to the power P' of the secondary laser light is equal to the maximum distance in the near-field region. It should be noted that when the power P' of the secondary laser is greater than the human eye safety threshold, considering that the secondary laser detects the near-field area on the premise of ensuring the safety of the human eye, the power P' of the secondary laser is used at this time. It is equal to the human eye safety threshold; when the power P' of the secondary laser is less than or equal to the human eye safety threshold, keep the power P' unchanged to meet the application requirements and reduce the power consumption of the lidar.

Compared with directly emitting the outgoing laser at the preset power to meet the detection requirements of the lidar, a secondary laser with a lower power is first emitted, which can not only effectively know whether there is a detected object in the near-field area, but also ensure the human eye in the near-field area. Safety. At the same time, when there is a detected object in the near-field area, the power of the emitted laser light at subsequent times can also be adjusted according to the detection situation of the secondary laser light.

Step 120: Adjust the main emitting laser light emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emitting laser light.

In this embodiment of the present invention, the power of the main emitting laser light emitted at the second moment is determined according to the situation of the first detection echo of the secondary emitting laser light. On the one hand, when the secondary emitting laser detects a detected object in the near-field area, the power of the main emitting laser can be reduced; in this way, even if the main emitting laser irradiates the target object in the near-field area, the detected object may be a pedestrian. Meet the safety requirements; in addition, on the premise that there are detected objects in the near-field area, the detection requirements of the lidar in the far-field area corresponding to the azimuth are correspondingly reduced, and reducing the power of the main laser will not significantly affect the performance of the lidar. overall detection capability. On the other hand, when the secondary laser does not detect the detected object in the near-field area, it is considered that there is no detected object in the near-field area, and the main laser is emitted at the preset power to meet the detection requirements, ensuring the detection capability of the lidar. .

In this embodiment of the present invention, one detection period at least includes the secondary emitting laser light emitted at the first moment and the main emitting laser light emitted at the second moment. Wherein, the time interval between the first moment and the second moment is greater than or equal to the flight time of the farthest detection distance corresponding to the secondary laser light. Before the second moment, the corresponding first detection echo within the range of the secondary laser has been received by the lidar; avoid continuing to send the primary laser when the first detection echo is not received by the lidar, causing the secondary laser and the primary The crosstalk of laser light affects the accuracy of lidar.

Step 120: Adjusting the main emission light emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emission light, may include the following steps:

Step 1201 : when the first detection echo corresponding to the secondary emitting laser light is not received, the power of the primary emitting laser light emitted at the second moment of the detection period is the preset power.

Wherein, the preset power is the normal transmit power of the laser radar that satisfies the ranging capability and detection performance, and the preset power is greater than the power of the secondary laser light. For example, the ranging capability defined by the lidar is 200m. According to the system composition of the lidar, the transmit power that meets the detection requirements can be determined, and the transmit power is the preset power. The first detection echo corresponding to the secondary emitted laser light refers to the echoed laser light returned after the secondary emitted laser light emitted outward is reflected by an object in the field of view.

If the first detection echo corresponding to the secondary laser is not received, indicating that there is no detected object in the near-field area, it is considered that there is no object causing eye safety problems in the near-field area, and the main transmitter with preset power is emitted at the second moment. The laser detects the entire field of view of the lidar to ensure the detection capability of the lidar.

Step 1202 : when the first detection echo corresponding to the secondary emitting laser light is received, the power of the primary emitting laser light emitted at the second moment of the detection period is the regulated power; the regulated power is less than the preset power.

Among them, when the first detection echo corresponding to the secondary laser light is received, it means that there is a target object in the near-field area, and the type of the target object may be a pedestrian; if the main laser light continues to be emitted at the preset power at the second moment , it will cause injury to pedestrians in the near field area. The power of the main laser light emitted at the second moment is reduced to the adjusted power. By reducing the power of the main laser to the preset power, the main laser is no longer emitted at the preset power, thereby reducing the energy of the outgoing laser in the near-field area, effectively reducing or avoiding the damage to the human eye in the near-field area. damage.

Among them, there are many ways to determine the power adjustment. When the first detection echo is received, the power of the main laser can be adjusted to a certain fixed power value. For example, when the first detection echo is received, a signal is sent to the laser emission control device to control the power of the main laser emitted by the laser. is a fixed power value. Among them, setting the adjustment power to a fixed power value can automatically and quickly adjust the main laser light of the laser, which can effectively ensure the working efficiency of the laser while ensuring the safety of human eyes. The power of the main laser can also be adjusted to different power values according to the analysis result of the first detection echo. For example, the analysis result is obtained according to the first detection echo, and the processor sends a control signal to the laser emitting device according to the analysis result to control the laser. The power of the main emitted laser light is a specific power value. Among them, by adjusting the power of the main laser to different power values according to the analysis result of the first detection echo, the adjustment of the power of the main laser is more reasonable, and the detection of the lidar can be ensured to the greatest extent while ensuring the safety of human eyes. ability.

According to whether the lidar receives the first detection echo corresponding to the secondary laser light, it is used as the judgment basis for identifying whether there is a detected object in the near-field area. If the first detection echo is not received, it is considered that there is no detected object in the near-field area; at this time, there is no need to consider the issue of human eye safety, the laser can normally emit high-power outgoing laser for long-distance detection, and the power of the main laser is the preset power. If the first detection echo is received, it is considered that there is a detected object in the near-field area; at this time, the lidar does not deeply distinguish the type of the detected object detected before the main laser is emitted, and it is uniformly believed that the outgoing laser will affect the near-field area. The detected object inside has an influence, and the power of the main laser is reduced to the adjusted power. Since both the secondary laser and the main laser are emitted in the same detection period and the interval is short, the above method can realize the rapid adjustment of the main laser emitted at the second moment, so that the power of the main laser can be accurately and quickly Respond to the current situation.

In addition, the power of the main laser is relatively large, and the leading light generated after being reflected on each optical surface of the lidar is also strong. The leading light enters the receiver of the lidar, causing the receiver to saturate; the receiver can only return to normal working state after a dead time. Due to the dead time of the receiver caused by the leading light, the receiver cannot receive the normal detection echo returned from the near-field area, resulting in the near-field blind area of the lidar. In this embodiment, the power of the secondary laser is small, and the leading light generated is also less. By reducing the gain of the receiver, saturation can be avoided, and dead time can be prevented. The cooperation of the secondary laser and the main laser can eliminate the near field of the lidar Blind area, to achieve full coverage of the field of view. In each detection period, the detection data obtained by the integration period of the secondary laser light and the detection data obtained by the integration period of the main laser light are spliced and fused to obtain a complete frame of data. For example, the integration period of the secondary laser can obtain detection data in the near-field area of 0-5m, and the integration period of the main laser can obtain the detection data of 5-200m; after the two sets of detection data are spliced and fused in distance, complete data is obtained.

In this embodiment, the secondary emitting laser light is first emitted at the first moment in a detection period, and the main emitting laser light emitted at the second moment is adjusted according to the situation of the first detection echo returned by the secondary emitting laser light. Before the start of each detection, the lidar cannot predict the condition of the detected object, including its existence, distance, position, speed, etc., so it is impossible to adjust the emission of the outgoing laser in advance. First, a secondary laser with lower power is emitted to obtain the detected object in the near-field area; even if there are pedestrians in the near-field area, it does not exceed the eye safety threshold. Next, the detected object condition in the near-field area is acquired according to the first detection echo, and the main emitting laser is adjusted based on this. While ensuring the safety of human eyes, it does not affect the detection ability of lidar.

FIG. 2 shows a flowchart of another embodiment of the laser emission control method provided by the present invention, and the method can be executed by a laser radar. As shown in Figure 2, the method includes the following steps:

Step 210: Emit secondary laser light at the first moment of the detection period.

Specifically, step 210 is the same as step 110, and details are not repeated here.

Step 220: Determine the reflectivity of the detected object according to the first detected echo.

The secondary laser light and the corresponding first detection echo are a complete transceiving and detection process. According to the emission time of the secondary laser light (ie, the first moment) and the reception time of the first detection echo, the flight time ΔT ₁ can be obtained, and then the flight distance can be calculated. Similarly, the power attenuation ΔP ₁ can be calculated according to the transmit power of the secondary laser light and the received power of the first detection echo. According to the flight distance and the system efficiency of the lidar, the power loss can be obtained. Combined with the azimuth angle and power attenuation ΔP ₁ of the detection process, the reflectivity of the detected object can be obtained.

Among them, the reflectivity of different detected objects is different, mainly depends on the properties of the object itself (such as surface conditions) and the incident angle, such as pedestrian reflectivity, car reflectivity, road reflectivity are different. Therefore, by calculating the reflectivity of the detected object according to the second emitted laser light and the first detected echo, the rough classification type of the detected object can be determined, such as pedestrians, vehicles, road surfaces, green belts, street lamps, etc.

Step 230: Determine the adjustment power according to the reflectivity.

As can be seen from the foregoing, the rough classification type of the detected object can be determined according to the reflectivity. The adjustment power of the main laser is determined according to the rough classification of the detected object, so that the setting of the adjustment power is more reasonable; when the type of the detected object is determined to be pedestrian, the power of the main laser can be significantly reduced to ensure eye safety; When the category of the detected object is other than pedestrians, the power of the main laser can be appropriately reduced, which not only reduces the impact on objects in the near-field area, but also ensures the detection capability of the lidar.

Wherein, when the reflectivity is within the preset reflectivity range, the size of the adjustment power is determined as the first power; when the reflectivity is not within the preset reflectivity range, the size of the adjustment power is determined as the second power; the first power less than the second power. The preset reflectivity range may be the pedestrian reflectivity range.

The preset reflectivity range may be a reflectivity range corresponding to pedestrians. The reflectance range of pedestrians can be obtained by experience or by querying relevant data. When the reflectivity of the detected object is within the preset reflectivity range, the detected object is a pedestrian, or there is a high probability that the detected object is a pedestrian; in order to ensure the safety of human eyes, the adjustment power is significantly reduced to the first power. When the reflectivity of the detected object is not within the preset reflectivity range, the detected object is not a pedestrian, or the probability that the detected object is a pedestrian is small; adjust the power to the second power to reduce the impact on objects in the near-field area At the same time, the second power can be greater than the first power, so as to ensure the detection ability of the lidar as much as possible. Exemplarily, when the reflectivity of the detected object is within the preset reflectivity range of pedestrians, the adjustment power of the main laser is reduced to 10% of the preset power; when the reflectivity of the detected object is not within the preset range When the reflectivity of pedestrians is within the range, the adjustment power of the main laser is reduced to 50% of the preset power.

In the embodiment of the present invention, the reflectivity of the detected object is obtained by analyzing the first detection echo, and the reflectivity of the detected object is compared with a preset reflectivity range to determine whether the detected object is a pedestrian, so as to more accurately adjust the main The adjustment power of the laser light enables the lidar to perform long-distance detection as efficiently as possible while ensuring the safety of the human eye.

FIG. 3 shows a flowchart of another embodiment of a laser emission control method provided by the present invention, and the method can be executed by a laser radar device. As shown in Figure 3, the method includes the following steps:

Step 310: Emit the secondary laser light at the first moment of the detection period.

Specifically, step 310 is the same as step 110, and details are not repeated here.

Step 320: Determine the distance of the detected object according to the first detected echo.

As mentioned above, the secondary emitted laser light and the corresponding first detection echo are a complete transceiving and detection process. According to the transmission time of the secondary laser light (ie the first moment) and the reception time of the first detection echo, the flight time ΔT ₁ can be obtained, and then the flight distance can be calculated to obtain the distance between the detected object and the lidar.

Wherein, the azimuth angle in the corresponding field of view of each detection period is different, and the secondary laser light and the first detection echo can detect objects located at different distances.

Step 330: Determine the adjustment power according to the distance.

It can be seen from the foregoing that the closer the distance to the lidar, the smaller the loss of the outgoing laser, the more concentrated the light spot, and the easier it is to affect the safety of human eyes. The adjustment power of the main laser is determined according to the distance of the detected object, so that the setting of the adjustment power is more reasonable and the utilization rate is high; when the distance of the detected object is too close, the power of the main laser is reduced more; When the distance to the detected object is in the near-field region but not too close, the power reduction of the main laser is relatively small.

Wherein, when the distance is within the preset distance range, the size of the adjusted power is determined as the third power; when the distance is not within the preset distance range, the size of the adjusted power is determined as the fourth power; the third power is smaller than the fourth power .

The preset distance range may be a distance range whose distance is less than a certain distance threshold L ₀ . The distance threshold L ₀ can be obtained through experience or set manually. When the distance of the detected object is greater than or equal to the distance threshold L ₀ , it is not within the preset distance range, and the adjustment power is reduced to the fourth power; when the distance of the detected object is less than the distance threshold value L ₀ , it is within the preset distance range. , reducing the regulated power to a smaller third power. In this way, the energy distribution of the outgoing laser light of the lidar is more reasonable, and the closer the distance, the smaller the energy, which is more in line with the requirements of human eye safety. Exemplarily, the distance threshold L ₀ is equal to 3m, and the near-field area is 0-5m; when the distance of the detected object is 2m, which is less than L ₀ and is within the preset distance range, the adjustment power of the main laser is reduced to a preset value. 10% of the power; when the distance of the detected object is 4m, greater than L ₀ and not within the preset distance range, the adjustment power of the main laser is reduced to 30% of the preset power.

Further, as can be seen from the foregoing, the closer the distance of the detected object, the smaller the adjustment power of the corresponding main laser light. Based on this, the relationship between the distance of the detected object and the adjustment power can be obtained. After obtaining the distance of the detected object through the previous step, and substituting it into the relationship, the adjustment power of the main laser can be obtained. The relational expression can be obtained by data fitting after obtaining basic data through multiple tests. The relationship obtained after fitting can be pre-stored in the lidar.

In practical applications, each distance value corresponds to an adjustment power, which increases the difficulty of driving and controlling the laser. Preferably, the near field area is divided into a plurality of preset distance ranges, the adjustment power value corresponding to the preset distance range covering the nearer area is smaller, and the adjustment power value corresponding to the preset distance range covering the far area is larger. Exemplarily, the near-field area is 0-5m, and three preset distance ranges can be set, which are the first preset distance range of 0-1m, the second preset distance range of 1-3m, and the third preset distance range of 3. -5m; the distance of the detected object is within the first preset distance range (ie 0-1m), and the adjustment power of the main laser is 30% of the preset power; when the distance of the detected object is within the second preset distance range (ie 1-3m), the adjustment power of the main laser is 50% of the preset power; when the distance of the detected object is within the third preset distance range (ie 3-5m), the adjustment power of the main laser 70% of the preset power.

In the embodiment of the present invention, the distance of the detected object is obtained by analyzing the first detection echo, and the value of the adjustment power is determined according to the distance of the detected object. The power setting is more scientific, and the energy distribution of the main laser is more reasonable, which not only ensures the safety of human eyes in the near-field area, but also improves the energy consumption efficiency of lidar.

FIG. 4 shows a schematic structural diagram of an embodiment of a laser emission control device of the present invention. As shown in FIG. 4 , the apparatus 400 includes: a secondary sending module 410 and a primary sending module 420 .

a secondary emission module 410, configured to emit the secondary emission laser light at the first moment of the detection period;

The main emission module 420 is configured to adjust the main emission light emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emission laser light.

Wherein, in this embodiment of the present invention, the primary transmission module 410 and the secondary transmission module 420 may be the same transmission module.

The specific working process of the laser ranging device 400 that is beneficial to human eye safety according to the embodiment of the present invention is the same as the specific method steps of the above-mentioned laser emission control method, which will not be repeated here.

In the embodiment of the present invention, the secondary laser is first emitted in a detection period, and when an object to be detected is detected, the energy of the main laser is reduced and the main laser is emitted, thereby avoiding a strong laser emission from irradiating the human eye, and It will cause damage to the human eye, and the secondary laser and the main laser are in a detection cycle, which ensures the safety of the human eye and the working efficiency of the lidar.

Further, by setting the secondary laser and the main laser within a detection period, the near-field distance and the far-field distance can be measured each time, and the distance splicing of lidar ranging is realized.

Embodiments of the present invention further provide a laser radar, where the laser radar includes the above-mentioned laser emission control device 400 . Wherein, the lidar may be any one of solid-state lidar, mechanical lidar, hybrid solid-state lidar, solid-state lidar, OPA solid-state lidar, and the like. The specific working process of the laser radar 400 includes the specific method steps of the above-mentioned laser emission control method, which will not be repeated here.

Further, based on the above-mentioned lidar, an embodiment of the present invention provides an autopilot device including the lidar in the above-mentioned embodiments, and the autopilot device may be a car, an airplane, a ship, or any other device that involves the use of lidar for intelligent sensing. and detection device, the automatic driving device includes a driving device body and the lidar in the above embodiment, and the lidar is installed on the automatic driving device body.

The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used with teaching based on this. The structure required to construct such a system is apparent from the above description. Furthermore, embodiments of the present invention are not directed to any particular programming language. It is to be understood that various programming languages may be used to implement the inventions described herein, and that the descriptions of specific languages above are intended to disclose the best mode for carrying out the invention.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that, in the above description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together into a single implementation in order to simplify the invention and to aid in the understanding of one or more of the various aspects of the invention. examples, figures, or descriptions thereof. This disclosure, however, should not be construed as reflecting an intention that the invention as claimed requires more features than are expressly recited in each claim.

Those skilled in the art can understand that the modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components in the embodiments may be combined into one module or unit or component, and they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

It should be noted that the above-described embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names. The steps in the above embodiments should not be construed as limitations on the execution order unless otherwise specified.

Claims

A laser emission control method, characterized in that the method comprises:

emit secondary laser light at the first moment of the detection period;

The main emission light emitted at the second moment of the detection period is adjusted according to the first detection echo corresponding to the secondary emission light.
The method according to claim 1, wherein the adjusting the primary emitting laser light emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emitting laser light comprises:

When the first detection echo corresponding to the secondary emitting laser light is not received, the power of the primary emitting laser light emitted at the second moment of the detection period is a preset power;

When the first detection echo corresponding to the secondary emitting laser light is received, the power of the primary emitting laser light emitted at the second moment of the detection period is the regulated power; the regulated power is smaller than the preset power.
The method according to claim 2, wherein when the first detection echo corresponding to the secondary emission light is received, the main detection echo emitted at the second moment of the detection period The power of the laser is adjusted power, including:

Determine the reflectivity of the detected object according to the first detection echo;

The adjustment power is determined according to the reflectivity.
The method according to claim 3, wherein the determining the adjustment power according to the reflectivity comprises:

When the reflectivity is within a preset reflectivity range, determining that the size of the adjustment power is the first power;

When the reflectivity is not within the preset reflectivity range, the size of the adjustment power is determined to be the second power; the first power is smaller than the second power.
The method according to claim 2, wherein when the first detection echo corresponding to the secondary emission light is received, the main detection echo emitted at the second moment of the detection period The power of the laser is adjusted power, including:

Determine the distance of the detected object according to the first detection echo;

The adjustment power is determined according to the distance.
The method according to claim 5, wherein the determining the adjusted power according to the distance comprises:

When the distance is within the preset distance range, determining that the size of the adjusted power is the third power;

When the distance is not within the preset distance range, the size of the adjusted power is determined to be the fourth power; the third power is smaller than the fourth power.
The method according to any one of claims 1-6, wherein the time interval between the first moment and the second moment is greater than or equal to the flight time of the farthest detection distance corresponding to the secondary laser light .
A laser emission control device, characterized in that the device comprises:

The secondary emission module is used to emit the secondary emission laser at the first moment of the detection period;

A main emission module, configured to adjust the main emission laser emitted at the second moment of the detection period according to the first detection echo corresponding to the secondary emission laser light.
A laser radar, characterized in that the laser radar comprises a laser emission control device as claimed in claim 8 .
An automatic driving device is characterized by comprising a driving device body and the lidar according to claim 9, wherein the lidar is installed on the driving device body.