WO2023066052A1 - 一种探测方法及装置 - Google Patents

一种探测方法及装置 Download PDF

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Publication number
WO2023066052A1
WO2023066052A1 PCT/CN2022/124158 CN2022124158W WO2023066052A1 WO 2023066052 A1 WO2023066052 A1 WO 2023066052A1 CN 2022124158 W CN2022124158 W CN 2022124158W WO 2023066052 A1 WO2023066052 A1 WO 2023066052A1
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sub
frame
subframe
distance
intervals
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PCT/CN2022/124158
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English (en)
French (fr)
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王超
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华为技术有限公司
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Priority to EP22882662.4A priority Critical patent/EP4407347A1/en
Publication of WO2023066052A1 publication Critical patent/WO2023066052A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

Definitions

  • the present application relates to the technical field of wireless communication, and in particular to a detection method and device.
  • single photon avalanche diode single photon avalanche diode, SPAD
  • the detection principle of the SPAD lidar is mainly to respond to the incident energy of the single photon level and output the single photon count, and obtain the time stamp of the corresponding target echo photon by counting the distribution characteristics of the histogram obtained after multiple measurements. Get the distance of the detected target.
  • the dark counting of the detector often occurs due to noise signals generated by ambient light, thermal diffusion or tunneling effects, etc., resulting in the detector being unable to effectively distinguish and output single-photon counting pulses, causing detection Interference, the detection performance of the system decreases, resulting in a decrease in the ranging accuracy of the lidar.
  • the present application provides a detection method and device for improving the detection performance of lidar.
  • the embodiment of the present application provides a method for detecting a target object, the method comprising:
  • the transmitter is controlled to emit a plurality of laser pulses in each subframe of the first frame; wherein each subframe corresponds to a group of subdistance intervals, and the first frame includes a plurality of subframes; the detector is controlled to receive a plurality of signal pulses, so The plurality of signal pulses include reflected signals for the plurality of laser pulses, and each signal pulse in the plurality of signal pulses corresponds to a sub-distance interval in the set of sub-distance intervals; according to the plurality of signals The pulses correspond to the signal pulses in the same sub-distance interval, and the information of the target object in the same sub-distance interval is determined.
  • this application uses the relative relationship between time and space to divide a frame into multiple sub-frames, divide the detection range into multiple sub-distance intervals, and perform statistics on signal photons for each sub-distance interval in each subframe, Furthermore, according to the signal photons corresponding to the same sub-distance interval, the position information of the target object in the same sub-distance interval is determined.
  • this method since this method counts the signal photons at the granularity of the sub-distance interval, compared to counting the signal photons at the granularity of the detection range, the method of this application reduces the time window for counting the signal photons, and can reduce the The number of noise photons counted, thereby reducing the chance of noise photon accumulation, reducing the probability that the single photon count of signal photons is overwhelmed by random noise photon counts accumulated in time, and helping to increase the chance of signal photons being detected , which is conducive to improving the detection performance of lidar under strong background light conditions.
  • multiple histograms corresponding to the same sub-distance interval are determined according to the signal pulses corresponding to the same sub-distance interval among the plurality of signal pulses; wherein, each sub-distance interval of each subframe Corresponding to one histogram; according to the multiple histograms, determine the information of the target object in the same sub-distance interval.
  • corresponding pixels on the transmitter are sequentially driven, so as to emit multiple laser pulses corresponding to the first frame through the transmitter.
  • the first manner is to use the first array pattern to send laser pulses.
  • the method further includes: emitting multiple laser pulses in each subframe of the second frame.
  • the corresponding pixels on the transmitter are sequentially driven, so as to transmit a plurality of laser pulses corresponding to the second frame through the transmitter; the second manner is the same as the The first way is different.
  • the second manner is to use a second array pattern to send laser pulses, and the first array pattern is different from the second array pattern.
  • the vertical cavity surface laser VCSEL can also be controlled to emit multiple laser pulses in each subframe of the first frame; and/or the single photon avalanche diode SPAD detector can also be controlled to receive multiple a signal pulse.
  • the VCSEL may also be controlled to cooperate with electrical scanning to emit multiple laser pulses in each subframe of the first frame.
  • the distribution of the time lengths of the sub-distance intervals in each subframe included in the first frame is the same; or the time lengths of the sub-distance intervals in at least two subframes included in the first frame are The length distribution is different.
  • the first frame includes at least two subframe groups, and the distribution of the time length of the subdistance interval of each subframe in the same group of subframes is the same; the subframes in different subframe groups The distributions of the time lengths of the subdistance intervals are different.
  • the first frame includes at least two subframe groups, and the distribution of the time length of the subdistance interval of each subframe in the same group of subframes is the same; the subframes in adjacent subframe groups The distribution of the time length of the sub-distance intervals of the frame is different.
  • each subframe included in the first frame has the same frame length; or the first frame includes at least two subframes with different frame lengths.
  • the length of each sub-distance interval in the set of sub-distance intervals is the same; or the set of sub-distance intervals includes at least two sub-distance intervals, and the length of the at least two sub-distance intervals is different.
  • the time length of each adjacent sub-distance interval in the set of sub-distance intervals decreases sequentially according to the timing of laser pulse transmission; or, each of the set of sub-distance intervals The time length of adjacent sub-distance intervals first increases and then decreases according to the timing of laser pulse transmission.
  • the length of each sub-distance interval in the set of sub-distance intervals is determined according to the relationship between the coding of the sub-distance interval and the proportion of the detection range, wherein the set of sub-distance intervals
  • the codes of the sub-distance intervals in the interval increase sequentially according to the time sequence of laser pulse transmission.
  • the relationship between the encoding of the sub-distance interval and the proportion in the detection range may be as follows: the larger the encoding of the sub-distance interval, the larger the sub-distance interval is in the detection range. The smaller the proportion.
  • the relationship between the encoding of the sub-distance intervals and the proportion in the detection range may be that the proportion of the sub-distance intervals encoded as odd numbers in the detection range is smaller than that of the sub-distance intervals encoded as even numbers The proportion of the sub-distance interval in the detection range.
  • the present application provides a detection device, which is used to implement any one of the methods in the first aspect or the first aspect, including corresponding functional modules or units, respectively used to implement the methods in the first aspect A step of.
  • Functions can be realized by hardware, or by executing corresponding software by hardware, and the hardware or software includes one or more modules or units corresponding to the above-mentioned functions.
  • the detection device includes at least one transceiver unit and a processing unit;
  • the processing unit is configured to control the transceiver unit to emit a plurality of laser pulses in each subframe of the first frame; wherein each subframe corresponds to a group of subdistance intervals, and the first frame includes a plurality of subframes;
  • the processing unit is further configured to control the transceiver unit to receive a plurality of signal pulses, the plurality of signal pulses include reflected signals for the plurality of laser pulses, and each signal pulse in the plurality of signal pulses corresponds to a subdistance interval of the set of subdistance intervals;
  • the processing unit is further configured to determine the information of the target object in the same sub-distance interval according to the signal pulses corresponding to the same sub-distance interval among the plurality of signal pulses.
  • a detecting device in a third aspect, includes a processor and a memory.
  • the memory is used to store calculation programs or instructions
  • the processor is coupled to the memory; when the processor executes the computer programs or instructions, the device is made to execute the first aspect or any one of the methods in the first aspect.
  • the detection device may be a first device, or a device capable of supporting the first device to implement the functions required by the method provided by the first aspect above, such as a chip system.
  • the detection device may be a laser radar, or a terminal device equipped with the laser radar, or a part of components (such as a chip) in the laser radar.
  • the terminal device may be, for example, a smart mobile terminal, a smart home device, a smart car, a smart wearable device, and the like.
  • the present application provides a laser radar, including: an emitter, a detector, and a controller;
  • the light emitter is used to emit laser pulses
  • the detector is used to receive signal pulses
  • the controller is used to control the transmitter to emit a plurality of laser pulses in each subframe of the first frame; wherein each subframe corresponds to a set of subdistance intervals, and the first frame includes a plurality of subframes; control the detector receiving a plurality of signal pulses, the plurality of signal pulses comprising reflected signals for the plurality of laser pulses, each signal pulse in the plurality of signal pulses corresponding to a sub-distance interval in the set of sub-distance intervals ; According to the signal pulse corresponding to the same sub-distance interval among the plurality of signal pulses, determine the information of the target object in the same sub-distance interval.
  • the controller may also control the vertical cavity surface laser VCSEL to emit multiple laser pulses in each subframe of the first frame; and/or the controller may also control a single A photonic avalanche diode SPAD detector receives multiple signal pulses.
  • the controller may also specifically control the manner in which the VCSEL cooperates with electrical scanning to emit multiple laser pulses within each subframe of the first frame.
  • the present application provides a laser radar, which includes a module/unit for performing the method of the first aspect or any possible implementation manner of the first aspect.
  • modules/units can be realized by hardware, and can also be realized by executing corresponding software by hardware.
  • a sixth aspect provides a terminal, and the terminal may include the device described in any one of the second to fifth aspects above.
  • the device may be a smart communication device, a smart home device, a smart manufacturing device, a smart transportation device, etc., such as a vehicle, a drone, an unmanned transport vehicle, a robot, and the like.
  • the present application provides a chip, which is connected to a memory, and is used to read and execute computer programs or instructions stored in the memory, so as to realize the above-mentioned first aspect or any possible implementation of the first aspect Methods.
  • a computer-readable storage medium is provided.
  • Computer programs or instructions are stored in the computer-readable storage medium.
  • the device When the computer programs or instructions are executed by a device, the device performs any of the above-mentioned first aspect or the first aspect. method in a possible implementation.
  • the present application provides a computer program product, the computer program product includes a computer program or an instruction, and when the computer program or instruction is executed by a device, the device executes the above-mentioned first aspect or any possible method of the first aspect. method in the implementation.
  • FIG. 1 is a schematic diagram of the principle of a lidar detection target provided by the present application.
  • FIG. 2 is a schematic diagram of an application scenario of a laser radar provided by the present application
  • FIG. 3 is a schematic structural diagram of a laser radar provided by the present application.
  • FIG. 4 is a schematic diagram of the relationship between a frame and a subframe provided by the present application.
  • FIG. 5 is a schematic diagram of the division method of the first seed distance interval provided by the present application.
  • FIG. 6 is a schematic diagram of the division method of the second seed distance interval provided by the present application.
  • FIG. 7 is a schematic diagram of the division method of the third seed distance interval provided by the present application.
  • FIG. 8 is a schematic diagram of the division method of the fourth sub-distance interval provided by the present application.
  • FIG. 9 is a schematic diagram of the division method of the fifth sub-distance interval provided by the present application.
  • FIG. 10 is a schematic diagram of the division method of the sixth sub-distance interval provided by the present application.
  • Figure 11 is a schematic flow chart of a detection method provided by the present application.
  • Fig. 12 is a schematic structural diagram of the first control device provided by the present application.
  • Fig. 13 is a schematic structural diagram of the second control device provided by the present application.
  • FIG. 14 is a schematic structural diagram of another laser radar provided by the present application.
  • the electrical scanning described in the embodiments of this application refers to a method of controlling the light emission sequence of an array light source, which is determined by the injection timing and direction of the driving current and the selection of different working areas determined by the addressing control logic. , without any mechanical scanning components.
  • Global shutter the global shutter in the embodiment of the present application refers to a method of detector exposure, and the global refers to collecting and reading the data collected by all pixels of the two-dimensional detector array simultaneously at one time, also known as the global Exposure, is a commonly used term in the field of imaging sensing.
  • the dynamic range of the SPAD can be used to indicate the number of minimum cells (cells) included in the SPAD detection unit.
  • each SPAD detection unit may be divided according to the minimum granularity, for example, the SPAD detection unit may be divided according to the granularity of pixels, and the minimum granularity may be called a minimum cell, that is, one pixel is a minimum cell.
  • the larger the dynamic range of the SPAD the larger the number of minimum cells included in a SPAD detection unit.
  • SPAD independently completes the measurement of single photon counting for each cell, when combining multiple cells as a SPAD detection unit, it is equivalent to combining the single photon events independently measured by multiple cells. For example, each cell will form a statistical histogram of single photon counting. If 9 cells are combined as a SPAD detection unit, the histograms of single photon counting of these 9 cells will be merged together, which is equivalent to a single The number of photon counts has been increased. Therefore, the larger the dynamic range of the SPAD, the higher the detection performance.
  • the embodiment of the present application provides the following two working modes of the SPAD:
  • Mode 1 Work through a single SPAD.
  • each SPAD detection unit includes a minimum cell.
  • this method 1 can be used for detection, for example, it is common in medical detection, aerial detection, etc.
  • Mode 2 Work by combining multiple SPADs (binning).
  • the method 1 cannot meet the detection requirements. At this time, the working method 2 needs to be used for detection.
  • the minimum number of cells to be merged can be determined according to factors such as the current detection environment and the specifications of the detector.
  • the transmitter can superimpose the binning signal together to emit in a pixel, and the detector can read through the equivalent pixel corresponding to the binning signal superposition .
  • the radar in the embodiment of the present application may include laser radar.
  • FIG. 1 it is a schematic diagram of a laser radar detecting a target provided by the present application.
  • the lidar may include a laser and a detector.
  • the laser can be used to emit a laser beam.
  • the electromagnetic wave can be reflected by the surface of the target.
  • the reflected signal is called an echo signal, and the echo signal returns to the detector of the laser radar.
  • the detector can be used to determine the relevant information of the target, such as the position information of the target, the moving speed of the target, etc., according to the received echo signal and the emitted laser beam.
  • LiDAR can be installed on mobile devices.
  • LiDAR is applied to automatic driving scenarios, or it can also be applied to networked vehicle scenarios, etc.
  • the laser radar can be installed on a vehicle as a vehicle-mounted laser radar (such as a scanning vehicle-mounted frequency-modulated continuous wave (Frequency Modulated Continuous Wave, FMCW) laser radar); for another example, the laser radar can be installed on an aircraft for For airborne lidar, etc.
  • the lidar can also be installed on a mobile platform, such as a satellite.
  • the lidar needs the assistance of other devices in the mobile platform to determine its current position and steering information, which ensures the availability of measurement data.
  • the lidar can also be installed on a fixed platform, for example, the lidar can be installed on a roadside unit (road side unit, RSU), a roof, or a base station.
  • RSU road side unit
  • the lidar needs the assistance of other devices in the fixed platform to determine its current position and steering information, which can ensure the availability of measurement data.
  • the laser radar in this application can also be applied to other possible scenarios, which will not be listed here.
  • FIG. 3 exemplarily shows a schematic structural diagram of a laser radar provided by the present application.
  • the laser radar method includes a launcher, a SPAD detector, and a processor.
  • the lidar may also include other devices.
  • the transmitter is used to transmit pulses to the outside, and the pulses will be reflected back after reaching the detected target (also called the target object).
  • the SPAD detector can receive the signal photons reflected back by the target object.
  • the processor is used to count the signal photon counts within the system measurement time range after several pulses are emitted, and obtain a histogram for single photon counts, and then use a specific algorithm to process the histogram data to obtain the time stamp of the signal photons, and then Calculate the distance between the lidar and the detected object based on the time stamp of the signal photon.
  • the laser radar in the embodiment of the present application can be a pure solid-state laser radar, wherein the transmitter of the pure solid-state laser radar can use a vertical cavity surface emitting laser (vertical cavity surface emitting laser, VCSEL) light source, and The detection is carried out in conjunction with the electrical scanning method, so that it can be better ensured that for any SPAD detection unit (also called a pixel), there are sufficient signal photon counts in the measurement period.
  • SPAD detection unit also called a pixel
  • one or more time-to-digital converters can be connected to each SPAD detection unit, which is responsible for outputting the detected single photon counts to obtain a histogram.
  • the single photon counting here includes signal photon counting and noise photon counting.
  • TDC is used to convert analog signal into digital signal.
  • the pulse emitted by one pixel of the transmitter is received by a corresponding pixel of the SPAD detector.
  • the pulse emitted by pixel 1 of the transmitter is received by pixel 1 of the SPAD detector; the pulse emitted by pixel 2 of the transmitter is received by pixel 2 of the SPAD detector, and so on.
  • the pulse emitted by one pixel of the transmitter is received by the corresponding multiple pixels of the SPAD detector.
  • the pulse emitted by pixel 1 of the transmitter is received by pixels 1 to 10 of the SPAD detector; the pulse emitted by pixel 2 of the transmitter is received by pixels 11 to 20 of the SPAD detector. etc.
  • different pixels on the transmitter can emit pulses according to certain rules.
  • each frame corresponds to a graphic
  • the graphic corresponds to multiple pixels on the emitter
  • the random number generator is used to determine the pixels that need to be driven to light up each time in the pixels corresponding to the graphic.
  • each frame is divided into N subframes, N is an integer greater than 1, and the time lengths of different subframes can be the same or different .
  • a frame in the embodiment of the present application can be understood as the full field of view information output by the laser radar, and the subframe can be understood as the full field of view information obtained after dividing the frame according to space and/or time Partial field of view information.
  • one frame corresponds to 100 ms of full field of view information, wherein subframe A in the one frame may be the field of view information of 1 ms to 10 ms in the 100 ms.
  • the full field of view information corresponding to one frame can be divided into X*Y full field of view information, wherein, subframe A in this frame can represent X'*Y' in space information about the partial field of view.
  • the frame may include 2 subframes, namely subframe 1 and subframe 2 , where subframe 1 can spatially represent the 2*3 part of the field of view information corresponding to the twill pattern in FIG. 4 , and subframe 2 can spatially represent the 2*3 part corresponding to the vertical pattern in FIG. 4 field of view information.
  • the detection range of lidar is divided into two or more sub-distance intervals, and the lengths of different sub-distance intervals can be the same or different.
  • the two or more sub-distance intervals here may also be referred to as a set of sub-distance intervals.
  • the division of the sub-distance intervals can be reduced successively from near to far, so that the weak echo signal area can be compressed window for noise accumulation.
  • different subframes may correspond to the same sub-distance interval division manner, or may correspond to different sub-distance interval division manners.
  • the transmitter may transmit multiple pulses, for example, hundreds of pulses.
  • different transmitted pulses correspond to the same sub-distance interval division manner.
  • the pulses sent in each subframe can be sent according to a fixed period, or the pulse transmission period can be dynamically modulated, for example, the pulse transmission period can be continuously reduced, thereby increasing the pulse transmission within a subframe Quantity, which can improve the detection accuracy of the target object.
  • the detection range which can also be called the system range, refers to the furthest distance of the target object that can be detected by the lidar.
  • one frame is divided into N subframes, which are respectively subframe 1 to subframe N.
  • the time lengths of different subframes may be the same or different.
  • the first frame is divided into 4 subframes, which are respectively subframe 1 to subframe 4.
  • the time length of each subframe in the subframe 1 to the subframe 4 is the same.
  • the time length of each subframe in the subframe 1 to the subframe 4 is the first time length.
  • the time length of each subframe in the subframe 1 to subframe 4 is different.
  • the time length of the subframe 1 is the first time length
  • the time length of the subframe 2 is the second time length
  • the time length of the subframe 3 is the third time length
  • the time length of the subframe 4 is the second time length.
  • Four lengths of time are different.
  • the time lengths of some subframes in the subframe 1 to subframe 4 are the same.
  • the time length of subframe 1 and subframe 3 is the same, which is the first time length
  • the time length of subframe 2 and subframe 4 is the same, which is the second time length, wherein the first time length and the second time length are different same.
  • the time length of subframe 1 and subframe 3 is the same as the first time length
  • the time length of subframe 2 is the second time length
  • the time length of subframe 3 is the third time length.
  • the first time length, the second time length and the third time length are different.
  • the first frame corresponds to a group of sub-distance intervals, and each sub-distance interval in the group of sub-distance intervals has the same length.
  • FIG. 5 it is an example diagram of the division method of the first seed distance interval provided by the embodiment of the present application.
  • the sub-distance interval corresponding to sub-frame 1 is divided in the following manner: the detection range is divided into sub-distance interval 1, sub-distance interval 2, and sub-distance interval 3.
  • the distance interval 1, the sub-distance interval 2 and the sub-distance interval 3 have the same length, which is equivalent to dividing the detection range into three sub-distance intervals.
  • each pulse transmitted by the transmitter corresponds to the same division method of the sub-distance interval.
  • Sub-distance interval division methods corresponding to subframe 2 to subframe N are the same as sub-distance interval division methods corresponding to subframe 1 .
  • each pulse transmitted by the transmitter corresponds to the same sub-distance interval division manner.
  • the first frame corresponds to a group of sub-distance intervals, and at least two sub-distance intervals in the group of sub-distance intervals have different lengths.
  • Case 1 A group of sub-distance intervals, according to the order of laser pulse transmission, the time length of the sub-distance intervals decreases successively.
  • the lidar can determine the length of each sub-distance interval in the group of sub-distance intervals according to the code size of the sub-distance intervals, wherein the sub-distance intervals in the group of sub-distance intervals
  • the coding of increases sequentially according to the time sequence of laser pulse transmission, and the larger the coding, the smaller the length of the corresponding sub-distance interval.
  • FIG. 6 it is an example diagram of the division method of the second seed distance interval provided by the embodiment of the present application.
  • the sub-distance interval corresponding to sub-frame 1 is divided in the following manner: the detection range is divided into sub-distance interval 1, sub-distance interval 2, and sub-distance interval 3. Wherein, the lengths of the distance interval 1, the sub-distance interval 2 and the sub-distance interval 3 decrease successively.
  • each pulse transmitted by the transmitter corresponds to the same sub-distance interval division method.
  • Sub-distance interval division methods corresponding to subframe 2 to subframe N are the same as sub-distance interval division methods corresponding to subframe 1 . And within each subframe from subframe 2 to subframe N, each pulse transmitted by the transmitter corresponds to the same sub-distance interval division manner.
  • Case 2 A group of sub-distance intervals, according to the order of laser pulse transmission, the time length of the sub-distance intervals first increases and then decreases.
  • FIG. 7 it is an example diagram of the division method of the third sub-distance interval provided by the embodiment of the present application.
  • the sub-distance interval corresponding to sub-frame 1 is divided in the following manner: the detection range is divided into sub-distance interval 1, sub-distance interval 2, and sub-distance interval 3.
  • the lengths of the sub-distance interval 1, the sub-distance interval 2 and the sub-distance interval 3 first increase and then decrease, for example, the length of the sub-distance interval 1 is smaller than the length of the sub-distance interval 2, and the length of the sub-distance interval 2 is longer than the sub-distance interval 3, and the length of sub-distance interval 1 is equal to the length of sub-distance interval 3.
  • each pulse transmitted by the transmitter corresponds to the same division method of the sub-distance interval.
  • Sub-distance interval division methods corresponding to subframe 2 to subframe N are the same as sub-distance interval division methods corresponding to subframe 1 .
  • each pulse transmitted by the transmitter corresponds to the same sub-distance interval division manner.
  • Case 3 A group of sub-distance intervals, according to the order of laser pulse transmission, the time length of the sub-distance intervals increases sequentially.
  • FIG. 8 it is an example diagram of the division method of the fourth sub-distance interval provided by the embodiment of the present application.
  • the sub-distance interval corresponding to sub-frame 1 is divided in the following manner: the detection range is divided into sub-distance interval 1, sub-distance interval 2, and sub-distance interval 3. Wherein, the lengths of the distance interval 1, the sub-distance interval 2 and the sub-distance interval 3 increase sequentially. Within the time of subframe 1, each pulse transmitted by the transmitter corresponds to the same sub-distance interval division method.
  • Sub-distance interval division methods corresponding to subframe 2 to subframe N are the same as sub-distance interval division methods corresponding to subframe 1 . And within each subframe from subframe 2 to subframe N, each pulse transmitted by the transmitter corresponds to the same sub-distance interval division manner.
  • Case 4 The first frame contains at least two subframe groups, the distribution of the time length of the subdistance intervals of each subframe in the same group of subframes is the same, and the time length of the subdistance intervals of subframes in different subframe groups The distribution is different.
  • FIG. 9 it is an example diagram of the division method of the fifth sub-distance interval provided by the embodiment of the present application.
  • the first frame contains subframes 1 to 6, wherein subframe 1 and subframe 2 form a group, and this group is subframe group 1, and the subframes of subframe 1 and subframe 2 in the same group of subframes
  • the distribution of the time length of the distance interval is the same; subframe 3 and subframe 4 form a group, this group is subframe group 2, and the distribution of the time length of the subdistance interval between subframe 3 and subframe 4 in the same group of subframes Same; subframe 5 and subframe 6 form a group, this group is subframe group 3, subframes 5 and subframe 6 in the same group of subframes have the same distribution of time lengths of the subdistance intervals.
  • the time length distributions of the sub-distance intervals among the subframe group 1, the subframe group 2 and the subframe group 3 are different from each other.
  • the first frame contains at least two subframe groups, and the distribution of the time lengths of the subdistance intervals of each subframe in the same subframe group is the same; the distribution of the time lengths of the subdistance intervals of two adjacent subframes is different.
  • FIG. 10 it is an example diagram of the division method of the sixth sub-distance interval provided by the embodiment of the present application.
  • the first frame contains subframes 1 to 6, wherein subframe 1 and subframe 2 form a group, and this group is subframe group 1, and the subframes of subframe 1 and subframe 2 in the same group of subframes
  • the distribution of the time length of the distance interval is the same; subframe 3 and subframe 4 form a group, this group is subframe group 2, and the distribution of the time length of the subdistance interval between subframe 3 and subframe 4 in the same group of subframes Same; subframe 5 and subframe 6 form a group, this group is subframe group 3, subframes 5 and subframe 6 in the same group of subframes have the same distribution of time lengths of the subdistance intervals.
  • subframe group 1 is adjacent to subframe group 2, therefore, the time length distribution of the subdistance interval between subframe group 1 and subframe group 2 is different, subframe group 1 and subframe group 3 are not adjacent, The time length distribution of the subdistance intervals between the subframe group 1 and the subframe group 3 may be the same.
  • subframes may also correspond to different sub-distance interval division manners.
  • N 10000
  • subframe 1 to subframe 5000 may correspond to the same subdistance interval division method 1
  • subframe 5001 to subframe 10000 may correspond to the same subdistance interval division method 2
  • subdistance interval division method 1 and The sub-distance interval division method 2 is different.
  • FIG. 11 it is a schematic flow chart of a detection method provided by the present application.
  • the method is performed by lidar, the method includes the following steps:
  • Step 1100 the lidar controls the transmitter to emit multiple laser pulses in each subframe of the first frame.
  • each sub-frame corresponds to a group of sub-distance intervals
  • the group of sub-distance intervals is obtained by dividing the detection range of the lidar
  • each pulse in the plurality of pulses corresponds to the group of sub-distance intervals.
  • the group of sub-distance intervals may also be obtained by dividing a part of the detection range.
  • the transmitter transmits multiple pulses, and each pulse corresponds to sub-distance interval 1, sub-distance interval 2 and sub-distance interval 3.
  • the transmitter transmits multiple pulses, and each pulse corresponds to sub-distance interval 1, sub-distance interval 2 and sub-distance interval 3.
  • the corresponding pixels on the transmitter when the laser radar controls the transmitter to emit laser pulses within the time of the first frame, the corresponding pixels on the transmitter can be sequentially driven according to the first sending method, so as to transmit the first frame through the transmitter corresponding multiple laser pulses.
  • the lidar control transmitter emits laser pulses within the second frame time
  • the corresponding pixels on the transmitter can be sequentially driven according to the second sending mode, so as to transmit a plurality of laser pulses corresponding to the second frame through the transmitter .
  • the second sending manner is different from the first sending manner.
  • the first transmission mode corresponds to a first array pattern
  • the second transmission mode corresponds to a second array pattern
  • the first array pattern is different from the second array pattern.
  • the transmission mode adopted can be determined according to different requirements or scenarios.
  • Step 1101 the lidar control detector receives multiple signal pulses.
  • the multiple signal pulses include reflection signals for the multiple laser pulses, and each signal pulse in the multiple signal pulses corresponds to a sub-distance interval in the set of sub-distance intervals .
  • the pulse after the transmitter emits multiple pulses, if there is a target object on the flight path of the pulse, the pulse will form a reflection on the target object, so that the SPAD detector can receive the signal photons reflected back by the target object , the signal photon is the reflected signal for the pulse.
  • Each signal photon corresponds to a sub-distance interval.
  • each target object is located in a sub-distance interval. There may be no target object in a subdistance interval, and there may be one or more target objects.
  • the SPAD detector can not only receive signal photons, but also receive noise photons generated by ambient light. Moreover, the SPAD detector cannot distinguish whether it is a signal photon or a noise photon.
  • Step 1102 the lidar determines information of the target object in the same sub-distance interval according to the signal pulses corresponding to the same sub-distance interval among the plurality of signal pulses.
  • the lidar can determine a plurality of histograms corresponding to the same sub-distance interval according to the signal pulses corresponding to the same sub-distance interval among the plurality of signal pulses; wherein, each sub-distance interval of each subframe corresponds to a histogram; Then, the laser radar can determine the information of the target object in the same sub-distance interval according to the multiple histograms.
  • the lidar counts the received photons (signal photons and/or noise photons) to obtain multiple histograms, wherein each sub-distance interval of each sub-frame corresponds to a histogram. Then, the laser radar determines the position information of the target object in the sub-distance interval according to the histograms corresponding to the same sub-distance interval in the plurality of histograms.
  • each subframe corresponds to 3 subdistance intervals, and 500 pulses are transmitted within the time of each subframe, then the SPAD detector can receive reflected signals for some or all of the 500 pulses, and also That is, signal photons, and each of these signal photons corresponds to one of the three sub-distance intervals.
  • the SPAD detector will also receive multiple noise photons, some of these noise photons correspond to the sub-distance interval 1, some noise photons correspond to the sub-distance interval 2, and other noise photons correspond to the sub-distance interval 3.
  • the processor of the lidar can count the detected signal photons and noise photons to obtain a histogram.
  • subdistance interval 1 of subframe 1 corresponds to histogram 1
  • subdistance interval 2 of subframe 1 corresponds to histogram 2
  • subdistance interval 3 of subframe 1 corresponds to histogram 3
  • Histogram 1 is used to record the time stamp when the signal photon corresponding to sub-distance interval 1 is detected within the time of sub-frame 1
  • histogram 2 is used to record the signal corresponding to sub-distance interval 2 within the time of sub-frame 1
  • the detected time stamp of the photon the histogram 3 is used to record the detected time stamp of the signal photon corresponding to the sub-distance interval 3 within the time of the sub-frame 1 .
  • subdistance intervals corresponding to subframe 2 to subframe N are divided in the same way as subframe 1, then subdistance interval 1 of subframe 2 corresponds to histogram 4, and subdistance interval 2 of subframe 2 corresponds to histogram 4.
  • subdistance interval 3 of the subframe 2 corresponds to the histogram 6 .
  • Histogram 4 is used to record the detected time stamp of the signal photon corresponding to sub-distance interval 1 within the time of sub-frame 2
  • histogram 5 is used to record the signal corresponding to sub-distance interval 2 within the time of sub-frame 2
  • the detected time stamp of the photon, the histogram 6 is used to record the detected time stamp of the signal photon corresponding to the sub-distance interval 3 within the time of the sub-frame 2 .
  • subdistance interval 1 of subframe N corresponds to histogram 3N-2
  • subdistance interval 2 of subframe N corresponds to histogram 3N-1
  • subdistance interval 3 of subframe N corresponds to histogram 3N.
  • Histogram 3N-2 is used to record the time stamp when the signal photon corresponding to sub-distance interval 1 is detected within the time of sub-frame N
  • histogram 3N-1 is used to record the time stamp of sub-distance interval 1 within the time of sub-frame N.
  • 2 corresponds to the detected time stamp of the signal photon
  • the histogram 3N is used to record the detected time stamp of the signal photon corresponding to the sub-distance interval 3 within the time of the sub-frame N.
  • Subframe 1 Histogram 1, Histogram 2, Histogram 3;
  • Subframe 2 Histogram 4, Histogram 5, Histogram 6;
  • Subframe N histogram 3N-2, histogram 3N-1, histogram 3N;
  • sub-distance interval 1 corresponds to histogram 1
  • histogram 4 ..., histogram 3N-2
  • sub-distance interval 2 corresponds to histogram 2
  • histogram 5 corresponds to histogram 5
  • sub-distance interval 3 Corresponding to histogram 3, histogram 6, ..., histogram 3N.
  • histogram 1 histogram 4, ..., histogram 3N-2, determine the position information of the target object in the sub-distance interval 1, according to histogram 2, histogram 5, ..., histogram 3N-1 , determine the position information of the target object in the sub-distance interval 2, and determine the position information of the target object in the sub-distance interval 3 according to the histogram 3, histogram 6, ..., histogram 3N.
  • the position information of the target object may be point cloud information of a certain point on the target object.
  • the position of a target object is calculated from the point cloud information of multiple points on the target object.
  • the processor performs peak-finding detection on each histogram in histogram 1, histogram 4,..., histogram 3N-2, and obtains the time stamps corresponding to the multiple peaks of each histogram, and then obtains a relatively concentrated distribution time stamp, and calculate the position information of the target object according to the time stamp. And, delete the timestamps with scattered distribution.
  • each histogram in histogram 1, histogram 4, ..., histogram 3N-2 perform peak-finding detection on each histogram in histogram 1, histogram 4, ..., histogram 3N-2, and obtain the corresponding time stamp of each histogram, and each time stamp corresponds to a peak value, indicating that the More signal photons and/or noise photons are received at the timestamp, resulting in more single-photon counts.
  • 3 is calculated according to t1, t2, and t3 respectively.
  • the three pieces of location information may correspond to the same target object, or may correspond to different target objects.
  • a frame is divided into multiple sub-frames, the detection range is divided into multiple sub-distance intervals, and signal photons are counted for each sub-distance interval in each sub-frame, and then according to Corresponding to the signal photons in the same sub-distance interval, the position information of the target object in the same sub-distance interval is determined.
  • This method counts signal photons at the granularity of the sub-distance interval. Compared with counting signal photons at the granularity of the detection range, the method of this application reduces the time window for counting signal photons, which can reduce the number of statistics in this window.
  • the number of noise photons thereby reducing the chance of noise photon accumulation, reducing the probability that single photon counts of signal photons are overwhelmed by random noise photon counts accumulated in time, and helping to increase the chance of signal photons being detected, thereby having It is beneficial to improve the detection performance of lidar under strong background light conditions.
  • the method and the device are conceived based on the same or similar technology. Since the principle of solving the problem of the method and the device is similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.
  • the terms "apparatus” and “equipment” in the embodiments of the present application may be used interchangeably.
  • "and/or” describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which may mean: A exists alone, A and B exist simultaneously, and There are three cases of B.
  • the character "/" generally indicates that the contextual objects are an "or” relationship.
  • the at least one involved in this application refers to one or more; a plurality refers to two or more than two.
  • terms such as “first”, “second”, and “third” are only used for the purpose of distinguishing descriptions, and should not be understood as indicating or implying relative importance. Neither should it be construed as indicating or implying an order.
  • Reference in this specification to "one embodiment” or “some embodiments” or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in other embodiments,” etc.
  • the device may include a hardware structure and/or a software module, and realize the above-mentioned functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. Whether one of the above-mentioned functions is executed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.
  • the apparatus provided in the embodiment of the present application may be a controller integrated with a processor, or may also be a chip or a circuit capable of performing functions corresponding to the above method, and the chip or circuit may be set in a device such as a controller.
  • the apparatus provided in the embodiments of the present application can also be implemented in hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software drives hardware depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the embodiments of the present application.
  • the device provided in the embodiment of the present application can divide functional modules, for example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. It should be noted that the division of modules in the embodiment of the present application is schematic, and is only a logical function division, and there may be other division methods in actual implementation.
  • FIG. 12 it is a schematic structural diagram of a control device provided in the embodiment of the present application.
  • the device may be a controller, or a device in the controller, or a device that can be matched with the controller.
  • the apparatus 1200 may include: a processing module 1201 and a transceiver module 1202 .
  • the device 1200 may also include other modules, which are not limited in the embodiment of the present application, and only show the main functional modules.
  • the transceiver module 1202 may include a sending module and a receiving module, and the sending module may be a transmitter , the receiving module may be a detector.
  • the processing module 1201 is used to control the transceiver module 1202 to emit a plurality of laser pulses in each subframe of the first frame; wherein, each subframe corresponds to a group of subdistance intervals, and the first frame includes a plurality of subframes;
  • the processing module 1201 also controls the transceiver module 1202 to receive multiple signal pulses, the multiple signal pulses include reflected signals for the multiple laser pulses, and each signal pulse in the multiple signal pulses corresponds to the A sub-distance interval in a group of sub-distance intervals; then, the processing module 1201 is configured to determine the distance of the target object in the same sub-distance interval according to the signal pulse corresponding to the same sub-distance interval among the plurality of signal pulses information.
  • processing module 1201 is specifically configured to:
  • each sub-distance interval of each subframe corresponds to a histogram; according to the multiple a histogram to determine the information of the target object in the same sub-distance interval.
  • processing module 1201 is specifically configured to:
  • the corresponding pixels on the emitter are sequentially driven to emit a plurality of laser pulses corresponding to the first frame through the emitter.
  • processing module 1201 is further configured to:
  • the processing module 1201 is specifically used for:
  • the corresponding pixels on the emitter are sequentially driven to emit a plurality of laser pulses corresponding to the second frame through the emitter; the second manner is different from the first manner.
  • processing module 1201 controls the transmitter to emit multiple laser pulses in each subframe of the first frame, it is specifically used for:
  • processing module 1201 controls the detector to receive multiple signal pulses, it is specifically used for:
  • a single photon avalanche diode SPAD detector is controlled to receive multiple signal pulses.
  • the processing unit 1201 controls the VCSEL to emit multiple laser pulses in each subframe of the first frame, it is specifically used for:
  • the distribution of the time length of the sub-distance intervals in each subframe included in the first frame is the same; or the time of the sub-distance intervals in at least two subframes included in the first frame is The length distribution is different.
  • each subframe included in the first frame has the same frame length; or the first frame includes at least two subframes with different frame lengths.
  • the length of each sub-distance interval in the set of sub-distance intervals is the same; or the set of sub-distance intervals includes at least two sub-distance intervals, and the length of the at least two sub-distance intervals is different.
  • the time length of the sub-distance intervals decreases successively; or, for the group of sub-distance intervals, according to the order of laser pulse transmission In the order of pulse transmission, the time length of the sub-distance interval first increases and then decreases.
  • processing module 1201 in the embodiment of the present application may be implemented by a processor or a processor-related circuit component
  • transceiver module 1202 may be implemented by a transceiver or a transceiver-related circuit component or a communication interface.
  • the transceiver may include, for example, a transmitter and a receiver, and the processor, the transmitter, and the receiver may be coupled to each other, wherein, for example, the transmitter and the receiver are implemented by antennas, feeders, and codecs in the radar device, or , if the control device is a chip arranged in the detection equipment, then the transmitter and the receiver are, for example, the communication interface in the chip, and the communication interface is connected with the radio frequency transceiver component in the detection equipment, so as to realize information exchange through the radio frequency transceiver component send and receive.
  • FIG. 13 is a schematic diagram of another possible structure of a control device 1300 provided in the embodiment of the present application.
  • the control device 13 may be the radar device itself, or may be a chip or a circuit capable of completing the functions of the radar device, for example, the chip or circuit may be provided in the radar device.
  • the control device 1300 may include a processor 1301 (for example, the processing module 1201 may be implemented by the processor 1301) and an interface circuit 1302 (for example, the transceiver module 1202 may be implemented by the interface circuit 1302, and when the transceiver module includes a transmitter and a receiver, the The transmitter and the receiver may be the same component as the interface circuit 1302).
  • the processor 1301 can make the control device 1300 implement the steps performed by the lidar in the method provided by the embodiment shown in FIG. 11 .
  • the control device 1300 may further include a memory 1303, and the memory 1303 may be used to store instructions.
  • the processor 1301 executes the instructions stored in the memory 1303 so that the control device 1300 implements the steps performed by the radar device in the method provided by the embodiment shown in FIG. 11 .
  • the processor 1301, the interface circuit 1302, and the memory 1303 may communicate with each other through an internal connection path, and transmit control and/or data signals.
  • the memory 1303 is used to store a computer program, and the processor 1301 can call and run the computer program from the memory 1303 to control the interface circuit 1302 to receive or send a signal to complete the process performed by the lidar in the method provided by the embodiment shown in FIG. 11 step.
  • the memory 1303 may be integrated in the processor 1301 , or may be set separately from the processor 1301 .
  • the interface circuit 1302 may include a receiver and a transmitter.
  • the receiver and the transmitter may be the same component or different components.
  • the component may be referred to as a transceiver.
  • the interface circuit 1302 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or may be different interfaces respectively.
  • control device 1300 may not include a memory 1303, and the processor 1301 may read instructions (programs or codes) in the memory outside the chip or circuit to realize the control shown in FIG. 11 .
  • control device 1300 may include resistors, capacitors or other corresponding functional components, and the processor 1301 or the interface circuit 1302 may be implemented by corresponding functional components.
  • the function of the interface circuit 1302 may be realized by a transceiver circuit or a dedicated chip for transceiver.
  • the processor 1301 may be realized by a dedicated processing chip, a processing circuit, a processor or a general-purpose chip.
  • control device 1300 the functions and actions of the modules or units in the control device 1300 listed above are only illustrative, and the functional units in the control device 1300 can be used to perform the actions or processes performed by the laser radar in the embodiment shown in FIG. 11 process. In order to avoid redundant descriptions, detailed descriptions thereof are omitted here.
  • the computer program product includes one or more computer instructions.
  • the computer can be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (such as a floppy disk, a hard disk, or a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (solid state disk, SSD)), etc.
  • the processor included in the above-mentioned radar device for performing the detection method may be a central processing unit (central processing unit, CPU), a general purpose processor, a digital signal processor (digital signal processor, DSP), application-specific integrated circuit (application-specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute the various illustrative logical blocks, modules and circuits described in connection with the present disclosure.
  • the processor may also be a combination of computing functions, for example, a combination of one or more microprocessors, a combination of DSP and a microprocessor, and so on.
  • the steps of the methods or algorithms described in conjunction with the embodiments of the present application may be implemented in hardware, or may be implemented in a manner in which a processor executes software instructions.
  • the software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory (random access memory, RAM), flash memory, read-only memory (read-only memory, ROM) memory, erasable programmable read-only Memory (erasable programmable read-only memory, EPROM), electrically erasable programmable read-only memory (electrically erasable programmable read-only memory, EEPROM), registers, hard disk, mobile hard disk, compact disc read-only memory , CD-ROM) or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
  • the storage medium may also be a component of the processor.
  • the processor and storage medium can be located in the ASIC.
  • the ASIC may be located in a radar device or a detection device in which a radar device is installed.
  • the processor and the storage medium may also exist as discrete components in the radar device or the detection equipment in which the radar device is installed.
  • Fig. 13 only shows a simplified design of the control device.
  • the control device may contain any number of transmitters, receivers, processors, controllers, memories and other possible components.
  • FIG. 3 provides a schematic structural diagram of a radar device.
  • Fig. 14 provides a schematic diagram of another possible structure of the radar device.
  • the lidar 1400 may include a transmitting module 1401, a receiving module 1402, and a control device 1403 for executing any of the above method embodiments.
  • the transmitting module 1401 is used to transmit a plurality of laser pulses in each subframe of the first frame;
  • the receiving module 1402 is used to receive a plurality of signal pulses;
  • the functions of the control device 1403 can be referred to the above-mentioned related descriptions, and will not be repeated here repeat.
  • An embodiment of the present application further provides a system on chip, where the system on chip includes at least one processor and an interface circuit. Further optionally, the chip system may further include a memory or an external memory.
  • the processor is configured to perform instruction and/or data interaction through the interface circuit, so as to implement the methods in the above method embodiments.
  • the system-on-a-chip may consist of chips, or may include chips and other discrete devices.
  • An embodiment of the present application also provides a sensor system, which includes at least one of the above-mentioned control devices. Further optionally, the sensor system further includes at least one camera.
  • An embodiment of the present application also provides a vehicle, such as a vehicle, an unmanned aerial vehicle, an unmanned vehicle, etc., including the above-mentioned sensor system.
  • a vehicle such as a vehicle, an unmanned aerial vehicle, an unmanned vehicle, etc.
  • the present application may further provide a laser radar, and the laser radar may include the device in any of the above embodiments.
  • the lidar may also include a processor.
  • the terminal device may include a control device for executing any of the foregoing method embodiments. Further, optionally, the terminal device may further include a memory, and the memory is used to store programs or instructions. Certainly, the terminal device may also include other components, such as a wireless control device and the like. Wherein, for the control device, reference may be made to the description of the above control device, which will not be repeated here.
  • the terminal device may further include the above-mentioned transmitting module 1401 and receiving module 1402 . That is to say, the terminal device may include the aforementioned lidar 1400 .
  • the terminal device can be, for example, a vehicle (such as an unmanned car, a smart car, an electric car, or a digital car, etc.), a robot, a surveying and mapping device, a drone, a smart home device (such as a TV, a sweeping robot, a smart desk lamp, etc.) , audio system, intelligent lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance, etc.), intelligent manufacturing equipment (such as industrial equipment), intelligent transportation equipment (such as AGV, unmanned transport vehicle , or trucks, etc.), or smart terminals (mobile phones, computers, tablets, handheld computers, desktops, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.), etc.
  • a vehicle such as an unmanned car, a smart car, an electric car, or a digital car, etc.
  • a robot such as a robot, a surveying and mapping device, a drone, a smart home device (such as a TV, a
  • the embodiments of the present application also provide a computer-readable storage medium, including instructions, which, when run on a computer, cause the computer to execute the method described in the above embodiments.
  • the embodiments of the present application also provide a computer program product, including instructions, which, when run on a computer, cause the computer to execute the method described in the above embodiments.
  • the methods provided in the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the processes or functions according to the embodiments of the present application will be generated in whole or in part.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, network equipment, user equipment or other programmable devices.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website, computer, server or data center Transmission to another website site, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.).
  • the computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrated with one or more available media.
  • the available medium may be a magnetic medium (for example, a floppy disk, a hard disk, or a magnetic tape), an optical medium (for example, a digital video disc (digital video disc, DVD for short)), or a semiconductor medium (for example, SSD).
  • a magnetic medium for example, a floppy disk, a hard disk, or a magnetic tape
  • an optical medium for example, a digital video disc (digital video disc, DVD for short)
  • a semiconductor medium for example, SSD
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • the functions described above are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

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Abstract

一种探测方法及装置，可应用于自动驾驶、智能驾驶等领域，尤其涉及激光传感器的探测。该方法包括：控制发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；控制探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。该方法有效提升了激光雷达的探测性能。

Description

一种探测方法及装置
相关申请的交叉引用
本申请要求在2021年10月21日提交中国专利局、申请号为202111226292.7、申请名称为“一种探测方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无线通信技术领域，尤其涉及一种探测方法及装置。
背景技术
随着科学技术的发展，越来越多的场景需要应用激光雷达(light detection and ranging，LiDAR)进行探测，比如通过激光雷达感知周围的环境，对目标物体进行辨识与追踪等。目前，由于单光子雪崩二极管(single photon avalanche diode，SPAD)探测器具有更快的响应速度，高灵敏度的优点，被广泛应用于探测领域。其中，SPAD的激光雷达的探测原理主要是通过响应单光子级别的入射能量并输出单光子计数，通过多次测量后统计得到的直方图的分布特征，得到对应目标回波光子的时间戳，从而得到被探测目标的距离。
然而，在实际应用场景中，经常会由于环境光产生噪声的信号，以及热扩散或隧穿效应等原因产生探测器暗计数的情况，导致探测器不能有效区分并输出单光子计数脉冲，造成探测干扰，系统的探测性能下降，导致激光雷达的测距准确性降低。
综上，如何降低干扰，提高对目标物体的探测能力是当前亟需解决的技术问题。
发明内容
本申请提供一种探测方法及装置，用以提升激光雷达的探测性能。
第一方面，本申请实施例提供了一种目标物体的探测方法，该方法包括：
控制发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；控制探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
通过上述方法，本申请利用时间和空间的相对关系，将一帧划分为多个子帧，将探测量程划分为多个子距离区间，并对每个子帧内的每个子距离区间进行信号光子的统计，进而根据对应相同子距离区间的信号光子，确定该相同子距离区间内的目标物体的位置信息。其中，由于该方法是以子距离区间的粒度进行信号光子的统计，相较于按照探测量程的粒度进行信号光子的统计，本申请方法减小了统计信号光子的时间窗口，可以减少该窗口内统计到的噪声光子的数量，从而降低噪声光子累积的机会，降低了信号光子的单光子计数被随机的噪声光子计数在时间上累积后淹没的概率，有助于增加信号光子被探测到的机会，从而有利于提高激光雷达在较强背景光条件下的探测性能。
在一种可能的实现方式中，根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；根据所述多个直方图，确定所述同一子距离区间内的目标物体的信息。
在一种可能的实现方式中，根据第一方式，依次驱动发射器上对应的像素，以通过所述发送器发射所述第一帧对应的多个激光脉冲。
在一种可能的实现方式中，所述第一方式为采用第一阵列图形发送激光脉冲。
在一种可能的实现方式中，所述方法还包括：在第二帧的每个子帧内发射多个激光脉冲。
在一种可能的实现方式中，根据第二方式，依次驱动发射器上对应的像素，以通过所述发送器发射所述第二帧对应的多个激光脉冲；所述第二方式与所述第一方式不同。
在一种可能的实现方式中，所述第二方式为采用第二阵列图形发送激光脉冲，所述第一阵列图形与所述第二阵列图形不同。
在一种可能的实现方式中，还可以控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲；和/或还可以控制单光子雪崩二极管SPAD探测器接收多个信号脉冲。
在一种可能的实现方式中，还可以控制所述VCSEL配合电学扫描的方式，在所述第一帧的每个子帧内发射多个激光脉冲。
在一种可能的实现方式中，所述第一帧包含的每个子帧中的子距离区间的时间长度的分布相同；或者所述第一帧包含的至少两个子帧中的子距离区间的时间长度的分布不同。
在一种可能的实现方式中，所述第一帧中包含至少两个子帧组，同一组子帧中的每个子帧的子距离区间的时间长度的分布相同；不同子帧组中的子帧的子距离区间的时间长度的分布不同。
在一种可能的实现方式中，所述第一帧中包含至少两个子帧组，同一组子帧中的每个子帧的子距离区间的时间长度的分布相同；相邻子帧组中的子帧的子距离区间的时间长度的分布不同。
在一种可能的实现方式中，所述第一帧包含的每个子帧的帧长相同；或者所述第一帧包含至少两个帧长不同的子帧。
在一种可能的实现方式中，所述一组子距离区间中的每个子距离区间的长度相同；或者所述一组子距离区间包含至少两个子距离区间，所述至少两个子距离区间的长度不同。
在一种可能的实现方式中，所述一组子距离区间中的每个相邻子距离区间的时间长度，按照激光脉冲传输的时序依次减小；或者，所述一组子距离区间中每个相邻子距离区间的时间长度，按照激光脉冲传输的时序先增大后减小。
在一种可能的实现方式中，根据子距离区间的编码与在探测量程中所占比例的关系，确定所述一组子距离区间中每个子距离区间的长度，其中，所述一组子距离区间中的子距离区间的编码按照激光脉冲传输的时序依次增大。
在一种可能的实现方式中，所述子距离区间的编码与在探测量程中所占比例的关系可以为，所述子距离区间的编码越大，所述子距离区间在所述探测量程中所占比例越小。
在一种可能的实现方式中，所述子距离区间的编码与在探测量程中所占比例的关系可以为，编码为奇数的子距离区间在所述探测量程中所占比例小于编码为偶数的子距离区间在所述探测量程中所占比例。
第二方面，本申请提供一种探测装置，该探测装置用于实现上述第一方面或第一方面中任意一种方法，包括相应的功能模块或单元，分别用于实现上述第一方面方法中的步骤。功能可以通过硬件实现，也可以通过硬件执行相应的软件实现，硬件或软件包括一个或多个与上述功能相应的模块或单元。
在一种可能的实现方式中，该探测装置包括至少一个收发单元和处理单元；
所述处理单元，用于控制所述收发单元在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；
所述处理单元，还用于控制所述收发单元接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；
所述处理单元，还用于根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
第三方面，提供一种探测装置，该装置包括处理器和存储器。其中，存储器用于存储计算程序或指令，处理器与存储器耦合；当处理器执行计算机程序或指令时，使得该装置执行上述第一方面或第一方面中的任意一种方法。该探测装置可以是第一装置，或能够支持第一装置实现上述第一方面提供的方法所需的功能的装置，例如芯片系统。例如，所述探测装置可以激光雷达，或者是搭载该激光雷达的终端设备，或者是激光雷达内的部分组件(比如芯片)。所述终端设备例如可以是智能移动终端、智能家居设备、智能汽车、智能穿戴设备等等。
第四方面，本申请提供了一种激光雷达，包括：发射器、探测器和控制器；
所述发光器，用于发射激光脉冲；
所述探测器，用于接收信号脉冲；
所述控制器，用于控制发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；控制探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
在一种可能的实现方式中，所述控制器还可以控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲；和/或所述控制器还可以控制单光子雪崩二极管SPAD探测器接收多个信号脉冲。
在一种可能的实现方式中，所述控制器还可以具体控制所述VCSEL配合电学扫描的方式，在所述第一帧的每个子帧内发射多个激光脉冲。
第五方面，本申请提供了一种激光雷达，该激光雷达包括执行上述第一方面或第一方面任意可能实现方式的方法的模块/单元。这些模块/单元可以通过硬件实现，也可以通过硬件执行相应的软件实现。
第六方面，提供一种终端，该终端可包括上述第二方面至第五方面中任一方面所述的装置。可选的，该装置可以为智能通信设备、智能家居设备、智能制造设备、智能运输设备等，例如车辆、无人机、无人运输车、机器人等。
第七方面，本申请提供一种芯片，芯片与存储器相连，用于读取并执行存储器中存储的计算机程序或指令，以实现上述第一方面或第一方面的任一种可能的实现方式中的方法。
第八方面，提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序或指令，当计算机程序或指令被装置执行时，使得该装置执行上述第一方面或第一方面的任意可能的实现方式中的方法。
第九方面，提供本申请提供一种计算机程序产品，该计算机程序产品包括计算机程序或指令，当计算机程序或指令被装置执行时，使得该装置执行上述第一方面或第一方面的任意可能的实现方式中的方法。
附图说明
图1为本申请提供的一种激光雷达探测目标的原理示意图；
图2为本申请提供的一种激光雷达的应用场景示意图；
图3为本申请提供的一种激光雷达的结构示意图；
图4为本申请提供的一种帧与子帧关系示意图；
图5为本申请提供的第一种子距离区间划分方式示意图；
图6为本申请提供的第二种子距离区间划分方式示意图；
图7为本申请提供的第三种子距离区间划分方式示意图；
图8为本申请提供的第四种子距离区间划分方式示意图；
图9为本申请提供的第五种子距离区间划分方式示意图；
图10为本申请提供的第六种子距离区间划分方式示意图；
图11为本申请提供的一种探测方法流程示意图；
图12为本申请提供的第一种控制装置结构示意图；
图13为本申请提供的第二种控制装置结构示意图；
图14为本申请提供的另一种激光雷达结构示意图。
具体实施方式
下面将结合附图，对本申请实施例进行详细描述。
以下，对本申请中的部分用语进行解释说明。需要说明的是，这些解释是为了便于本领域技术人员理解，并不是对本申请所要求的保护范围构成限定。
1)电学扫描，本申请实施例中所述的电学扫描是指一种阵列光源的发光顺序控制的方式，由驱动电流的注入时序、方向和寻址控制逻辑决定的不同工作区域的选择等决定，无需任何机械式的扫描部件。
2)全局快门，本申请实施例中的全局快门是指一种探测器曝光的方式，全局是指一次性地同时采集和读取二维探测器阵列的所有像素采集的数据，也称为全局曝光，是成像传感领域的常用术语。
3)SPAD动态的范围，本申请中SPAD动态的范围可以用于表示SPAD探测单元中包括的最小单元(cell)的数量。其中，每个SPAD探测单元可以按照最小粒度进行划分，例如按照像素的粒度进行SPAD探测单元的划分，该最小粒度可以称为最小cell，即一个像素为一个最小cell。
其中，SPAD动态的范围越大，一个SPAD探测单元中包括的最小cell的数量越多。此外，由于SPAD对于每个cell而言，独立的完成单光子计数的测量，当把多个cell合并 起来作为一个SPAD探测单元时，相当于把多个cell独立测量的单光子事件合并到一起。例如，每个cell会形成一个单光子计数的统计直方图，如果合并了9个cell作为一个SPAD探测单元，那就会把这9个cell的单光子计数的直方图合并到一起，相当于单光子计数的数量增加了。因此，SPAD动态的范围越大，探测性能越高。
基于SPAD动态的范围的不同，本申请实施例提供下述两种SPAD的工作方式：
方式1：通过单个SPAD的方式工作。
在工作方式1的情况下，每个SPAD探测单元中包括一个最小cell。
其中，一般在发射信号较强，采样时间足够长的工作环境下，可以采用该方式1进行探测，例如，常见于医疗探测，升空探测等。
方式2：通过多个SPAD合并(binning)的方式工作。
其中，在实际探测过程中，经常由于温度，环境光，以及探测器本身的电学噪声等原因，导致该方式1无法满足探测要求，此时，需要采用工作方式2进行探测。
其中，在采用方式2进行探测时，可以根据当前的探测环境，以及探测器的规格等因素去确定进行合并的最小cell的数量。
此外，当采用方式2进行探测时，发射器可以将binning后的信号叠加在一起以一个像素的方式发射，探测器则可以通过与该binning后的信号叠加在一起对应的等效像素进行读取。
4)雷达，本申请实施例中的雷达可以包括激光雷达。其中，如图1所示，为本申请提供的一种激光雷达探测目标的原理示意图。该激光雷达可包括激光器和探测器。激光器可用于发射激光束，在沿电磁波的发射方向的一定距离内存在目标，该电磁波可被目标的表面反射，被反射的信号称为回波信号，回波信号返回至激光雷达的探测器，探测器可用于根据接收到的回波信号和发射的激光束，确定出目标的关联信息，例如目标的位置信息，目标的移动速度等。
前文介绍了本申请所涉及到的一些用语，下面介绍本申请涉及的技术特征及可能的应用场景。需要说明的是，这些解释是为了便于本领域技术人员理解，并不是对本申请所要求的保护范围构成限定。
如图2所示，本申请一种可选的应用场景，激光雷达可被安装在移动设备上，例如，本申请中激光雷达应用于自动驾驶场景中、或者也可应用于网联车场景等情况下，激光雷达可以被安装在车辆上，用作车载激光雷达(例如扫描式车载调频连续波(Frequency Modulated Continuous Wave，FMCW)激光雷达)；再例如，激光雷达可以被安装在飞行器上，用作机载激光雷达等。本申请一种可选的应用场景，激光雷达还可以安装于移动平台，如卫星。在此情况下，激光雷达需要移动平台中的其它装置的协助以确定自身当前的位置和转向信息，这样可保证测量数据的可用性。本申请一种可选的应用场景，激光雷达也可以被安装在固定平台，例如，激光雷达可以安装于路侧单元(road side unit，RSU)、屋顶或基站等。对于激光雷达安装于固定平台的场景中，激光雷达需要固定平台中的其它装置的协助以确定自身当前的位置和转向信息，这样可保证测量数据的可用性。此外，本申请中的激光雷达还可应用于其它可能的场景，在此不再一一列举。
基于上述内容，图3示例性示出了本申请提供的一种激光雷达的结构示意图。该激光雷法包括发射器、SPAD探测器、处理器。当然该激光雷达还可以包括其他器件。
其中，发射器用于对外发射脉冲，该脉冲到达被探测目标(也称为目标物体)后，会被反射回来。SPAD探测器可以接收到目标物体反射回来的信号光子。
处理器用于统计若干次脉冲发射后，在系统测量时间范围内的信号光子计数，得到针对单光子计数的直方图，然后利用特定的算法对直方图进行数据处理，得到信号光子的时间戳，然后根据信号光子的时间戳计算激光雷达与被探测目标之间的距离。
作为一种实现方法，本申请实施例的激光雷达可以是纯固态激光雷达，其中，该纯固态激光雷达的发射器可以采用垂直共振腔表面放射激光(vertical cavity surface emitting laser，VCSEL)光源，以及配合电学扫描的方式进行探测，从而，可以更好的保证对于任何一个SPAD探测单元(也成为一个像素)，在测量周期内有足够的信号光子计数。其中，每个SPAD探测单元后可以连接一个或多个时间数字转换器(time to digital convert，TDC)，负责输出探测到的单光子计数，得到直方图。其中这里的单光子计数包含信号光子计数和噪声光子计数。其中，TDC用于将模拟信号转为数字信号。
作为一种实现方法，发射器的像素与SPAD探测器的像素之间是一一对应的。即发射器的一个像素发射的脉冲，是由SPAD探测器的相对应的一个像素接收到的。比如，发射器的像素1发射的脉冲，是由SPAD探测器的像素1接收到的；发射器的像素2发射的脉冲，是由SPAD探测器的像素2接收到的，等等。
作为另一种实现方法，发射器的像素与SPAD探测器的像素之间是一对多的关系。即发射器的一个像素发射的脉冲，是由SPAD探测器的相对应的多个像素接收到的。比如，发射器的像素1发射的脉冲，是由SPAD探测器的像素1至像素10接收到的；发射器的像素2发射的脉冲，是由SPAD探测器的像素11至像素20接收到的，等等。
作为一种实现方法，发射器上的不同像素可以按照一定的规则对外发射脉冲。比如每一帧对应一个图形，该图形对应发射器上的多个像素，然后通过随机数生成器，确定该图形对应的像素中每次需要驱动点亮的像素。
为减少光噪声对激光雷达测距带来的不利影响，本申请实施例中，将每一帧划分为N个子帧，N为大于1的整数，不同子帧的时间长度可以相同，也可以不同。
其中，本申请实施例中的一帧可以理解为激光雷达输出的全视场信息，该子帧可以理解为将该一帧按照空间划分和/或时间划分之后得到的该全视场信息中的部分视场信息。
例如，从时间角度来看，假设一帧对应的是100ms的全视场信息，其中，该一帧中的子帧A可以是该100ms中第1ms～10ms的视场信息。
再例如，从空间角度来看，可以将该一帧对应的全视场信息划分为X*Y的全视场信息，其中，该一帧中的子帧A在空间可以表示X’*Y’的部分视场的信息。
示例性的，如图4所示，假设该一帧对应的全视场信息被划分为4*3的全视场信息，该一帧可以包括2个子帧，分别是子帧1与子帧2，其中，子帧1在空间上可以表示该图4中斜纹图案对应的2*3的部分视场信息，子帧2在空间上可以表示该图4中竖纹图案对应的2*3的部分视场信息。
根据子距离区间划分方式，将激光雷达的探测量程划分为两个或两个以上的子距离区间，不同的子距离区间的长度可以相同，也可以不同。这里的两个或两个以上的子距离区间也可以称为一组子距离区间。
作为一种实现方法，考虑到信号随距离二次方衰减，而噪声与距离无关，因此子距离 区间的划分可以由近至远，依次减小，因而可以实现对于弱回波信号区域，压缩了噪声积累的窗口。
其中，不同子帧可以对应相同的子距离区间划分方式，也可以对应不同的子距离区间划分方式。在每个子帧的时间内，发射器可以发射多次脉冲，比如发送几百次脉冲。每个子帧的时间内，发射的不同脉冲对应相同的子距离区间划分方式。需要说明的是,每个子帧内发送的脉冲，可以是按照固定的周期进行发送，也可以动态调制脉冲发射周期，比如可以不断减小脉冲发射周期，从而增加一个子帧的时间内的脉冲发射数量，从而可以提升目标物体的探测准确性。
其中，探测量程，也可以称为系统量程，指的是激光雷达能够探测到的目标物体的最远距离。
其中，本申请实施例中一帧被划分为N个子帧，分别为子帧1至子帧N。其中，不同子帧的时间长度可以相同，也可以不同。
示例性的，假设第一帧被划分了4个子帧，分别为子帧1～子帧4。
一种情况下，该子帧1～子帧4中每个子帧的时间长度都相同。例如，该子帧1～该子帧4中每个子帧的时间长度都为第一时间长度。
另一种情况下，该子帧1～子帧4中每个子帧的时间长度都不相同。例如，该子帧1的时间长度为第一时间长度，该子帧2的时间长度为第二时间长度，该子帧3的时间长度为第三时间长度，该子帧4的时间长度为第四时间长度。其中，第一时间长度、第二时间长度、第三时间长度以及第四时间长度不相同。
再另一种情况下，该子帧1～子帧4中部分子帧的时间长度相同。例如，子帧1与子帧3的时间长度相同，为第一时间长度，子帧2与子帧4的时间长度相同，为第二时间长度，其中，第一时间长度与第二时间长度不相同。再例如，子帧1与子帧3的时间长度相同，为第一时间长度，子帧2的时间长度为第二时间长度，子帧3的时间长度为第三时间长度。其中，第一时间长度，第二时间长度以及第三时间长度不相同。
下面结合附图对本申请实施提供的子距离区间划分方式进行说明。
划分方式1：第一帧对应一组子距离区间，该一组子距离区间中的每个子距离区间的长度相同。
如图5所示，为本申请实施例提供的第一种子距离区间划分方式示例图。
其中，子帧1对应的子距离区间划分方式为：将探测量程划分为子距离区间1、子距离区间2和子距离区间3。其中，距离区间1、子距离区间2和子距离区间3的长度相同，即相当于将探测量程均分为三个子距离区间。
其中，在子帧1的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。子帧2至子帧N分别对应的子距离区间划分方式，均与子帧1对应的子距离区间划分方式相同。并且子帧2至子帧N中的每个子帧的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
划分方式2：第一帧对应一组子距离区间，该一组子距离区间中的至少两个子距离区间的长度不同。
其中，本申请实施例中一组子距离区间中至少两个子距离区间的长度不同的划分情况又有多种，具体并不限于下述4种情况：
情况1：一组子距离区间，按照激光脉冲传输的顺序，子距离区间的时间长度依次减 小。
可选的，本申请实施例中激光雷达可以根据子距离区间的编码大小，确定所述一组子距离区间中每个子距离区间的长度，其中，所述一组子距离区间中的子距离区间的编码按照激光脉冲传输的时序依次增大，以及编码越大，对应的子距离区间的长度越小。
如图6所示，为本申请实施例提供的第二种子距离区间划分方式示例图。
其中，子帧1对应的子距离区间划分方式为：将探测量程划分为子距离区间1、子距离区间2和子距离区间3。其中，距离区间1、子距离区间2和子距离区间3的长度依次减小。在子帧1的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
子帧2至子帧N分别对应的子距离区间划分方式，均与子帧1对应的子距离区间划分方式相同。并且子帧2至子帧N中的每个子帧的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
情况2：一组子距离区间，按照激光脉冲传输的顺序，子距离区间的时间长度先增大后减小。
如图7所示，为本申请实施例提供的第三种子距离区间划分方式示例图。
其中，子帧1对应的子距离区间划分方式为：将探测量程划分为子距离区间1、子距离区间2和子距离区间3。其中，子距离区间1、子距离区间2和子距离区间3的长度先增大后减小，例如，子距离区间1的长度小于子距离区间2的长度，子距离区间2的长度大于子距离区间3的长度，以及子距离区间1的长度与子距离区间3的长度相等。
其中，在子帧1的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。子帧2至子帧N分别对应的子距离区间划分方式，均与子帧1对应的子距离区间划分方式相同。并且子帧2至子帧N中的每个子帧的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
情况3：一组子距离区间，按照激光脉冲传输的顺序，子距离区间的时间长度依次增大。
如图8所示，为本申请实施例提供的第四种子距离区间划分方式示例图。
其中，子帧1对应的子距离区间划分方式为：将探测量程划分为子距离区间1、子距离区间2和子距离区间3。其中，距离区间1、子距离区间2和子距离区间3的长度依次增大。在子帧1的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
子帧2至子帧N分别对应的子距离区间划分方式，均与子帧1对应的子距离区间划分方式相同。并且子帧2至子帧N中的每个子帧的时间内，发射器发射的每个脉冲对应相同的子距离区间划分方式。
情况4：第一帧中包含至少两个子帧组，同一组子帧中的每个子帧的子距离区间的时间长度的分布相同，不同子帧组中的子帧的子距离区间的时间长度的分布不同。
如图9所示，为本申请实施例提供的第五种子距离区间划分方式示例图。
其中，假设第一帧中包含子帧1～6，其中，子帧1与子帧2为一组，该组为子帧组1，同一组子帧中的子帧1与子帧2的子距离区间的时间长度的分布相同；子帧3与子帧4为一组，该组为子帧组2，同一组子帧中的子帧3与子帧4的子距离区间的时间长度的分布相同；子帧5与子帧6为一组，该组为子帧组3，同一组子帧中的子帧,5与子帧6的子距离区间的时间长度的分布相同。其中，子帧组1、子帧组2与子帧组3之间的子距离区间的时间长度分布互不相同。
情况5：第一帧中包含至少两个子帧组，同一子帧组中的每个子帧的子距离区间的时间长度的分布相同；相邻两个子帧的子距离区间的时间长度的分布不同。
如图10所示，为本申请实施例提供的第六种子距离区间划分方式示例图。
其中，假设第一帧中包含子帧1～6，其中，子帧1与子帧2为一组，该组为子帧组1，同一组子帧中的子帧1与子帧2的子距离区间的时间长度的分布相同；子帧3与子帧4为一组，该组为子帧组2，同一组子帧中的子帧3与子帧4的子距离区间的时间长度的分布相同；子帧5与子帧6为一组，该组为子帧组3，同一组子帧中的子帧,5与子帧6的子距离区间的时间长度的分布相同。其中，子帧组1与子帧组2相邻，因此，子帧组1与子帧组2之间的子距离区间的时间长度分布不同，子帧组1与子帧组3不相邻，子帧组1与子帧组3之间的子距离区间的时间长度分布可以相同。
当然，在实际应用中，不同子帧也可以对应不同的子距离区间划分方式。比如，N＝10000，可以将子帧1至子帧5000对应相同的子距离区间划分方式1，子帧5001至子帧10000对应相同的子距离区间划分方式2，且子距离区间划分方式1与子距离区间划分方式2不同。
此外，上述图5～图10的内容，并不构成对本申请提供的子距离区间划分方式的限定，任何针对上述图5～图10的内容的变形都属于本申请保护范围。
基于上述内容，如图11所示，为本申请提供的一种探测方法的方法流程示意图。该方法由激光雷达执行，该方法包括以下步骤：
步骤1100，激光雷达控制发射器在第一帧的每个子帧内发射多个激光脉冲。
其中，每个子帧对应一组子距离区间，该一组子距离区间是对激光雷达的探测量程进行划分得到的，该多个脉冲中的每个脉冲对应该一组子距离区间。关于子帧与子距离区间的关系，可以参考前述描述。在某些可能的实现方式中，该一组子距离区间也可能是对探测量程的一部分进行划分得到的。
以图5为例，在子帧1的时间内，发射器发射多个脉冲，每个脉冲对应子距离区间1，子距离区间2和子距离区间3。同样的，在子帧2至子帧N中的每个子帧的时间内，发射器发射多个脉冲，每个脉冲对应子距离区间1，子距离区间2和子距离区间3。
进一步的，本申请实施例中激光雷达控制发射器在不同帧中发射激光脉冲时，可以采用不同的发送方式。
例如，本申请实施例中激光雷达控制发射器在第一帧的时间内发射激光脉冲时，可以根据第一发送方式，依次驱动发射器上对应的像素，以通过该发射器发射该第一帧对应的多个激光脉冲。该激光雷达控制发射器在第二帧的时间内发射激光脉冲时，可以根据第二发送方式，依次驱动发射器上对应的像素，以通过该发射器发射该第二帧对应的多个激光脉冲。其中，该第二发送方式与该第一发送方式不同。
可以理解的，不同发送方式对应不同的像素图像。例如，第一发送方式对应第一阵列图形，第二发送方式对应第二阵列图形，所述第一阵列图形与所述第二阵列图形不同。
其中，本申请实施例中激光雷达在控制发射器在不同帧的时间内发射激光脉冲时，可以根据不同的需求或者场景等确定采用的发送方式。
步骤1101，该激光雷达控制探测器接收多个信号脉冲。
本申请实施例中，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间。
其中，在发射器向外发射了多个脉冲后，在脉冲的飞行路径上，若存在目标物体，则脉冲会在目标物体上形成反射，从而SPAD探测器可以接收到目标物体反射回来的信号光子，该信号光子即为针对脉冲的反射信号。每个信号光子对应一个子距离区间。
其中，在脉冲的飞行路径上，可能存在多个目标物体，每个目标物体位于一个子距离区间内。一个子距离区间内可能没有目标物体，也可能存在一个或多个目标物体。
需要说明的是，SPAD探测器不仅能够接收到信号光子，也能够接收到环境光产生的噪声光子。并且，SPAD探测器不能区别收到的是信号光子，还是噪声光子。
步骤1102，该激光雷达根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
具体地，激光雷达可以根据该多个信号脉冲中对应同一子距离区间的信号脉冲，确定该同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；然后，该激光雷达可以根据该多个直方图，确定该同一子距离区间内的目标物体的信息。
比如，激光雷达对收到的光子(信号光子和/或噪声光子)进行计数，得到多个直方图，其中，每个子帧的每个子距离区间对应一个直方图。然后，该激光雷达根据该多个直方图中对应相同子距离区间的直方图，确定该子距离区间内的目标物体的位置信息。
以图5为例，每个子帧对应3个子距离区间，在每个子帧的时间内发射500次脉冲，则SPAD探测器可以接收到针对该500次脉冲中的部分或全部脉冲的反射信号，也即信号光子，这些信号光子中的每个信号光子对应该3个子距离区间中的一个。
具体的实现中，SPAD探测器还会收到多个噪声光子，这些噪声光子中有部分噪声光子对应子距离区间1，部分噪声光子对应子距离区间2，其它噪声光子对应子距离区间3。从而，激光雷达的处理器可以对探测到的信号光子和噪声光子进行计数，得到直方图。
其中，子帧1的子距离区间1对应直方图1，子帧1的子距离区间2对应直方图2，子帧1的子距离区间3对应直方图3。直方图1用于记录在子帧1的时间内，子距离区间1对应的信号光子被探测到的时间戳，直方图2用于记录在子帧1的时间内，子距离区间2对应的信号光子被探测到的时间戳，直方图3用于记录在子帧1的时间内，子距离区间3对应的信号光子的被探测到的时间戳。
由于图4的示例中，子帧2至子帧N对应的子距离区间划分方式均为子帧1相同，则子帧2的子距离区间1对应直方图4，子帧2的子距离区间2对应直方图5，子帧2的子距离区间3对应直方图6。直方图4用于记录在子帧2的时间内，子距离区间1对应的信号光子被探测到的时间戳，直方图5用于记录在子帧2的时间内，子距离区间2对应的信号光子被探测到的时间戳，直方图6用于记录在子帧2的时间内，子距离区间3对应的信号光子的被探测到的时间戳。
以此类推，子帧N的子距离区间1对应直方图3N-2，子帧N的子距离区间2对应直方图3N-1，子帧N的子距离区间3对应直方图3N。直方图3N-2用于记录在子帧N的时间内，子距离区间1对应的信号光子被探测到的时间戳，直方图3N-1用于记录在子帧N的时间内，子距离区间2对应的信号光子被探测到的时间戳，直方图3N用于记录在子帧N的时间内，子距离区间3对应的信号光子的被探测到的时间戳。
总结如下所示：
子帧1：直方图1，直方图2，直方图3；
子帧2：直方图4，直方图5，直方图6；
……
子帧N：直方图3N-2，直方图3N-1，直方图3N；
其中，子距离区间1对应直方图1、直方图4、……、直方图3N-2，子距离区间2对应直方图2、直方图5、……、直方图3N-1，子距离区间3对应直方图3、直方图6、……、直方图3N。
因此，根据直方图1、直方图4、……、直方图3N-2，确定子距离区间1内的目标物体的位置信息，根据直方图2、直方图5、……、直方图3N-1，确定子距离区间2内的目标物体的位置信息，根据直方图3、直方图6、……、直方图3N，确定子距离区间3内的目标物体的位置信息。
其中，目标物体的位置信息可以是该目标物体上的某个点的点云信息。一个目标物体的位置是由该目标物体上的多个点的点云信息计算得到的。
比如，以根据直方图1、直方图4、……、直方图3N-2，确定子距离区间1内的目标物体的位置信息为例。处理器对直方图1、直方图4、……、直方图3N-2中的每个直方图做寻峰检测，得到每个直方图的多个峰值分别对应的时间戳，进而获取分布比较集中的时间戳，并根据该时间戳计算得到目标物体的位置信息。以及，删除分布比较分散的时间戳。
例如，对直方图1、直方图4、……、直方图3N-2中的每个直方图做寻峰检测，得到每个直方图对应的时间戳，每个时间戳对应一个峰值，表明该时间戳上收到较多的信号光子和/或噪声光子，产生较多的单光子计数。假设直方图1、直方图4、……、直方图3N-2对应的所有时间戳，都是集中在时间戳t1、t2、t3处的周围，则分别根据t1、t2和t3，计算得到3个位置信息，该3个位置信息可能对应相同的目标物体，也可能对应不同的目标物体。
根据上述方案，利用时间和空间的相对关系，将一帧划分为多个子帧，将探测量程划分为多个子距离区间，并对每个子帧内的每个子距离区间进行信号光子的统计，进而根据对应相同子距离区间的信号光子，确定该相同子距离区间内的目标物体的位置信息。该方法是以子距离区间的粒度进行信号光子的统计，相较于按照探测量程的粒度进行信号光子的统计，本申请方法减小了统计信号光子的时间窗口，可以减少该窗口内统计到的噪声光子的数量，从而降低噪声光子累积的机会，降低了信号光子的单光子计数被随机的噪声光子计数在时间上累积后淹没的概率，有助于增加信号光子被探测到的机会，从而有利于提高激光雷达在较强背景光条件下的探测性能。
此外，上述图11的内容，并不构成对本申请提供的探测方法的限定，任何针对上述图10的内容的变形都属于本申请保护范围。
其中，方法和装置是基于相同或相似技术构思的，由于方法及装置解决问题的原理相似，因此装置与方法的实施可以相互参见，重复之处不再赘述。本申请实施例中的术语“装置”和“设备”可被互换使用。本申请实施例的描述中，“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。本申请中所涉及的至少一个是指一个或多个；多个，是指两个或两个以上。另外，需要理解的是，在本申请的描述中，“第一”、“第二”、“第三”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。在本说明书中描述的参考“一个实施 例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此，在本说明书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例，而是意味着“一个或多个但不是所有的实施例”，除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”，除非是以其他方式另外特别强调。为了实现上述本申请实施例提供的方法中的各功能，本申请实施例还提供一种装置用于实现上述方法。该装置可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。
本申请实施例提供的装置可以是集成了处理器的控制器，或者也可以是能够执行上述方法对应的功能的芯片或电路，该芯片或电路可以设置在控制器等设备中。进一步的，本申请实施例提供的装置，还能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请实施例的范围。
本申请实施例提供的装置可以进行功能模块的划分，例如，可对应各个功能划分各个功能模块，也可将两个或两个以上的功能集成在一个处理模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。需要说明的是，本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。
一种可能的实现方式中，如图12所示，为本申请实施例提供的一种控制装置结构示意图。该装置可以是控制器，也可以是控制器中的装置，或者是能够和控制器匹配使用的装置。该装置1200可以包括：处理模块1201和收发模块1202。当然，该装置1200还可能包括其他模块，本申请实施例并不限定，仅示出主要的功能模块，例如，所述收发模块1202可以包括发送模块和接收模块，所述发送模块可以为发射器，所述接收模块可以为探测器。
其中，处理模块1201，用于控制收发模块1202在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；所述处理模块1201还控制所述收发模块1202接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；然后，所述处理模块1201用于根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
本申请一种可选的方式，所述处理模块1201具体用于：
根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；根据所述多个直方图，确定所述同一子距离区间内的目标物体的信息。
本申请一种可选的方式，所述处理模块1201具体用于：
根据第一方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第一帧对应的多个激光脉冲。
本申请一种可选的方式，所述处理模块1201还用于：
在第二帧的每个子帧内发射多个激光脉冲；
所述处理模块1201具体用于：
根据第二方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第二帧对应的多个激光脉冲；所述第二方式与所述第一方式不同。
本申请一种可选的方式，所述处理模块1201控制发射器在第一帧的每个子帧内发射多个激光脉冲时，具体用于：
控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲；和/或，
所述处理模块1201控制探测器接收多个信号脉冲时，具体用于：
控制单光子雪崩二极管SPAD探测器接收多个信号脉冲。
本申请一种可选的方式，所述处理单元1201控制VCSEL在所述第一帧的每个子帧内发射多个激光脉冲时，具体用于：
控制所述VCSEL配合电学扫描的方式，在所述第一帧的每个子帧内发射多个激光脉冲。
本申请一种可选的方式，所述第一帧包含的每个子帧中的子距离区间的时间长度的分布相同；或者所述第一帧包含的至少两个子帧中的子距离区间的时间长度的分布不同。
本申请一种可选的方式，所述第一帧包含的每个子帧的帧长相同；或者所述第一帧包含至少两个帧长不同的子帧。
本申请一种可选的方式，所述一组子距离区间中的每个子距离区间的长度相同；或者所述一组子距离区间包含至少两个子距离区间，所述至少两个子距离区间的长度不同。
本申请一种可选的方式，对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度依次减小；或者，对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度先增大后减小。
应理解，本申请实施例中的处理模块1201可以由处理器或处理器相关电路组件实现，收发模块1202可以由收发器或收发器相关电路组件或者通信接口实现。应理解，收发器可以包括例如发射器和接收器，处理器、发射器和接收器可以相互耦合，其中，发射器和接收器例如通过雷达装置中的天线、馈线和编解码器等实现，或者，如果所述控制装置为设置在探测设备中的芯片，那么发射器和接收器例如为芯片中的通信接口，该通信接口与探测设备中的射频收发组件连接，以通过射频收发组件实现信息的收发。
请参见图13，为本申请实施例提供的控制装置1300的另一种可能的结构示意图。控制装置13可以是雷达装置本身，或者可以是能够完成雷达装置的功能的芯片或电路，例如该芯片或电路可以设置在雷达装置中。控制装置1300可以包括处理器1301(例如处理模块1201可以通过处理器1301实现)和接口电路1302(例如收发模块1202可以通过接口电路1302实现，当收发模块中包括发射器和接收器时，所述发射器，接收器可以与接口电路1302为同一部件)。该处理器1301可以使得控制装置1300实现图11所示的实施例所提供的方法中激光雷达所执行的步骤。可选的，控制装置1300还可以包括存储器1303，存储器1303可用于存储指令。处理器1301通过执行存储器1303所存储的指令，使得控制装置1300实现图11所示的实施例所提供的方法中雷达装置所执行的步骤。
进一步的，处理器1301、接口电路1302和存储器1303之间可以通过内部连接通路互相通信，传递控制和/或数据信号。存储器1303用于存储计算机程序，处理器1301可以从存储器1303中调用并运行计算机程序，以控制接口电路1302接收信号或发送信号，完成图11所示的实施例所提供的方法中激光雷达执行的步骤。存储器1303可以集成在处理器1301中，也可以与处理器1301分开设置。
可选地，若控制装置1300为设备，接口电路1302可以包括接收器和发送器。其中，接收器和发送器可以为相同的部件，或者为不同的部件。接收器和发送器为相同的部件时，可以将该部件称为收发器。
可选地，若控制装置1300为芯片或电路，则接口电路1302可以包括输入接口和输出接口，输入接口和输出接口可以是相同的接口，或者可以分别是不同的接口。
可选地，若控制装置1300为芯片或电路，控制装置1300也可以不包括存储器1303，处理器1301可以读取该芯片或电路外部的存储器中的指令(程序或代码)以实现图11所示的实施例所提供的方法中激光雷达执行的步骤。
可选地，若控制装置1300为芯片或电路，则控制装置1300可以包括电阻、电容或其他相应的功能部件，处理器1301或接口电路1302可以通过相应的功能部件实现。
作为一种实现方式，接口电路1302的功能可以考虑通过收发电路或收发的专用芯片实现。处理器1301可以考虑通过专用处理芯片、处理电路、处理器或通用芯片实现。
作为另一种实现方式，可以考虑使用通用计算机的方式来实现本申请实施例提供的雷达装置。即，将实现处理器1301、接口电路1302的功能的程序代码存储在存储器1303中，处理器1301通过执行存储器1303存储的程序代码来实现处理器1301、接口电路1302的功能。
其中，以上列举的控制装置1300中各模块或单元的功能和动作仅为示例性说明，控制装置1300中各功能单元可用于执行图11所示的实施例中激光雷达所执行的各动作或处理过程。这里为了避免赘述，省略其详细说明。
再一种可选的方式，当使用软件实现雷达装置时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地实现本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质，(例如软盘、硬盘、磁带)、光介质(例如DVD)、或者半导体介质(例如固态硬盘(solid state disk，SSD))等。
需要说明的是，用于执行本申请实施例提供的探测方法的上述雷达装置中所包含的处理器可以是中央处理器(central processing unit，CPU)，通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application-specific integrated circuit，ASIC)，现场可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、晶体 管逻辑器件，硬件部件或者其任意组合。其可以实现或执行结合本申请公开内容所描述的各种示例性的逻辑方框，模块和电路。所述处理器也可以是实现计算功能的组合，例如包含一个或多个微处理器组合，DSP和微处理器的组合等等。
结合本申请实施例所描述的方法或者算法的步骤可以硬件的方式来实现，也可以是由处理器执行软件指令的方式来实现。软件指令可以由相应的软件模块组成，软件模块可以被存放于随机存取存储器(random access memory，RAM)、闪存、只读存储器(read-only memory，ROM)存储器、可擦除可编程只读存储器(erasable programmable read-only memory，EPROM)、电可擦除可编程只读存储器(electrically erasable programmable read-only memory，EEPROM)、寄存器、硬盘、移动硬盘、只读光盘(compact disc read-only memory，CD-ROM)或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。另外，该ASIC可以位于雷达装置或者安装雷达装置的探测设备中。当然，处理器和存储介质也可以作为分立组件存在于雷达装置或者安装雷达装置的探测设备中。
可以理解的是，图13仅仅示出了控制装置的简化设计。在实际应用中，控制装置可以包含任意数量的发射器，接收器，处理器，控制器，存储器以及其他可能存在的元件。
通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。
关于具体细节，可参见上文方法实施例中的记载，在此不再赘述。
前述图3提供了一种雷达装置的结构示意图。参考上述内容，提出又一可选的方式。图14提供了雷达装置再一种可能的结构示意图。该激光雷达1400可包括发射模组1401、接收模组1402、以及用于执行上述任意方法实施例的控制装置1403。其中，发射模组1401用于在第一帧的每个子帧内发射多个激光脉冲；接收模组1402用于接收多个信号脉冲；控制装置1403的功能可参见前述相关描述，此处不再赘述。发射模组1401可能的实现可参见前述发射模组的介绍，接收模组1402可能的实现可参见前述接收模组的介绍，此处不再赘述。本申请实施例还提供一种芯片系统，该芯片系统包括至少一个处理器和接口电路。进一步可选的，所述芯片系统还可以包括存储器或者外接存储器。所述处理器用于通过所述接口电路执行指令和/或数据的交互，以实现上文方法实施例中的方法。该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
本申请实施例还提供了一种传感器系统，所述传感器系统包含至少一个上述控制装置。进一步可选的，所述传感器系统还包含至少一个摄像头。
本申请实施例还提供一种交通工具，例如车辆、无人机、无人车等，包含上述传感器系统。基于上述描述的装置的结构和功能原理，本申请还可以提供一种激光雷达，该激光雷达可以包括上述任一实施例中的装置。进一步，可选地，该激光雷达还可包括处理器。
基于上述内容和相同构思，本申请提供一种终端设备。该终端设备可包括用于执行上述任意方法实施例的控制装置。进一步，可选的，该终端设备还可包括存储器，存储器用于存储程序或指令。当然，该终端设备还可以包括其他器件，例如无线控制装置等。其中，控制装置可参见上述控制装置的描述，此处不再赘述。
在一种可能的实现方式中，该终端设备还可包括上述发射模组1401和接收模组1402。也就是说，该终端设备可包括上述激光雷达1400。
示例性地，该终端设备例如可以是车辆(例如无人车、智能车、电动车、或数字汽车等)、机器人、测绘设备、无人机、智能家居设备(例如电视、扫地机器人、智能台灯、音响系统、智能照明系统、电器控制系统、家庭背景音乐、家庭影院系统、对讲系统、或视频监控等)、智能制造设备(例如工业设备)、智能运输设备(例如AGV、无人运输车、或货车等)、或智能终端(手机、计算机、平板电脑、掌上电脑、台式机、耳机、音响、穿戴设备、车载设备、虚拟现实设备、增强现实设备等)等。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
本申请实施例还提供一种计算机可读存储介质，包括指令，当其在计算机上运行时，使得计算机执行上文实施例所描述的方法。
本申请实施例还提供一种计算机程序产品，包括指令，当其在计算机上运行时，使得计算机执行上文实施例所描述的方法。
本申请实施例提供的方法中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、网络设备、用户设备或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，简称DSL))或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机可以存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，简称DVD))、或者半导体介质(例如，SSD)等。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现 有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(read-only memory，ROM)、随机存取存储器(random access memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (30)

  1. 一种探测方法，其特征在于，包括：
    控制发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；
    控制探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；
    根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
  2. 如权利要求1所述的方法，其特征在于，所述根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息，包括：
    根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；
    根据所述多个直方图，确定所述同一子距离区间内的目标物体的信息。
  3. 如权利要求1或2所述的方法，其特征在于，所述在第一帧的每个子帧内发射多个激光脉冲，包括：
    根据第一方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第一帧对应的多个激光脉冲。
  4. 如权利要求1～3中任一项所述的方法，其特征在于，所述方法还包括：
    在第二帧的每个子帧内发射多个激光脉冲；
    所述在第二帧的每个子帧内发射多个脉冲，包括：
    根据第二方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第二帧对应的多个激光脉冲；所述第二方式与所述第一方式不同。
  5. 如权利要求1～4中任一项所述的方法，其特征在于，所述控制发射器在第一帧的每个子帧内发射多个激光脉冲，包括：
    控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲；和/或
    所述控制探测器接收多个信号脉冲，包括：
    控制单光子雪崩二极管SPAD探测器接收多个信号脉冲。
  6. 如权利要求5所述的方法，其特征在于，所述控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲，包括：
    控制所述VCSEL配合电学扫描的方式，在所述第一帧的每个子帧内发射多个激光脉冲。
  7. 如权利要求1～6中任一项所述的方法，其特征在于，所述第一帧包含的每个子帧中的
    子距离区间的时间长度的分布相同；或者
    所述第一帧包含的至少两个子帧中的子距离区间的时间长度的分布不同。
  8. 如权利要求1～6中任一项所述的方法，其特征在于，所述第一帧包含的每个子帧的帧长相同；或者
    所述第一帧包含至少两个帧长不同的子帧。
  9. 如权利要求1～8中任一项所述的方法，其特征在于，所述一组子距离区间中的每个子距离区间的长度相同；或者
    所述一组子距离区间包含至少两个子距离区间，所述至少两个子距离区间的长度不同。
  10. 如权利要求9所述的方法，其特征在于，
    对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度依次减小；或者，
    对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度先增大后减小。
  11. 一种控制装置，其特征在于，包括：至少一个处理单元；
    所述至少一个处理单元，用于控制发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；
    所述至少一个处理单元，还用于控制探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；
    所述至少一个处理单元，还用于根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
  12. 如权利要求11所述的控制装置，其特征在于，所述处理单元具体用于：
    根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；
    根据所述多个直方图，确定所述同一子距离区间内的目标物体的信息。
  13. 如权利要求11或12所述的控制装置，其特征在于，所述处理单元具体用于：
    根据第一方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第一帧对应的多个激光脉冲。
  14. 如权利要求11～13中任一项所述的控制装置，其特征在于，所述处理单元还用于：
    控制所述发射器在第二帧的每个子帧内发射多个激光脉冲；
    所述处理单元控制所述发射器在第二帧的每个子帧内发射多个脉冲，具体用于：
    根据第二方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第二帧对应的多个激光脉冲；所述第二方式与所述第一方式不同。
  15. 如权利要求11～14中任一项所述的控制装置，其特征在于，所述处理单元控制发射器在第一帧的每个子帧内发射多个激光脉冲时，具体用于：
    控制垂直发射腔面激光器VCSEL在所述第一帧的每个子帧内发射多个激光脉冲；和/或
    所述处理单元控制探测器接收多个信号脉冲时，具体用于：
    控制单光子雪崩二极管SPAD探测器接收多个信号脉冲。
  16. 如权利要求15所述的控制装置，其特征在于，所述处理单元控制VCSEL在所述第一帧的每个子帧内发射多个激光脉冲时，具体用于：
    控制所述VCSEL配合电学扫描的方式，在所述第一帧的每个子帧内发射多个激光脉冲。
  17. 如权利要求11～16中任一项所述的控制装置，其特征在于，所述第一帧包含的每个子帧中的子距离区间的时间长度的分布相同；或者所述第一帧包含的至少两个子帧中的子 距离区间的时间长度的分布不同；或者
    所述第一帧包含的每个子帧的帧长相同；或者所述第一帧包含至少两个帧长不同的子帧。
  18. 如权利要求11～16中任一项所述的控制装置，其特征在于，所述一组子距离区间中的每个子距离区间的长度相同；或者
    所述一组子距离区间包含至少两个子距离区间，所述至少两个子距离区间的长度不同。
  19. 如权利要求18所述的控制装置，其特征在于，
    对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度依次减小；或者，
    对于所述一组子距离区间，按照激光脉冲传输的顺序，所述子距离区间的时间长度先增大后减小。
  20. 一种控制装置，其特征在于，包括至少一个处理器和接口电路；所述接口电路为所述至少一个处理器提供程序或者指令，所述至少一个处理器通过逻辑电路或执行程序或者指令以实现所述探测装置所在的设备执行如权利要求1～10中任一项所述的方法。
  21. 一种激光雷达，其特征在于，包括：发射器、探测器和控制器；
    所述控制器，用于控制所述发射器在第一帧的每个子帧内发射多个激光脉冲；其中，每个子帧对应一组子距离区间，所述第一帧包含多个子帧；以及用于控制所述探测器接收多个信号脉冲，所述多个信号脉冲包含针对所述多个激光脉冲的反射信号，所述多个信号脉冲中的每个信号脉冲对应所述一组子距离区间中的一个子距离区间；根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间内的目标物体的信息。
  22. 如权利要求21所述的激光雷达，其特征在于，所述控制器具体用于：
    根据所述多个信号脉冲中对应同一子距离区间的信号脉冲，确定所述同一子距离区间对应的多个直方图；其中，每个子帧的每个子距离区间对应一个直方图；
    根据所述多个直方图，确定所述同一子距离区间内的目标物体的信息。
  23. 如权利要求21或22所述的激光雷达，其特征在于，所述控制器具体用于：
    根据第一方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第一帧对应的多个激光脉冲。
  24. 如权利要求21～23中任一项所述的激光雷达，其特征在于，所述控制器还用于：
    控制所述发射器在第二帧的每个子帧内发射多个激光脉冲；
    所述控制器控制所述发射器在第二帧的每个子帧内发射多个脉冲，具体用于：
    根据第二方式，依次驱动发射器上对应的像素，以通过所述发射器发射所述第二帧对应的多个激光脉冲；所述第二方式与所述第一方式不同。
  25. 如权利要求21～24中任一项所述的激光雷达，其特征在于，所述第一帧包含的每个子帧中的子距离区间的时间长度的分布相同；或者所述第一帧包含的至少两个子帧中的子距离区间的时间长度的分布不同；或者
    所述第一帧包含的每个子帧的帧长相同；或者所述第一帧包含至少两个帧长不同的子帧。
  26. 如权利要求21～25中任一项所述的激光雷达，其特征在于，所述一组子距离区间中的每个子距离区间的长度相同；或者
    所述一组子距离区间包含至少两个子距离区间，所述至少两个子距离区间的长度不同。
  27. 一种激光雷达，其特征在于，包括如权利要求11～20任一项中所述的控制装置。
  28. 一种终端设备，其特征在于，所述终端包括如权利要求11～20中任一项所述的控制装置，或者，包括如权利要求21～27中任一项所述的激光雷达。
  29. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序或指令，当所述计算机程序或指令被探测装置执行时，实现如权利要求1至10中任一项所述的方法。
  30. 一种计算机程序产品，其特征在于，所述计算机程序产品包括计算机程序或指令，当所述计算机程序或指令被探测装置执行时，实现如权利要求1至10中任一项所述的方法。
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CN109804266A (zh) * 2016-11-30 2019-05-24 索尼半导体解决方案公司 测距装置及测距方法
CN111896971A (zh) * 2020-08-05 2020-11-06 上海炬佑智能科技有限公司 Tof传感装置及其距离检测方法
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