WO2023159499A1 - 一种控制方法和激光雷达 - Google Patents

一种控制方法和激光雷达 Download PDF

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Publication number
WO2023159499A1
WO2023159499A1 PCT/CN2022/078042 CN2022078042W WO2023159499A1 WO 2023159499 A1 WO2023159499 A1 WO 2023159499A1 CN 2022078042 W CN2022078042 W CN 2022078042W WO 2023159499 A1 WO2023159499 A1 WO 2023159499A1
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WIPO (PCT)
Prior art keywords
detection signal
receiving module
time period
module
receive
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PCT/CN2022/078042
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English (en)
French (fr)
Inventor
秦嘉嵘
汪帅
余安亮
蔡中华
王伟
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to CN202280047970.XA priority Critical patent/CN117616303A/zh
Priority to PCT/CN2022/078042 priority patent/WO2023159499A1/zh
Publication of WO2023159499A1 publication Critical patent/WO2023159499A1/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
    • 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
    • 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

Definitions

  • the present application relates to the field of detection technology, in particular to a control method and laser radar.
  • the present application provides a control method and a laser radar, which are used to simultaneously optimize the ranging capability, angular resolution, and field of view of various terminal devices including the laser radar, so as to meet the requirements of different scenarios.
  • the embodiment of the present application provides a control method, which can be applied to a terminal device with a detection capability.
  • the laser radar includes a transmitting module and at least two receiving modules, and the at least two receiving modules include a first receiving module and a second receiving module.
  • the method includes: controlling the transmitting module Transmit a detection signal; control the first receiving module to receive the first detection signal, and control the second receiving module to receive the second detection signal; wherein, the detection signal includes the first detection signal and the second detection signal; the first receiving module corresponds to The field of view of the second receiving module is different from the field of view corresponding to the second receiving module.
  • the lidar uses multiple receiving modules with different field of view (ie, the first receiving module and the second receiving module), and the receiving module with a larger field of view can make the lidar With a larger field of view, a receiving module with a smaller field of view can make the laser radar have a higher angular resolution and a longer measurement distance, so it can realize that the laser radar has high ranging capability and high resolution at the same time And a large field of view to meet the needs of different scenes.
  • the first receiving module can be controlled to receive the first detection signal within the first time period; the second receiving module can be controlled to receive the second detection signal within the second time period.
  • the first time period and the second time period may be the same or different. In other words, the first receiving module and the second receiving module may work at the same time or may not work at the same time. limit.
  • the first time period is different from the second time period, and the first time period and the second time period may partially overlap, that is, part of the time, the first receiving module and the second receiving module work at the same time, and another Part of the time, the first receiving module and the second receiving module do not work at the same time.
  • the working timing of the first receiving module and the second receiving module are partially overlapped, which can increase the point cloud data appropriately while ensuring a certain spatial sampling accuracy, and improve the accuracy of lidar target recognition.
  • the first time period is different from the second time period, and the first time period and the second time period do not overlap, that is, at any moment, only one of the first receiving module and the second receiving module works .
  • This design method staggers the working timing of the first receiving module and the second receiving module, which can improve the spatial sampling accuracy of the laser radar, and further improve the accuracy of the laser radar target recognition.
  • first time period to occur according to the first rule within the first preset time range
  • second time period to occur according to the second rule within the second preset time range
  • This design method can make the working timing of the first receiving module and the second receiving module present a certain regularity, which is beneficial to reduce the complexity of controlling the working timing of the first receiving module and the working timing of the second receiving module.
  • the first rule is based on the first duration; and/or, the second rule is based on the second duration; wherein, the first duration and the second duration are the same or different.
  • This design method allows the first receiving module to periodically receive the first detection signal, and the second receiving module to periodically receive the second detection signal, which is conducive to increasing the data volume of point cloud data, thereby improving the laser radar. Accuracy of target recognition.
  • the first preset time range is the same as the second preset time range, and the first preset time range includes at least one first sub-range and at least one second sub-range.
  • the first rule is: the reception frequency of the first detection signal in at least one first sub-range is lower than the reception frequency of the first detection signal in at least one second sub-range, in other words, within at least one first sub-range The period of the first time period is greater than the period of the first time period in the second sub-range; and/or, the second rule is: the receiving frequency of the second sounding signal in at least one first sub-range is lower than that in at least one The receiving frequency of the second detection signal in the second subrange, in other words, the period of the second time period in at least one first subrange is greater than the period of the second time period in the second subrange.
  • the receiving frequency of the first detection signal of the laser radar in the first sub-range is lower than the receiving frequency of the first detection signal in the second sub-range, and/or, the second detection signal of the laser radar in the first sub-range
  • the receiving frequency of the detection signal is lower than the receiving frequency of the second detection signal in the second sub-range, so the lidar receives more detection signals from the target in the second sub-range than it receives from the target in the first sub-range
  • the detected detection signal can make the point cloud image collected by the lidar in the second sub-range more refined. For example, if the point cloud image collected by the lidar in the second sub-range happens to be the point cloud image of the region of interest, this design can effectively improve the recognition accuracy of the lidar for the region of interest.
  • the transmitting module can be controlled to transmit time-domain continuous detection signals.
  • the emission module can always be in the working state, continuously emitting laser pulses to the outside.
  • This design method can ensure that the detection area can always reflect the detection signal to the laser radar, so that as long as the first receiving module and the second receiving module are in the working state, they can both receive the detection signal returned from the detection area, which is conducive to improving Target recognition efficiency of lidar.
  • the transmitting module can be controlled to transmit the first detection signal within the first time period, and the transmitting module can be controlled to transmit the second detection signal within the second time period, the first time period and the second time period different.
  • the transmitting module transmits the first detection signal within the first time period
  • the first receiving module receives the first detection signal reflected from the target within the first time period
  • the transmitting module transmits the first detection signal during the second time period
  • the second detection signal is transmitted within the second time period
  • the second receiving module receives the second detection signal reflected from the target within the second time period.
  • the working sequence of the transmitting module matches the working sequence of the first receiving module and the second receiving module, which can save the transmitting module on the premise of ensuring the normal operation of the first receiving module and the second receiving module. power consumption of the group.
  • the angle of view corresponding to the first receiving module is larger than the angle of view corresponding to the second receiving module, or the angular resolution corresponding to the first receiving module is lower than that corresponding to the second receiving module
  • the angular resolution, or the detection distance corresponding to the first receiving module is smaller than the detection distance corresponding to the second receiving module.
  • the lidar uses the first receiving module and the second receiving module in the first area at the same time, which can make the point cloud image collected by the lidar in the first area more refined, thereby improving the recognition of the first area by the lidar precision.
  • the transmitting module is one transmitting module
  • controlling the transmitting module to transmit the detection signal includes: controlling the transmitting module to transmit the first detection signal and the second detection signal.
  • the detection signals received by the first receiving module and the second receiving module are sent by the same transmitting module, which can reduce the design cost.
  • the transmitting module includes a first transmitting module and a second transmitting module
  • controlling the transmitting module to transmit the detection signal includes: controlling the first transmitting module to transmit the first detection signal, and controlling the second The transmitting module transmits the second detection signal.
  • the first receiving module and the second receiving module respectively correspond to different transmitting modules, which can make timing design more flexible.
  • the first receiving module may include a first detector
  • the second receiving module may include a second detector.
  • controlling the first receiving module to receive the first detection signal, and controlling the second receiving module to receive the second detection signal may include: controlling the first detector to receive the first detection signal from the optical system, and controlling the second detection The device receives a second detection signal from the optical system.
  • the optical system includes a polygon mirror; wherein, the first detection signal is reflected by a first reflection surface of the polygon mirror, and the second detection signal is reflected by a second reflection surface of the polygon mirror.
  • the optical system may further include a beam splitter; the first detection signal is also reflected or transmitted through the beam splitter; or, the second detection signal is also reflected or transmitted through the beam splitter.
  • the emission optical path and the receiving optical path can be coaxial and/or paraxial through the beam splitter.
  • the detection signal including the first detection signal and the second detection signal
  • it may first be reflected by the beam splitter, then reflected by the first reflection surface of the multi-faceted rotating mirror, and finally reach the target, and the target returns
  • a part of the detection signal (such as the first detection signal) is reflected by the first reflective surface of the multi-faceted rotating mirror, then transmitted through the beam splitter, and finally enters the first detector, and the return path of the first detection signal coincides with the emission path, that is
  • the emitting optical path and the receiving optical path are coaxial; the other part (such as the second detection signal) enters the second detector after being reflected by the second reflective surface of the multi-faceted rotating mirror, and the return path of the second detection signal does not overlap with the emission path. That is, the emitting optical path and the receiving optical path are in a paraxial state.
  • this is only an example, and there may
  • the optical system includes an oscillating mirror; wherein, when the oscillating mirror is at a first angle, the first detection signal is reflected by the oscillating mirror; when the oscillating mirror is at a second angle, the second detection signal is reflected by the oscillating mirror.
  • the embodiment of the present application provides a laser radar, including a control device, a transmitting module, and at least two receiving modules (including a first receiving module and a second receiving module).
  • the control device is used to execute the method described in the first aspect or any possible design of the first aspect; the transmitting module is used to transmit the detection signal; the first receiving module is used to receive the first detection signal signal; the second receiving module is used to receive the second detection signal; wherein, the detection signal includes the first detection signal and the second detection signal; the angle of view corresponding to the first receiving module is the same as the corresponding viewing angle of the second receiving module Field angles are different.
  • the transmitting module is a transmitting module
  • controlling the transmitting module to transmit the detection signal includes: controlling the transmitting module to transmit the first detection signal and the second detection signal; or, the transmitting module includes the first transmitting The module and the second transmitting module, controlling the transmitting module to transmit the detection signal includes: controlling the first transmitting module to transmit the first detection signal.
  • the first receiving module includes a first detector
  • the second receiving module includes a second detector
  • the first detector is used to receive the first detection signal from the optical system
  • the second detector is used to receive the first detection signal from the optical system.
  • the system receives a second probe signal.
  • the optical system includes a polygon mirror; wherein, the first detection signal is reflected by a first reflection surface of the polygon mirror, and the second detection signal is reflected by a second reflection surface of the polygon mirror.
  • the optical system further includes a beam splitter; the first detection signal is also reflected or transmitted through the beam splitter; or, the second detection signal is also reflected or transmitted through the beam splitter.
  • the optical system includes an oscillating mirror; wherein, when the oscillating mirror is at a first angle, the first detection signal is reflected by the oscillating mirror; when the oscillating mirror is at a second angle, the second detection signal is reflected by the oscillating mirror.
  • an embodiment of the present application provides a terminal, including the lidar described in the second aspect or any possible design of the second aspect.
  • the embodiment of the present application provides a vehicle, including the lidar described in the second aspect or any possible design of the second aspect.
  • the embodiment of the present application provides a control device, including at least one processor and an interface circuit, the interface circuit is used to provide data or code instructions for at least one processor, and at least one processor is used to pass logic circuits or execute code instructions Realize the method described in the first aspect or any possible design of the first aspect.
  • the embodiment of the present application provides a chip, including a processor and an interface, and the processor is configured to read instructions through the interface, so as to execute the method described in the first aspect or any possible design of the first aspect.
  • the embodiment of the present application provides a computer-readable storage medium, in which computer programs or instructions are stored.
  • the computer programs or instructions are executed by the communication device, any one of the first aspect or the first aspect can be realized. methods described in Possible Designs.
  • an embodiment of the present application provides a computer program product, which implements the method described in the first aspect or any possible design of the first aspect when the computer program product runs on a processor.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a laser radar 100 provided in an embodiment of the present application.
  • 3A to 3C are schematic diagrams of the structure of the transmitting module 120 provided by the embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of another laser radar 100 provided in the embodiment of the present application.
  • 5A-5B are schematic diagrams of the form of the detection signal sent by the transmitting module 120;
  • FIG. 6 is a schematic diagram of the structure of the receiving module provided by the embodiment of the present application.
  • FIGS. 7A to 7C are schematic diagrams of the optical system of the laser radar 100 provided by the embodiment of the present application.
  • Fig. 8 is a schematic diagram of the array structure of the detector provided by the embodiment of the present application.
  • FIGS. 9A to 9B are schematic diagrams of the working sequence of the first receiving module 131 and the second receiving module 132 provided by the embodiment of the present application;
  • 9C to 9D are schematic diagrams of the working sequence of the transmitting module 120, the first receiving module 131 and the second receiving module 132 provided by the embodiment of the present application;
  • FIG. 9E is a schematic diagram of the working sequence of the first receiving module 131 provided by the embodiment of the present application.
  • FIG. 9F is a schematic diagram of the working sequence of the second receiving module 132 provided by the embodiment of the present application.
  • FIG. 9G is a schematic diagram of the first sub-range and the second sub-range provided by the embodiment of the present application.
  • 10A to 10E are schematic diagrams of the working sequence of the transmitting module 120, the first receiving module 131 and the second receiving module 132 provided by the embodiment of the present application;
  • FIG. 11 is a schematic structural diagram of another laser radar 100 provided in the embodiment of the present application.
  • Fig. 12 is a flow chart of a control method provided by an embodiment of the present application.
  • the terminal device can be a smart device with laser detection capabilities, including but not limited to: smart home devices, such as TVs, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems , intercom system, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, trucks, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, intelligent factories, etc.
  • the terminal device may also be a computer device with laser detection capability, such as a desktop computer, a personal computer, a server, and the like.
  • the terminal device can also be a portable electronic device with laser detection capability, such as mobile phone, tablet computer, palmtop computer, earphone, stereo, wearable device (such as smart watch), vehicle-mounted device, virtual reality device, augmented reality equipment etc.
  • portable electronic devices include, but are not limited to Or portable electronic devices with other operating systems.
  • the aforementioned portable electronic device may also be, for example, a laptop computer (Laptop) with a touch-sensitive surface (such as a touch panel).
  • FIG. 1 it is a schematic diagram of an application scenario of a laser radar provided by an embodiment of the present application.
  • a laser radar 100 is installed on a vehicle, so it is also called a vehicle-mounted laser radar.
  • lidar also includes ship-mounted lidar installed on ships, and airborne lidar installed on machines.
  • the laser radar 100 can be specifically installed at the front of the vehicle.
  • the laser radar 100 can send out a detection signal (specifically, a laser signal), and the detection signal illuminates After reaching the object in front of the vehicle, it will be reflected by the object, and the reflected detection signal (also called the echo signal) can be received by the laser radar 100, and then the laser radar 100 can determine the obstacle in front of the vehicle based on the reflected detection signal Information about objects, such as the distance, orientation, height, speed, attitude, size or shape of obstacles, etc., in order to use the obstacle information to realize the driving function of the vehicle, such as including but not limited to automatic driving or assisted driving.
  • a detection signal specifically, a laser signal
  • the detection signal illuminates
  • the reflected detection signal also called the echo signal
  • the laser radar 100 can determine the obstacle in front of the vehicle based on the reflected detection signal
  • Information about objects such as the distance, orientation, height, speed, attitude, size or shape of obstacles, etc., in order to use the obstacle information to realize the driving function of the vehicle, such as including but not limited to automatic driving or assisted driving
  • the laser radar 100 is installed at the front position of the vehicle as an example, but it is not limited to this in practical applications.
  • the laser radar 100 can also be installed at other positions, such as the rear or the rear of the vehicle. Roof etc.
  • the lidar 100 provided in the embodiment of the present application includes one or more transmitting modules and multiple receiving modules.
  • the transmitting module is used to transmit the detection signal to the outside.
  • the detection signal reaches the target surface and is reflected by the surface of the object to form an echo signal.
  • the receiving module is used to receive the detection signal reflected back by the target (that is, the echo signal), and convert the received detection signal from an optical signal to an electrical signal.
  • Point cloud data can be generated by analyzing the electrical signal output by the receiving module, and the point cloud data can be used to determine the characteristic information of the target (such as distance, orientation, height, speed, attitude, size or shape, etc.).
  • the angle of view may also be referred to as the field of view.
  • the field of view angle corresponding to each receiving module determines the field of view of the receiving module, that is, the range within which the receiving module can receive echo signals, and each receiving module can only receive reflections from targets within its field of view (It should be understood that the echo signal here refers to the effective echo and does not include clutter refracted through various other paths and reflected back multiple times).
  • the larger the field of view corresponding to the receiving module the larger the coverage corresponding to the echo signal that the receiving module can receive; on the contrary, the smaller the corresponding field of view of the receiving module, the larger the coverage of the echo signal that the receiving module can receive.
  • the corresponding echo signal coverage is smaller.
  • the corresponding field angle of the receiving module has a strong anti-correlation relationship with the angular resolution or detection distance (that is, the larger the field of view, the higher the angular resolution.
  • the lower the detection distance, the closer the detection distance; the smaller the field of view, the higher the angular resolution, and the farther the detection distance) therefore, at least two receiving modules have different field of view, which can also be described as: at least two receiving modules Groups have different angular resolutions or detection distances.
  • the lidar 100 provided in the embodiment of the present application has at least two receiving modules with different field of view angles
  • the receiving module with a larger field of view can make the lidar have a larger field of view, and the field of view is smaller.
  • a small receiving module can make the laser radar have a higher angular resolution and a longer measurement distance. Therefore, by cooperating with receiving modules with different field of view sizes, the laser radar 100 has high ranging capability and high resolution at the same time. High rate and large field of view can meet the needs of different scenes.
  • the laser radar 100 includes a control device 110 , a transmitting module 120 , a first receiving module 131 , and a second receiving module 132 and a processing device 140 .
  • the number of transmitting modules 120 may be one or more, which is not limited in this application. For ease of description, here is an example to introduce the basic structure and working principle of the transmitting module 120 .
  • the emission module 120 includes a laser 121 and an emission optical system 122 .
  • the laser 121 is a device capable of emitting laser light, and its type may be any one of semiconductor lasers, gas lasers, fiber lasers, solid-state lasers, dye lasers, diode lasers or excimer lasers.
  • the laser 121 can emit a detection signal (for example, a pulsed laser) under the control of the control device 110 .
  • the emission optical system 122 refers to a system composed of optical elements, which include but not limited to one or more of lenses, filters, polarizers, mirrors, beam splitters, prisms, windows, or diffusers. kind.
  • Transmitting optics 122 may transmit detection signals from laser 121.
  • the transmitting optical system 122 can transmit the detection signal under the control of the control device 110, or it can be statically set, that is, the transmitting optical system 122 does not need to be controlled by the control device 110 when transmitting the detection signal, which is not specifically limited in this application. .
  • each transmitting module includes a laser and a transmitting optical system corresponding to the laser.
  • the transmitting optical systems in different transmitting modules can use different optical components (i.e. do not share any optical components), and can also share Some or all of the optical elements are not limited in this embodiment of the present application.
  • the detection signal emitted by the laser 121a is transmitted through the emission optical system 122a
  • the detection signal emitted by the laser 121b is transmitted through the emission optical system 122b.
  • the detection signal emitted by the laser 121a and the detection signal emitted by the laser 121b are both transmitted through the emitting optical system 122c.
  • the lidar 100 may further include a scanning mechanism 150 .
  • the scanning mechanism 150 may include one or more of a polygon mirror, an oscillating mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism.
  • the scanning mechanism 150 is used to control the emission direction of the detection signal, so that the detection signal can reach different areas, so as to scan through the entire detection area (the target is located in the detection area).
  • the scanning mechanism 150 is not a necessary component, and the traversal function that the scanning mechanism 150 can realize can also be designed internally through the array of the transmitting module 120, the first receiving module 131 and the second transmitting module 132. And the control device of the array is realized.
  • the form of the detection signal sent by the emission module 120 can also be a linear beam (as shown in Figure 5A, the beam hits the detection area to form a linear spot), and correspondingly, the scanning mechanism 150 can be controlled by The emission direction of the linear beam makes the linear beam traverse the detection area; the form of the detection signal sent by the emission module 120 can also be a planar beam (as shown in Figure 5B, the beam hits the detection area to form a spot as a planar spot) .
  • the transmitting module 120 may send out detection signals that are continuous in the time domain, or may send out detection signals that are discontinuous in the time domain, for example, send out detection signals periodically, which is not limited in this embodiment of the present application.
  • the first receiving module 131 and the second receiving module 132 are identical to each other.
  • the first receiving module 131 includes a detector 131a and a receiving optical system 131b, the receiving optical system 131b is used to receive the first detection signal returned from the target, and converge the received first detection signal to the detector
  • the photosensitive surface of 131a, the detector 131a is used to convert the first detection signal from an optical signal to an electrical signal, and then transmit it to the processing device 140 .
  • the second receiving module 132 includes a detector 132a and a receiving optical system 132b.
  • the receiving optical system 132b is used to receive the second detection signal returned from the target, and converge the second detection signal to the photosensitive surface of the detector 132a.
  • 132a is used to convert the second detection signal from an optical signal to an electrical signal, and then transmit it to the processing device 140 .
  • the receiving optical system (such as the receiving optical system 131b, the receiving optical system 132b, etc.) can be composed of one or more optical elements, and the types of optical elements include but are not limited to lenses, optical filters, polarizers, mirrors, polygon mirrors One or more of , swing mirror, beam splitter, prism, window or diffuser.
  • the receiving optical system 131b and the receiving optical system 132b can use different optical elements respectively (i.e. do not share any optical elements), and can also share some optical elements (for example, the receiving optical system 131b and the receiving optical system 132b can use The same multi-faceted rotating mirror has different reflecting surfaces), which is not limited in this embodiment of the present application. Further, the receiving optical system 131b and the receiving optical system 132b can use different optical elements from the emitting optical system 122 respectively (that is, they do not share any optical elements), or they can share some or all of the optical elements, which is not discussed in this embodiment of the present application. Do limit.
  • the whole formed by the transmitting optical system 122, the receiving optical system 131b and the receiving optical system 132b is referred to as the optical system of the laser radar 100.
  • the optical system of the lidar 100 may be a paraxial structure, or include both a coaxial structure and a paraxial structure, which is not limited in the present application.
  • the coaxial structure refers to the situation in which the transmitting optical path and the receiving optical path are coaxially arranged
  • the paraxial structure refers to the situation in which the transmitting optical path and the receiving optical path are arranged on two parallel lines, and the optical axes of the two do not overlap but are parallel.
  • the coaxial structure refers to the situation in which the transmitting optical path and the receiving optical path are coaxially arranged
  • the paraxial structure refers to the situation in which the transmitting optical path and the receiving optical path are arranged on two parallel lines, and the optical axes of the two do not overlap but are parallel.
  • Example 1 A paraxial optical system based on a polygon mirror.
  • the polygonal mirror refers to a reflective mirror with multiple reflective surfaces, for example, two reflective surfaces, ie, a first reflective surface and a second reflective surface, are illustrated in FIG. 7A .
  • a part of the reflected detection signal (such as the first detection signal) is reflected by the first reflection surface of the polygon mirror, enters the detector 131a, and the other part detects
  • the signal (such as the second detection signal) enters the detector 132a after being reflected by the second reflective surface of the polygon mirror.
  • each optical path can also include other optical elements (such as lenses, optical filters, polarizers, windows or diffusers). sheets, etc.), not all of which are shown in this application.
  • Example 2 Paraxial + coaxial optical system based on polygon mirror and beam splitter.
  • the detection signal sent by the laser 121 is reflected by the beam splitter and reaches the first reflection surface of the multi-faceted rotating mirror, and then reflected by the first reflection surface; after the detection signal reaches the target, it is reflected by the target, and a part of the reflection is detected
  • the signal (such as the first detection signal) is reflected by the first reflection surface of the polygon mirror, and transmitted through the beam splitter, enters the detector 131a, and another part of the reflected detection signal (such as the second detection signal) passes through the polygon mirror reflected by the second reflective surface and enter the detector 132a.
  • the emitting optical path (optical path 1 as shown in Fig. 7B) and the receiving optical path of the first detection signal (optical path 2 as shown in Fig. 7B) are coaxial, and the emitting optical path (optical path 2 as shown in Fig. 7B) is coaxial.
  • the optical path 1 shown in the figure and the receiving optical path of the second detection signal (optical path 3 shown in FIG. 7B ) are paraxial cases. It should be pointed out that the optical path 1 and the optical path 2 should actually overlap.
  • the optical path 1 and the optical path 2 are separated by a certain distance for a clearer view.
  • Fig. 7B is an example where the detection signal sent by the laser 121 is reflected by the beam splitter and reaches the multi-faceted rotating mirror, and the first detection signal enters the detector 131a after being transmitted by the beam splitter.
  • Those skilled in the art can also make appropriate modifications to FIG. 7B .
  • it may be configured that the detection signal emitted by the laser 121 is transmitted through the beam splitter and then reaches the polygon mirror, and the first detection signal is reflected by the beam splitter and then enters the detector 131a.
  • Example 3 A paraxial optical system based on an oscillating mirror.
  • the oscillating mirror can be a reflector whose angle can be changed.
  • the oscillating mirror can rotate around an axis.
  • the oscillating mirror can receive beams incident at different angles, or reflect the received beams from different angles. go out.
  • Figure 7C when the oscillating mirror is at the first angle, the first detection signal returned from the target is reflected by the oscillating mirror and enters the detector 131a; when the oscillating mirror is at the second angle, the second detection signal returned from the target Reflected by the pendulum mirror, it enters the detector 132a.
  • the optical axes of the transmitting optical path (optical path 1 as shown in FIG. 7C ) and the receiving optical path of the first detection signal (optical path 2 as shown in FIG. 7C ) do not overlap, which is a paraxial situation;
  • the optical axes of the transmitting optical path (optical path 1' as shown in FIG. 7C ) and the receiving optical path of the second detection signal (optical path 3 as shown in FIG. 7C ) do not overlap, which is a paraxial situation.
  • each optical path can also include other optical elements (such as lenses, filters, polarizers, window or diffuser, etc.), not all of which are shown in this application.
  • each optical path can also include other optical elements (such as lenses, filters, polarizers, windows or diffusers). sheets, etc.), not all of which are shown in this application.
  • the detector (such as the detector 131a, the detector 132a, etc.) may be an array structure composed of multiple rows and multiple columns of picture elements. Among them, the pixel refers to the smallest unit in the detector that can receive the echo signal. Based on the different shapes of the laser light of the emission module 120, the array structure of the detectors may also have different shapes, as shown in FIG. 8, there may be array structures such as linear and planar. Correspondingly, the lidar 100 may scan the detection area by any scanning method of line scanning, line scanning, or area scanning.
  • the specific types of detectors include but are not limited to avalanche photodiode (Avalanche Diode, PAD) array, single photon avalanche diode (Single Photon Avalanche Diode, SPAD) array, charge-coupled device (Charge-coupled Device, CCD) ) array or complementary metal oxide semiconductor (Complementary Metal Oxide Semiconductor, CMOS) sensor array, etc.
  • avalanche photodiode Avalanche Diode, PAD
  • single photon avalanche diode Single Photon Avalanche Diode
  • SPAD single Photon Avalanche Diode
  • CCD Charge-coupled Device
  • CMOS complementary metal oxide semiconductor
  • each pixel can be working or not working.
  • the pixel can convert the received echo signal into an electrical signal.
  • the pixel will not convert the echo signal into an electrical signal.
  • the viewing angle corresponding to the first receiving module 131 is different from the viewing angle corresponding to the second receiving module 132 .
  • the angle of field corresponding to the first receiving module 131 is greater than the angle of field corresponding to the second receiving module 132, or the angle of field corresponding to the first receiving module 131 is smaller than the angle of field corresponding to the second receiving module 132 horn.
  • the processing device 140 The processing device 140 .
  • the processing device 140 can receive and analyze the electrical signal output by the first receiving module 131, generate point cloud data (such as the first point cloud data) corresponding to the first receiving module 131, and determine the characteristic information of the target according to the first point cloud data .
  • point cloud data such as the first point cloud data
  • the processing device 140 can also receive and analyze the electrical signal output by the second receiving module 132, generate point cloud data (such as the first point cloud data) corresponding to the second receiving module 132, and determine the characteristics of the target according to the second point cloud data information.
  • point cloud data such as the first point cloud data
  • the processing device 140 can also receive and analyze the electrical signal output by the first receiving module 131, generate point cloud data (such as the first point cloud data) corresponding to the first receiving module 131, and receive and analyze the second receiving module 132
  • the electric signal of output generates the corresponding point cloud data (as the second point cloud data) of the second receiving module 132;
  • the first point cloud data and the second point cloud data are mapped in the same point cloud image, and then according to the The point cloud image determines the characteristic information of the target, etc.
  • the feature information of the target includes, but is not limited to, the distance, orientation, height, speed, posture, size or shape of the target.
  • control device 110 Fourth, the control device 110 .
  • the control device 110 has a signal control capability, for example, it can connect other components in the lidar 100 through a controller area network (CAN) bus or other means, and send control instructions to other components to coordinate the work of other components.
  • the control device 110 can control the transmitting module 120 to transmit a detection signal; control the first receiving module 131 and the second transmitting module 132 to receive the detection signal reflected by the target, and control the first receiving module 131 and the second transmitting
  • the module 132 processes the received detection signal and outputs an electrical signal; the control processing device 140 analyzes the electrical signal output by each receiving module to generate point cloud data, and determines the location of the target according to the point cloud data corresponding to each receiving module. Feature information, etc.
  • control device 110 and the processing device 140 may be integrated in one device, or may be distributed in multiple devices and implemented separately.
  • the device can specifically be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (field programmable gate array, FPGA), or a dedicated
  • An integrated chip (application specific integrated circuit, ASIC)
  • SoC system on chip
  • NP network processor
  • DSP digital signal processing circuit
  • MCU microcontroller
  • PLD programmable logic device
  • PLD programmable logic device
  • the device may include a central processing unit (central processor unit, CPU), a neural network processing unit (neural-network processing unit, NPU) and a graphics processing unit (graphics processing unit, GPU), and may also include an application processor (application processor, AP), modem processor, image signal processor (image signal processor, ISP), video codec, digital signal processor (digital signal processor, DSP), and/or baseband processor, etc. limited.
  • CPU central processor unit
  • NPU neural network processing unit
  • graphics processing unit graphics processing unit
  • application processor application processor
  • modem processor image signal processor
  • ISP image signal processor
  • video codec digital signal processor
  • DSP digital signal processor
  • baseband processor digital signal processor
  • the first time period the time period during which the first transmitting module 131 is continuously in the working state.
  • the first transmitting module 131 has the ability to receive signals. As long as there is a detection signal reflected from the target within the first time period, the first transmitting module 131 will receive the detection signal (ie, the first detection signal) within the first time period.
  • the first period of time may be denoted as ⁇ t1.
  • the first time period may appear one or more times in the time domain, which is not limited in this application.
  • the length of the first time period may be fixed or variable, which is not limited in this application.
  • the second time period it is the time period during which the second transmitting module 132 is continuously in the working state.
  • the second transmitting module 132 has the ability to receive signals. As long as there is a detection signal reflected from the target within the second time period, the second transmitting module 132 will receive the detection signal (ie, the second detection signal) within the second time period.
  • the second period of time may be denoted as ⁇ t2.
  • the second time period may appear one or more times in the time domain, which is not limited in this application.
  • the length of the second time period may be fixed or variable, which is not limited in this application.
  • the distributions of the first time period and the second time period in the time domain may be coincident or non-overlapping, or coincident in some time domain positions and coincident in other time domain positions. are non-overlapping, which is not limited in this application.
  • the first preset time range it is a time range longer than the first time period. Within the first preset time range, one or more first time periods can be distributed. The multiple first time periods Segments can be distributed continuously or discontinuously, which is not limited in this application.
  • the first preset time range may be expressed as ⁇ T1 ⁇ n ⁇ t1, where n ⁇ 1.
  • the second preset time range it is a time range longer than the second time period. Within the second preset time range, one or more second time periods can be distributed. The multiple second time periods Segments can be distributed continuously or discontinuously, which is not limited in this application.
  • the second preset time range may be expressed as ⁇ T2 ⁇ m ⁇ t2, m ⁇ 1.
  • the distribution of the first preset time range and the second preset time range in the time domain may be: completely coincident, partially coincident, or non-coincident, etc., which is not limited in this application.
  • First sub-range, second sub-range Both the first preset time range and the second preset time range can be further divided into multiple sub-ranges.
  • the first preset time range may include a first sub-range, a second sub-range, etc., wherein the first sub-range and the second sub-range may be continuous or discontinuous in the time domain, and this application does not limit.
  • one or more first time periods may be distributed in the first sub-range
  • one or more first sub-time periods may be distributed in the second sub-range.
  • the first sub-range is denoted as ⁇ a
  • the second sub-range is denoted as ⁇ b, then ⁇ T1 ⁇ a+ ⁇ b, ⁇ a ⁇ t1, ⁇ b ⁇ t1.
  • the first preset time range may include one or more sub-ranges, and each sub-range may include one or more first time periods, and the first receiving module 131 may receive the first time period within each first time period.
  • a detection signal; the second preset time range may include one or more sub-ranges, and each sub-range may include one or more second time periods, and the second receiving module 132 may receive the second time period within each second time period 2. Detection signal.
  • the field of view corresponding to the first receiving module 131 is greater than the field of view corresponding to the second receiving module 132 as an example.
  • the first receiving module 131 is a short-distance detection module for short
  • the second receiving module 132 is a long-distance detection module for long-distance detection.
  • the control device 110 when scanning the first area, controls the second receiving module 132 to receive the second detection signal; when scanning the second area, the control device 110 controls the first receiving module 132 to receive the second detection signal; 131 receives the first detection signal, and controls the second receiving module 132 to not work; wherein, the first area is different from the second area.
  • the second receiving module 132 does not work, which can also be described as the second receiving module 132 not starting.
  • the specific implementation method may be that the receiving optical system 132b in the second receiving module 132 is turned off or the detector 132a in the second receiving module 132 is not powered on or the detector 132a in the second receiving module 132 is not powered on Not activated etc.
  • the second receiving module 132 When scanning the first area, more detailed information of the first area can be obtained by using the second receiving module 132 with a smaller field of view. While scanning in the non-second area, the first receiving module 131 with a larger field of view is used, and the detection range is larger, so that the detection of the second area is more comprehensive.
  • the control device 110 when scanning the first area, controls the first receiving module 131 to receive the first detection signal, and controls the second receiving module 132 to receive the second detection signal; When scanning the two areas, the control device 110 controls the first receiving module 131 to receive the first detection signal, and controls the second receiving module 132 to not work; wherein, the first area is different from the second area.
  • the first area use the second receiving module 132 with a smaller viewing angle and the first receiving module 131 with a larger viewing angle at the same time to obtain more detailed information in the first area;
  • the first receiving module 131 with a larger field of view is used, and the detection range is larger, so that the detection of the second area is more comprehensive.
  • the first region can be a region of interest (Region Of Interest, ROI), and the second region is a non-interest region.
  • the region of interest is the region that needs to be focused on, and more detailed information needs to be obtained.
  • the region of interest is the central region in the detection region.
  • the non-interest area is other areas in the detection area except the interest area. In this way, the angular resolution of the region of interest can be effectively improved, and the detection distance can be improved at the same time.
  • control device 100 can control the working sequence of the transmitting module 120, the first receiving module 131, and the second receiving module 132, so as to realize the coordination of the first receiving module 131 and the second receiving module 132. use.
  • the first receiving module 131 receives the first detection signal within the first time period; the second receiving module 132 receives the second detection signal within the second time period.
  • the first receiving module 131 may always receive the first detection signal during the first time period, or may only receive the first detection signal during a part of the first time period, which is not limited in this application.
  • the group 132 may receive the second detection signal all the time during the second time period, or may receive the second detection signal only part of the time within the second time period, which is not limited in this application.
  • the time the receiving module is in the working state will be longer than the receiving time of the signal.
  • the receiving time of the first detection signal is part of the time before the first time period
  • the receiving time of the second detection signal is part of the time before the second time period.
  • the control device 110 needs to control the first receiving module 131 to be in the working state during the first time period, that is, the first receiving module 131
  • the module 131 has the ability to receive the first detection signal in the first period of time.
  • the specific implementation manners for the control device 110 to control the first receiving module 131 to be in the working state during the first time period include but not limited to the following: 1) during the first time period, make the detector 131a be in the power-on state; 2) In the first time period, the receiving function of the detector 131a is activated; 3) In the first time period, the receiving optical system 131b is in the open state.
  • the control device 110 needs to control the second receiving module 132 to be in the working state within the second time period.
  • the implementation manner in which the control device 110 controls the second receiving module 132 to be in the working state within the second time period can refer to the realization manner in which the control device 110 controls the first receiving module 131 to be in the working state within the first time period, I won't go into details here.
  • the first time period and the second time period are different. That is, the first receiving module 131 and the second receiving module 132 are in different time periods.
  • the first time period partially overlaps with the second time period. As shown in FIG. 9A , the rear part of the first time period overlaps the front part of the second time period.
  • each receiving module will not respond to other signals during signal processing. Therefore, although the overlap between the first time period and the second time period may cause the second detection signal to also exist in the first time period, the Since the first receiving module 131 is already processing the first detection signal, it will not process the second detection signal.
  • FIG. 9A is only an example, and actually, the latter part of the second time period may overlap with the front part of the first time period, which is not limited in the present application.
  • the first time period and the second time period do not overlap. As shown in FIG. 9B , there is a time interval between the first time period and the second time period.
  • the short-distance receiving timing represents the working timing of the first receiving module 131, and the duration of its high level is the first time period.
  • the receiving module 131 is in the working state and has the ability to receive the detection signal, and can receive the first detection signal.
  • the long-distance receiving sequence represents the working sequence of the second receiving module 132, and its high level duration is the second time period.
  • the second receiving module 132 is in the working state and has the ability to receive the detection signal, and can receive the second detection signal. , during the duration of the low level, the second receiving module 132 is not in the working state and does not receive the detection signal.
  • the control device 110 also needs to control the transmitting module 120 is in the working state during the first time period and the second time period, that is, the first detection signal is transmitted to the outside during the first time period, and the second detection signal is transmitted to the outside during the second time period.
  • the transmitting module 120 may be always in the working state, that is, transmitting continuous detection signals in the time domain, so that the first detection signal exists in the first time period, and the second detection signal exists in the second time period.
  • the transmitting sequence is always in a high level state, which means that the transmitting module 120 continuously transmits the detection signal.
  • the working timing of the transmitting module 120 , the working timing of the first receiving module 131 and the second receiving module 132 are synchronized by the same clock in the control device 110 .
  • the control device 100 can control the working timing of the transmitting module 120 to correspond to the working timing of the first receiving module 131 and the second receiving module 132 .
  • the transmitting module 120 transmits the first detection signal within the first time period, and transmits the second detection signal within the second time period, and outside the first time period and the second time period, then No probe signal is emitted.
  • FIG. 9C and FIG. 9D introduce the design of the working sequence of the transmitting module 120 as an example where the first time period and the second time period partially overlap.
  • the working sequence of the transmitting module 120 can also adopt a similar design.
  • control device 110 can also configure the first time period to occur according to the first rule within the first preset time range, and configure the second time period to occur according to the second rule within the second preset time range .
  • first preset time range and the second preset time range may be the same or different, which is not limited in this application.
  • the first rule may be that the occurrence of the first time period within the first preset time range exhibits a certain regularity
  • the second rule may indicate that the occurrence of the second time period within the second preset time range exhibits a certain regularity
  • the first rule is to take the first duration as the period, wherein the first duration is shorter than the first preset time range, in other words, there may be multiple first time periods within the first preset time range, And the plurality of first time periods are periodically distributed within the first preset time range, and the size of the cycle is the first time length, as shown in Figure 9E; and or, the second rule is that the second time length is the cycle, wherein The second duration is shorter than the second preset time range, in other words, there may be multiple second time periods within the second preset time range, and the multiple second time segments are periodic within the second preset time range Sexual distribution, the size of the period is the second duration, as shown in FIG. 9F.
  • the first duration and the second duration may be the same or different, which is not limited in this application.
  • the specific values of the first duration and the second duration those skilled in the art can set them according to requirements, which are not limited in this application.
  • the first preset time range may be a duration of N frames, where N is a positive integer.
  • N is a positive integer.
  • the time required for the lidar 100 to traverse the detection area once is one frame duration
  • the point cloud data obtained by the lidar 100 to traverse the detection area once is one frame of point cloud data.
  • the first preset time range is the same as the second preset time range.
  • the first preset time range includes at least one first sub-range and at least one second sub-range.
  • the first rule may be: the receiving frequency of the first sounding signal in at least one first sub-range is lower than the receiving frequency of the first sounding signal in at least one second sub-range; and/or, the second rule is: in at least one second sub-range The reception frequency of the second detection signal in a first subrange is lower than the reception frequency of the second detection signal in at least one second subrange.
  • the receiving frequency of the first detection signal may refer to the number of occurrences of the first time period within a unit time
  • the receiving frequency of the second detection signal may refer to the number of occurrences of the second time period within a unit time.
  • the unit duration can be set according to requirements, for example, N time slots, where N is greater than or equal to 1, and one frame includes multiple time slots.
  • the first preset time range includes two first sub-ranges and one second sub-range, wherein the first receiving module 131 receives the first detection signal in the first sub-range with a low frequency
  • the frequency of the second receiving module 132 receiving the second detection signal in the second sub-range is lower than the frequency of receiving the second detection signal in the second sub-range.
  • FIG. 9G is only an example of the first sub-range and the second sub-range, and is not specifically limited. In practical applications, there may be other specific design manners.
  • the lidar 100 receives more detection signals from the target within the second sub-range than the detection signals received from the target within the first sub-range, for example, when the lidar is sensitive to the target within the second sub-range Region-of-interest scanning can obtain more detailed information of the region of interest.
  • the control device 110 may also configure the first time period and the second time period to present other rules.
  • Example 1 As shown in FIG. 10A , in each frame, the emission module 120 periodically and alternately emits a set of two laser pulses, which are used for short-distance measurement and long-distance measurement respectively.
  • the transmitting module 120 sends out the short-distance laser pulse (i.e. the first detection signal)
  • the corresponding short-distance receiving module i.e. the first receiving module 131 is synchronously turned on (i.e.
  • the short-distance receiving module can receive the short-distance laser pulses reflected by the target; while the transmitting module 120 sends out the long-distance laser pulses (ie, the second detection signal), the corresponding long-distance receiving module (such as The second receiving module 131) is turned on synchronously, and the long-distance receiving module can receive the long-distance laser pulse reflected back from the target.
  • the wave positions between the short-distance receiving timing and the long-distance receiving timing partially overlap.
  • the short-distance receiving module since the wave positions between the short-distance receiving timing and the long-distance receiving timing partially overlap, when the transmitting module 120 transmits the long-distance laser pulse, the short-distance receiving module is probably still in the on state, but at this moment, The short-distance receiving module has been triggered by the previously received short-distance laser pulse, and the short-distance receiving module no longer has the ability to respond to other laser pulses within a period of time after responding to the short-distance laser pulse (for example, for SPAD detection After responding to a photon, there is a dead time (deadtime), during which it will no longer respond to other photons), so it will not respond to subsequent long-distance laser pulses, so it is equivalent to not receiving long-distance laser pulses.
  • dead time dead time
  • the short-distance receiving sequence shown in Figure 10A during the first high-level duration of the short-distance receiving sequence, there are long-distance laser pulses in the latter part of the time, but because the short-distance receiving module has been blocked in the previous part of the time Triggered by short-range laser pulses, so will no longer be triggered by long-range laser pulses.
  • the transmitting module 120 emits short-distance laser pulses
  • the long-distance receiving module is probably still in the on state, but since the long-distance receiving module has been triggered by the previously received long-distance laser pulse, it will not respond to subsequent The short-distance laser pulse is equivalent to not receiving the short-distance laser pulse.
  • the "synchronization" described in this article can allow a certain time deviation. For example, as long as the time difference between the moment when the transmitting module 120 emits the short-distance laser pulse and the moment when the short-distance receiving module is turned on is less than a certain threshold, it can be considered that when the transmitting module 120 emits the short-distance laser pulse, the corresponding The short-distance receiving module is turned on synchronously.
  • the emission module 120 continuously emits laser pulses.
  • the long-distance receiving module i.e. the second receiving module 132
  • the short-distance receiving module i.e. the first receiving module 131
  • the short-distance receiving module i.e. the first receiving module 131) group 131
  • the long-distance receiving module i.e. the second receiving module 132 is turned off, so that the timing of the long-distance laser pulse and the short-distance laser pulse is just interleaved by one wave position, which can improve the spatial sampling efficiency of the laser radar 100. precision.
  • Example 3 At some time, the short-distance receiving module and the long-distance receiving module receive laser pulses at the same time, and at other times, the short-distance receiving module and the long-distance receiving module do not receive laser pulses at the same time.
  • the control device 110 controls the emission module 120 to send only one laser pulse, such as a long-distance laser pulse), so that the first cycle
  • the laser pulse arrives, both the short-distance receiving module and the laser pulse module are in the open state, and neither the short-distance receiving module nor the laser pulse module is triggered by the laser pulse before, so the short-distance receiving module and the laser pulse
  • the pulse module can receive the long-distance laser pulse at the same time, and in other cycles, the transmitting module 120 successively sends a laser pulse for short-distance measurement and a laser pulse for long-distance measurement, and the short-distance receiving module and The long-distance receiving module receives corresponding laser pulses respectively.
  • Example 4 As shown in FIG. 10D , in each frame, the transmitting module 120 sends out a group of two laser pulses multiple times, and each group of two laser pulses is used for short-distance measurement and long-distance measurement respectively.
  • the transmitting module 120 sends out the short-distance laser pulse (i.e. the first detection signal)
  • the corresponding short-distance receiving module i.e.
  • the first receiving module 131) is synchronously turned on, and the short-distance receiving module can receive the target reflection The short-distance laser pulses that come back; while the transmitting module 120 sends out the long-distance laser pulses (ie, the second detection signal), the corresponding long-distance receiving module (such as the second receiving module 131) is synchronously turned on, and the long-distance receiving The module can receive long-distance laser pulses reflected back from the target.
  • the frequency of laser pulses emitted by the emission module 120 is low, and the timing of the long-distance laser pulses and short-distance laser pulses is just interleaved by one wave position, while in the middle period, the emission module 120 120 emits laser pulses frequently, and the wave positions of the time series of long-distance laser pulses and short-distance laser pulses partially overlap, so that the lidar can obtain more point cloud data in the middle period than in the start period/end period.
  • the middle period is just the time for the laser radar 100 to scan the central area of the detection area, and the central area is generally the area of interest, so this design can be effectively Increase the angular resolution of point cloud data for regions of interest.
  • the period during which the lidar 100 scans the central area of the detection area is not limited to the middle period of a frame, and the interest area is not limited to the central area of the detection area.
  • FIG. 10D is only an example, and there may be other design manners in practice.
  • Example 5 As shown in FIG. 10E , the emission module 120 periodically emits laser pulses. In the same frame, when the transmitting module 120 emits laser pulses, the long-distance receiving module and the short-distance receiving module simultaneously start receiving detection signals, and the long-distance receiving module (ie, the second receiving module 132) and the short-distance receiving module The wave positions between the receiving modules (namely the first receiving module 131 ) overlap completely.
  • the laser radar 100 includes two receiving modules as an example.
  • the laser radar can also include more receiving modules.
  • a third receiving module 133 is also included.
  • the angle of field corresponding to the first receiving module 131, the angle of field corresponding to the second receiving module 132, and the angle of field corresponding to the third receiving module 133 are all different; or, the angle of field corresponding to the first receiving module 131
  • the viewing angle is different from the viewing angle corresponding to the second receiving module 132, and the viewing angle corresponding to the third receiving module 133 is the corresponding viewing angle of the first receiving module 131 or the viewing angle corresponding to the second receiving module 132.
  • the field angle is the same; or, the field angle corresponding to the first receiving module 131 is different from the field angle corresponding to the third receiving module 133, and the field angle corresponding to the second receiving module 132 is corresponding to the first receiving module 131
  • the field of view angle corresponding to the third receiving module 133 is the same; or, the field of view angle corresponding to the second receiving module 132 is different from the field angle corresponding to the third receiving module 133, and the first receiving module
  • the viewing angle corresponding to 131 is the same as the viewing angle corresponding to the second receiving module 132 or the viewing angle corresponding to the third receiving module 133 .
  • the third receiving module 133 As for the specific design of the third receiving module 133 , reference may be made to the specific design of the first receiving module 131 or the second receiving module 132 above, which will not be repeated here.
  • the embodiment of the present application also provides a control method, which is applied to the laser radar 100, and the laser radar 100 includes a transmitting module 120, at least two receiving modules, and at least two receiving modules include the first A receiving module 131 and a second receiving module 132 .
  • the method includes:
  • steps S1201 and S1202 of the above method reference may be made to the specific implementation of the corresponding method steps implemented by the control device 110 in the laser radar 100 above, which will not be repeated here.
  • an embodiment of the present application further provides a terminal, including the lidar 100 described above.
  • the terminal can be applied to intelligent transportation equipment (such as automobiles, ships, drones, trains, trucks, trucks, etc.), smart home equipment (such as TVs, sweeping robots, etc.), intelligent manufacturing equipment (such as robots, industrial equipment, smart logistics, etc.).
  • the embodiment of the present application also provides a vehicle, including the lidar 100 described above.
  • the embodiment of the present application also provides a control device, including at least one processor and an interface circuit, the interface circuit is used to provide data or code instructions for at least one processor, and at least one processor is used to pass logic circuits or execute The code instructions implement the method performed by the control device 110 in the lidar 100 above.
  • the embodiment of the present application also provides a chip, including a processor and an interface, and the processor is used to read instructions through the interface to execute the method as executed by the control device 110 in the lidar 100 above.
  • the embodiment of the present application also provides a computer-readable storage medium in which computer programs or instructions are stored.
  • the control device as in the above-mentioned laser radar 100 is realized. 110 The executed method.
  • the embodiment of the present application also provides a computer program product, which implements the method performed by the control device 110 in the lidar 100 above when the computer program product runs on the processor.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

Abstract

一种控制方法和激光雷达。激光雷达（100）包括多个不同视场角大小的接收模组，例如第一接收模组（131）和第二接收模组（132），其中第一接收模组（131）对应的视场角与第二接收模组（132）对应的视场角不同。该控制方法通过配合使用多个不同视场角大小的接收模组，使得激光雷达（100）同时拥有高测距能力、高分辨率以及大视场角，可以满足不同场景对视场角的不同需求。

Description

一种控制方法和激光雷达 技术领域
本申请涉及探测技术领域，尤其涉及一种控制方法和激光雷达。
背景技术
目前，具有探测能力的终端设备(如激光雷达)，其测距能力难与视场角(Field of View，FoV)及角分辨率同步优化。例如，当激光雷达的视场角设计地大时，角分辨率低，测距能力低，无法获得精细的点云图像；当激光雷达的视场角设计地小时，角分辨率高，测距能力高，但是激光雷达对应的探测区域范围小。然而，在一些探测场景下(如车载场景)，对激光雷达的测距能力、角分辨率及视场角均存在较高的要求。因此，如何同步优化包括激光雷达在内的各类终端设备的测距能力、角分辨率及视场角，是亟需解决的技术问题。
发明内容
本申请提供一种控制方法和激光雷达，用于同步优化包括激光雷达在内的各类终端设备的测距能力、角分辨率及视场角，可以满足不同场景需求。
第一方面，本申请实施例提供一种控制方法，可以应用于具有探测能力的终端设备。以方法应用于激光雷达为例，该激光雷达包括发射模组、至少两个接收模组，至少两个接收模组包括第一接收模组和第二接收模组，方法包括：控制发射模组发射探测信号；控制第一接收模组接收第一探测信号，以及控制第二接收模组接收第二探测信号；其中，探测信号包括第一探测信号和第二探测信号；第一接收模组对应的视场角与第二接收模组对应的视场角不同。
本申请实施例中，激光雷达配合使用多个不同视场角大小的接收模组(即第一接收模组和第二接收模组)，其中视场角较大的接收模组可以使得激光雷达拥有较大的视场角，视场角较小的接收模组可以使得激光雷达拥有较高的角分辨率和较远的测量距离，因此可以实现激光雷达同时拥有高测距能力、高分辨率以及大视场角，进而满足不同场景需求。
一种可能的设计中，可以控制第一接收模组在第一时间段内接收第一探测信号；控制第二接收模组在第二时间段内接收第二探测信号。其中，第一时间段和第二时间段可以相同，也可以不同，换而言之，第一接收模组和第二接收模组可以同时工作，也可以不同时工作，本申请实施例不做限制。
该设计中，通过控制第一接收模组和第二接收模组的工作时序配合使用第一接收模组和第二接收模组，可以实现对第一接收模组和第二接收模组的精准控制，提高方案的可靠性。
一种可能的设计中，第一时间段和第二时间段不同，第一时间段和第二时间段可以部分重叠，即部分时间，第一接收模组和第二接收模组同时工作，另一部分时间，第一接收模组和第二接收模组不同时工作。
该设计中，将第一接收模组和第二接收模组的工作时序部分重叠，可以在保证一定空间采样精度的同时，适当增加点云数据，提高激光雷达目标识别的准确性。
另一种可能的设计中，第一时间段和第二时间段不同，第一时间段和第二时间段不重 叠，即任何时刻，第一接收模组和第二接收模组中只有一个工作。
该设计方式，将第一接收模组和第二接收模组的工作时序错开，可以提高激光雷达的空间采样精度，进而提高激光雷达目标识别的准确性。
一种可能的设计中，还可以配置第一时间段在第一预设时间范围内按照第一规则出现，以及配置第二时间段在第二预设时间范围内按照第二规则出现。
该设计方式，可以使得第一接收模组和第二接收模组的工作时序呈现一定规律性，有利于降低控制第一接收模组的工作时序和第二接收模组的工作时序的复杂度。
一种可能的设计中，第一规则为以第一时长为周期；和/或，第二规则为以第二时长为周期；其中，第一时长和第二时长相同或者不同。
该设计方式，可以使得第一接收模组周期性地接收第一探测信号，以及使得第二接收模组周期性地接收第二探测信号，有利于增加点云数据的数据量，进而提高激光雷达目标识别的准确性。
一种可能的设计中，第一预设时间范围与第二预设时间范围相同，第一预设时间范围包括至少一个第一子范围和至少一个第二子范围。第一规则为：在至少一个第一子范围内第一探测信号的接收频率低于在至少一个第二子范围内第一探测信号的接收频率，换而言之，至少一个第一子范围内的第一时间段的周期大于第二子范围内的第一时间段的周期；和/或，第二规则为：在至少一个第一子范围内第二探测信号的接收频率低于在至少一个第二子范围内第二探测信号的接收频率，换而言之，至少一个第一子范围内的第二时间段的周期大于第二子范围内的第二时间段的周期。
该设计方式，由于激光雷达在第一子范围内第一探测信号的接收频率低于在第二子范围内第一探测信号的接收频率，和/或，激光雷达在第一子范围内第二探测信号的接收频率低于在第二子范围内第二探测信号的接收频率，所以激光雷达在第二子范围内从目标处接收到的探测信号多于在第一子范围内从目标处接收到的探测信号，可以使得激光雷达在第二子范围内采集的点云图像更加精细。例如，激光雷达在第二子范围内采集的点云图像刚好是感兴趣区域的点云图像，则该设计可有效提高激光雷达对感兴趣区域的识别精度。
一种可能的设计中，可以控制发射模组发射时域连续的探测信号。例如，发射模组可以一直处于工作状态，持续性的对外发射激光脉冲。
该设计方式，可以保证探测区域一直可以反射探测信号给激光雷达，使得第一接收模组和第二接收模组只要处于工作状态，则都可以接收到从探测区域返回的探测信号，有利于提高激光雷达的目标识别效率。
一种可能的设计中，可以控制发射模组在第一时间段内发射第一探测信号，以及控制发射模组在第二时间段内发射第二探测信号，第一时间段和第二时间段不同。换而言之，发射模组在第一时间段内发射第一探测信号，第一接收模组在第一时间段内接收从目标处反射回来的第一探测信号，发射模组在第二时间段内发射第二探测信号，第二接收模组在第二时间段内接收从目标处反射回来的第二探测信号。
该设计方式，发射模组的工作时序和第一接收模组、第二接收模组的工作时序匹配，可以在保证第一接收模组和第二接收模组正常工作的前提下，节省发射模组的功耗。
一种可能的设计中，第一接收模组对应的视场角大于第二接收模组对应的视场角，或者，第一接收模组对应的角分辨率低于第二接收模组对应的角分辨率，或者，第一接收模组对应的探测距离小于第二接收模组对应的探测距离。在对第一区域进行扫描时，可以控 制第一接收模组接收第一探测信号，以及控制第二接收模组接收第二探测信号；在对第二区域进行扫描时，可以控制第一接收模组接收第一探测信号，以及控制第二接收模组不工作；其中，第一区域不同于第二区域。例如，第一区域为感兴趣区域，第二区域为非感兴趣区域。
该设计方式，激光雷达在第一区域同时使用第一接收模组和第二接收模组，可以使得激光雷达在第一区域采集的点云图像更加精细，进而提高激光雷达对第一区域的识别精度。
一种可能的设计中，发射模组为一个发射模组，控制发射模组发射探测信号，包括：控制发射模组发射第一探测信号和第二探测信号。
该设计方式，第一接收模组和第二接收模组接收的探测信号由同一个发射模组发出，可以降低设计成本。
另一种可能的设计中，发射模组包括第一发射模组和第二发射模组，控制发射模组发射探测信号，包括：控制第一发射模组发射第一探测信号，以及控制第二发射模组发射第二探测信号。
该设计方式，第一接收模组和第二接收模组分别对应不同的发射模组，可以使得时序设计更为灵活。
一种可能的设计中，第一接收模组可以包括第一探测器，第二接收模组可以包括第二探测器。相应的，控制第一接收模组接收第一探测信号，以及控制第二接收模组接收第二探测信号，可以包括：控制第一探测器从光学系统接收第一探测信号，以及控制第二探测器从光学系统接收第二探测信号。
该设计方式中，针对不同的接收模组设计了不同的探测器，实现方式简单可靠。
一种可能的设计中，光学系统包括多面转镜；其中，第一探测信号经由多面转镜的第一反射面反射，第二探测信号经由多面转镜的第二反射面反射。
该设计方式中，通过多面转镜将不同的探测信号传输至不同的探测器，设计成本低，易实施。
一种可能的设计中，光学系统还可以包括分束镜；第一探测信号还经由分束镜反射或透射；或者，第二探测信号还经由分束镜反射或透射。
该设计方式，通过分束镜，可以实现发射光路和接收光路呈同轴和/或旁轴情况。例如，探测信号(包括第一探测信号和第二探测信号)从激光器射出时，可以先经由分束镜反射，再经由多面转镜的第一反射面反射，最后到达目标处，而目标处返回的探测信号，一部分(如第一探测信号)经由多面转镜的第一反射面反射，然后经由分束镜透射，最后进入第一探测器，第一探测信号的返回路径和发射路径重合，即发射光路和接收光路呈同轴情况；另一部分(如第二探测信号)经由多面转镜的第二反射面反射后，进入第二探测器，第二探测信号的返回路径和发射路径不重合，即发射光路和接收光路呈旁轴情况。当然，此处仅为举例，实际还可以有其它光路设计方式。
一种可能的设计中，光学系统包括摆镜；其中，摆镜位于第一角度时，第一探测信号经由摆镜反射；摆镜位于第二角度时，第二探测信号经由摆镜反射。
该设计方式中，通过变换摆镜的角度，时间将不同的探测信号传输至不同的探测器，设计成本低，易实施。
第二方面，本申请实施例提供一种激光雷达，包括控制装置、发射模组、至少两个接收模组(包括第一接收模组和第二接收模组)。
其中，控制装置，用于执行如第一方面或第一方面任一种可能的设计中所述的方法；发射模组，用于发射探测信号；第一接收模组，用于接收第一探测信号；第二接收模组，用于接收第二探测信号；其中，探测信号包括第一探测信号和第二探测信号；第一接收模组对应的视场角与第二接收模组对应的视场角不同。
一种可能的设计中，发射模组为一个发射模组，控制发射模组发射探测信号，包括：控制发射模组发射第一探测信号和第二探测信号；或者，发射模组包括第一发射模组和第二发射模组，控制发射模组发射探测信号，包括：控制第一发射模组发射第一探测信号。
一种可能的设计中，第一接收模组包括第一探测器，第二接收模组包括第二探测器；第一探测器用于从光学系统接收第一探测信号，第二探测器用于从光学系统接收第二探测信号。
一种可能的设计中，光学系统包括多面转镜；其中，第一探测信号经由多面转镜的第一反射面反射，第二探测信号经由多面转镜的第二反射面反射。
一种可能的设计中，光学系统还包括分束镜；第一探测信号还经由分束镜反射或透射；或者，第二探测信号还经由分束镜反射或透射。
一种可能的设计中，光学系统包括摆镜；其中，摆镜位于第一角度时，第一探测信号经由摆镜反射；摆镜位于第二角度时，第二探测信号经由摆镜反射。
第三方面，本申请实施例提供一种终端，包括如第二方面或第二方面任一种可能的设计中所述的激光雷达。
第四方面，本申请实施例提供一种车辆，包括如第二方面或第二方面任一种可能的设计中所述的激光雷达。
第五方面，本申请实施例提供一种控制装置，包括至少一个处理器和接口电路，接口电路用于为至少一个处理器提供数据或者代码指令，至少一个处理器用于通过逻辑电路或执行代码指令实现如第一方面或第一方面任一种可能的设计中所述的方法。
第六方面，本申请实施例提供一种芯片，包括处理器和接口，处理器用于通过接口读取指令，以执行如第一方面或第一方面任一种可能的设计中所述的方法。
第七方面，本申请实施例提供一种计算机可读存储介质，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通信装置执行时，实现如第一方面或第一方面任一种可能的设计中所述的方法。
第八方面，本申请实施例提供一种计算机程序产品，当计算机程序产品在处理器上运行时，实现如第一方面或第一方面任一种可能的设计中所述的方法。
上述第二方面至第五方面的有益效果，具体请参照上述第一方面中相应设计可以达到的技术效果，这里不再重复赘述。
附图说明
图1为本申请实施例提供的一种应用场景的示意图；
图2为本申请实施例提供的一种激光雷达100的架构示意图；
图3A～图3C为本申请实施例提供的发射模组120的架构示意图；
图4为本申请实施例提供的另一种激光雷达100的架构示意图；
图5A～图5B为发射模组120发出的探测信号的形态示意图；
图6为本申请实施例提供的接收模组的架构示意图；
图7A～图7C为本申请实施例提供的激光雷达100的光学系统的示意图；
图8为本申请实施例提供的探测器的阵列结构的示意图；
图9A～图9B为本申请实施例提供的第一接收模组131和第二接收模组132的工作时序示意图；
图9C～图9D为本申请实施例提供的发射模组120、第一接收模组131和第二接收模组132的工作时序示意图；
图9E为本申请实施例提供的第一接收模组131的工作时序示意图；
图9F为本申请实施例提供的第二接收模组132的工作时序示意图；
图9G为本申请实施例提供的第一子范围和第二子范围的示意图；
图10A～图10E为本申请实施例提供的发射模组120、第一接收模组131和第二接收模组132的工作时序示意图；
图11为本申请实施例提供的另一种激光雷达100的架构示意图；
图12为本申请实施例提供的一种控制方法的流程图。
具体实施方式
本申请实施例提供的技术方案可以应用于具有探测能力的终端设备，尤其适用于具有激光探测能力的终端设备。其中，终端设备可以是具有激光探测能力的智能设备，包括但不限于：智能家居设备，诸如电视、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、视频监控等；智能运输设备，诸如汽车、轮船、无人机、火车、货车、卡车等；智能制造设备，诸如机器人、工业设备、智能物流、智能工厂等。或者，终端设备也可以是具有激光探测能力的计算机设备，例如台式机、个人计算机、服务器等。还应当理解的是，终端设备也可以是具有激光探测能力的便携式电子设备，诸如手机、平板电脑、掌上电脑、耳机、音响、穿戴设备(如智能手表)、车载设备、虚拟现实设备、增强现实设备等。便携式电子设备的示例包括但不限于搭载
Figure PCTCN2022078042-appb-000001
或者其它操作系统的便携式电子设备。上述便携式电子设备也可以是诸如具有触敏表面(例如触控面板)的膝上型计算机(Laptop)等。
一种具体的应用场景中，本申请实施例提供的技术方案可以应用于激光雷达。参见图1，为本申请实施例提供的一种激光雷达的应用场景示意图，该示例中，激光雷达100安装在车辆上，因此也称为车载激光雷达。除车载激光雷达外，激光雷达还包含安装在船上的船载激光雷达，以及安装在机器上的机载激光雷达等。一种可能的示例中，如图1所示，激光雷达100具体可安装在车辆的车头位置，在车辆的行驶过程中，激光雷达100可发出探测信号(具体为激光信号)，该探测信号照射到车辆前方的物体后会被物体所反射，而反射回来的探测信号(又称为回波信号)可被激光雷达100接收，进而激光雷达100可以基于反射回来的探测信号确定到车辆前方的障碍物的信息，诸如障碍物的距离、方位、高度、速度、姿态、大小或形状等，以便利用该障碍物信息实现车辆的驾驶功能，诸如包括但不限于自动驾驶或辅助驾驶等。
需要指出的是，在图1所给的示例中，激光雷达100是以安装在车辆的车头位置为例，但实际应用中不限于此，激光雷达100还可以安装在其它位置，例如车尾或车顶等。
本申请实施例提供的激光雷达100包括一个或多个发射模组、以及多个接收模组。发射模组用于对外发射探测信号，该探测信号到达目标表面，被物体表面所反射，形成回波信号。接收模组用于接收被目标反射回来的探测信号(即回波信号)，并将接收到的探测信号从光信号转化为电信号。通过对接收模组输出的电信号进行分析可以生成点云数据，该点云数据可以用于确定目标的特征信息(如距离、方位、高度、速度、姿态、大小或形状等)。
在激光雷达100的多个接收模组中，至少两个接收模组具有不同的视场角。其中，视场角，又可以称为视场。每个接收模组对应的视场角决定了该接收模组的视野范围，即该接收模组能够接收回波信号的范围，每个接收模组只能接收处于其视野范围内的目标反射回来的回波信号(应理解，这里的回波信号是指有效回波，不包含通过各种其它路径折射、多次反射回来的杂波)。换而言之，接收模组对应的视场角越大，接收模组能够接收的回波信号对应的覆盖范围越大；反之，接收模组对应的视场角越小，接收模组能够接收的回波信号对应的覆盖范围越小。
一般情况下，由于接收模组中探测器的感光面受限，接收模组对应的视场角和角分辨率或探测距离具有强反相关的关系(即视场角越大，角分辨率越低，探测距离越近；视场角越小，角分辨率越高，探测距离越远)，因此，至少两个接收模组具有不同的视场角，还可以描述为：至少两个接收模组具有不同的角分辨率或探测距离。
由于本申请实施例提供的激光雷达100中具有至少两个不同视场角的接收模组，其中视场角较大的接收模组可以使得激光雷达拥有较大的视场角，视场角较小的接收模组可以使得激光雷达拥有较高的角分辨率和较远的测量距离，因此通过配合使用不同视场角大小的接收模组，使得激光雷达100同时拥有高测距能力、高分辨率以及大视场角，可以满足不同场景需求。
需要指出的是，本申请实施例所描述的应用场景是为了更加清楚的说明本申请的技术方案，并不构成对本申请提供的技术方案的限定，本领域普通技术人员可知，随着新的应用场景的出现，本申请提供的技术方案对于类似的技术问题，同样适用。
为了更加清楚的理解本申请实施例技术方案，以下结合附图，对本申请实施例提供的激光雷达100进行详细说明。
参见图2，为本申请实施例提供的一种激光雷达100的架构示意图，该示例中，激光雷达100包括控制装置110、发射模组120、第一接收模组131、第二接收模组132以及处理装置140。
以下，分别介绍激光雷达100中各个部件的具体结构和工作原理。
一、发射模组120。
发射模组120的数量可以是一个或多个，本申请不做限制。为了便于描述，这里先以一个为例，介绍发射模组120的基本结构和工作原理。
参见图3A，为发射模组120的架构示意图，发射模组120包括激光器121和发射光学系统122。其中，激光器121是一种能发射激光的器件，其类型可以为半导体激光器、气体激光器、光纤激光器、固态激光器、染料激光器、二极管激光器或准分子激光器等中的任一种。激光器121可以在控制装置110的控制下发出探测信号(例如脉冲激光)。发射光学系统122是指由光学元件构成的系统，该光学元件包括但不限于透镜、滤光片、偏振片、反射镜、分束镜、棱镜、窗口片或散射片等中的一种或多种。发射光学系统122可以传输 来自激光器121的探测信号。其中，发射光学系统122可以在控制装置110的控制下传输探测信号，也可以是静态设置好的，即发射光学系统122传输探测信号不需要经由控制装置110控制，本申请对此不做具体限定。
可以理解的，当激光雷达100中的发射模组的数量为多个时，每个发射模组都包括一个激光器以及与该激光器对应的发射光学系统。
需要指出的是，当激光雷达100中的发射模组的数量为多个时，不同的发射模组中的发射光学系统可以分别使用不同的光学元件(即不共用任何光学元件)，也可以共用部分或全部光学元件，本申请实施例对此不做限制。例如，参见图3B，激光器121a发出的探测信号经由发射光学系统122a传输，激光器121b发出的探测信号经由发射光学系统122b传输。例如，参见图3C，激光器121a发出的探测信号、激光器121b发出的探测信号，均经由发射光学系统122c传输。
可选的，参见图4，激光雷达100还可以包括扫描机构150。扫描机构150可以包含多面转镜、摆镜、微机电(micro-electro-mechanical system，MEMS)扫描镜、或者棱镜等中的一个或多个。扫描机构150用于控制探测信号的出射方向，使得探测信号可以到达不同的区域，以扫描遍历整个探测区域(目标位于探测区域中)。需要说明的是，扫描机构150不属于必须部件，扫描机构150所能实现的遍历功能本质上也可以通过发射模组120和第一接收模组131和第二发射模组132内部的阵列化设计以及阵列的控制装置实现。
在具体实施时，发射模组120发出的探测信号的形态也可以是线状光束(如图5A所示，光束打在探测区域形成光斑为线状光斑)，相应的，扫描机构150可以通过控制线状光束的发射方向，使得线状光束遍历探测区域；发射模组120发出的探测信号的形态也可以是面状光束(如图5B所示，光束打在探测区域形成光斑为面状光斑)。
进一步的，发射模组120可以发出时域连续的探测信号，也可以发出时域不连续的探测信号，例如周期性地发出探测信号，本申请实施例对此不做限制。
二、第一接收模组131、第二接收模组132。
参见图6，第一接收模组131包括探测器131a以及接收光学系统131b，接收光学系统131b用于接收从目标处返回的第一探测信号，并将接收到的第一探测信号汇聚到探测器131a的光敏面，探测器131a用于将第一探测信号从光信号转换为电信号，然后传输给处理装置140。第二接收模组132包括探测器132a以及接收光学系统132b，接收光学系统132b用于接收从目标处返回的第二探测信号，并将第二探测信号汇聚到探测器132a的光敏面，探测器132a用于将第二探测信号从光信号转换为电信号，然后传输给处理装置140。
接收光学系统(如接收光学系统131b、接收光学系统132b等)可以由一个或多个光学元件组成，光学元件的类型包括但不限于是透镜、滤光片、偏振片、反射镜、多面转镜、摆镜、分束镜、棱镜、窗口片或散射片等中的一种或多种。
需要指出的是，接收光学系统131b和接收光学系统132b可以分别使用不同的光学元件(即不共用任何光学元件)，也可以共用部分光学元件(例如，接收光学系统131b和接收光学系统132b可以采用同一个多面转镜不同反射面)，本申请实施例对此不做限制。进一步的，接收光学系统131b、接收光学系统132b，可以与发射光学系统122分别使用不同的光学元件(即不共用任何光学元件)，也可以共用部分或全部光学元件，本申请实施例对此不做限制。
为了便于描述，在下文中，将发射光学系统122、接收光学系统131b和接收光学系统 132b构成的整体，称为激光雷达100的光学系统。
在具体实施时，激光雷达100的光学系统可以是旁轴架构，或者同时包含同轴架构和旁轴架构，本申请对此不做限制。其中，同轴架构是指发射光路和接收光路同轴布置的情况，旁轴架构是指发射光路和接收光路布置在两条相互平行的线上，两者光轴不重合但平行的情况。以下，举例几种可能的光学系统：
示例1、基于多面转镜的旁轴光学系统。
多面转镜是指具有多个反射面的反射镜，如图7A中示例了两个反射面，即第一反射面和第二反射面。激光器121发出的探测信号经由多面转镜到达目标后，被目标反射，反射回来的一部分探测信号(如第一探测信号)经由多面转镜的第一反射面反射，进入探测器131a，另一部分探测信号(如第二探测信号)经由多面转镜的第二反射面反射后，进入探测器132a。
在图7A中，发射光路(如图7A中所示的光路1)和第一探测信号的接收光路(如图7A中所示的光路2)以及第二探测信号的接收光路(如图7A中所示的光路3)，三者光轴不重合，为旁轴情况。
可以理解的是，图7A中在光路1、2、3上仅示意了部分光学元件，实际应用中各光路上还可以包括其它光学元件(如透镜、滤光片、偏振片、窗口片或散射片等)，本申请未全部示出。
示例2、基于多面转镜和分束镜的旁轴+同轴光学系统。
如图7B所示，激光器121发出的探测信号经由分束镜反射后到达多面转镜的第一反射面，然后经由第一反射面反射；探测信号到达目标后被目标反射，反射回来的一部分探测信号(如第一探测信号)经由多面转镜的第一反射面反射，以及经由分束镜透射，进入探测器131a，反射回来的另一部分被探测信号(如第二探测信号)经由多面转镜的第二反射面反射，进入探测器132a。
在图7B中，发射光路(如图7B中所示的光路1)和第一探测信号的接收光路(如图7B中所示的光路2)为同轴情况，发射光路(如图7B中所示的光路1)和第二探测信号的接收光路(如图7B中所示的光路3)为旁轴情况。需要指出的是，光路1和光路2实际应当是重合的，图7B中是为了视图更加清楚，所以将光路1和光路2间隔了一定距离。
可以理解的是，图7B中在光路1、2、3上仅示意了部分光学元件，实际应用中各光路上还可以包括其它光学元件(如透镜、滤光片、偏振片、窗口片或散射片等)，本申请未全部示出。
可以理解的是，图7B是以激光器121发出的探测信号经由分束镜反射后到达多面转镜、以及第一探测信号经由分束镜透射后进入探测器131a为例，在实际应用时，本领域技术人员还可以对图7B进行适当的变形。例如，可以设置激光器121发出的探测信号经由分束镜透射后到达多面转镜、以及第一探测信号经由分束镜反射后进入探测器131a。另外，还可以设置光路1和光路3同轴，光路1和光路2旁轴，等等，本申请不做限制。
示例3、基于摆镜的旁轴光学系统。
摆镜可以是角度可以变换的反射镜，例如，摆镜可以绕着一个轴旋转，当摆镜处于不同的角度时，可以接收到不同角度入射的光束，或者将接收到光束从不同的角度反射出去。如图7C所示，摆镜位于第一角度时，从目标处返回的第一探测信号经由摆镜反射，进入探测器131a；摆镜位于第二角度时，从目标处返回的第二探测信号经由摆镜反射，进入探 测器132a。
在图7C中，发射光路(如图7C中所示的光路1)和第一探测信号的接收光路(如图7C中所示的光路2)，二者光轴不重合，为旁轴情况；发射光路(如图7C中所示的光路1’)和第二探测信号的接收光路(如图7C中所示的光路3)，二者光轴不重合，为旁轴情况。
可以理解的是，图7C中在光路1、光路1’、2、3上仅示意了部分光学元件，实际应用中各光路上还可以包括其它光学元件(如透镜、滤光片、偏振片、窗口片或散射片等)，本申请未全部示出。
可以理解的是，图7C中在光路1、2、3上仅示意了部分光学元件，实际应用中各光路上还可以包括其它光学元件(如透镜、滤光片、偏振片、窗口片或散射片等)，本申请未全部示出。
以上例举了几种可能的光学系统的实现方式，在实际应用中，当然还有其它实现方式，本申请不做限制。
探测器(如探测器131a、探测器132a等)可以是由多行多列的像元所构成的阵列结构。其中，像元是指探测器中能够接收回波信号的最小单元。基于发射模组120的激光的形态不同，探测器的阵列结构也可以有不同的形态，如图8所示，可以有线状、面状等阵列结构。相应的，激光雷达100可以采用线扫线收、线扫面收或面扫面收等中的任一种扫描方式扫描探测区域。
在具体实现时，探测器的具体类型包括但不限于是雪崩光电二极管(Avalanche Diode，PAD)阵列、单光子雪崩二极管(Single Photon Avalanche Diode，SPAD)阵列、电荷耦合元件(Charge-coupled Device，CCD)阵列或互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)传感器阵列等。
在探测器的使用过程中，每个像元的状态可以是工作状态或不工作状态，当像元处于工作状态时，像元能将所接收到的回波信号转化为电信号，而当像元处于不工作状态时，无论像元上是否存在回波信号，像元都不会将该回波信号转化为电信号。
在本申请实施例中，第一接收模组131对应的视场角和第二接收模组132对应的视场角不同。例如：第一接收模组131对应的视场角大于第二接收模组132对应的视场角，或者，第一接收模组131对应的视场角小于第二接收模组132对应的视场角。
三、处理装置140。
处理装置140可以接收并分析第一接收模组131输出的电信号，生成第一接收模组131对应的点云数据(如第一点云数据)，根据第一点云数据确定目标的特征信息。
处理装置140也可以接收并分析第二接收模组132输出的电信号，生成第二接收模组132对应的点云数据(如第一点云数据)，根据第二点云数据确定目标的特征信息。
处理装置140还可以接收并分析第一接收模组131输出的电信号，生成第一接收模组131对应的点云数据(如第一点云数据)，以及接收并分析第二接收模组132输出的电信号，生成第二接收模组132对应的点云数据(如第二点云数据)；将第一点云数据和第二点云数据映射到同一幅点云图像中，然后根据该点云图像确定目标的特征信息等。
其中，目标的特征信息包括但不限于是目标的距离、方位、高度、速度、姿态、大小或形状等。
四、控制装置110。
控制装置110具有信号的控制能力，比如可以通过控制器局域网(controller area  network，CAN)总线或其它方式连接激光雷达100中的其它部件，并向其它部件发出控制指令，协调其它部件的工作。例如，控制装置110可以控制发射模组120发射探测信号；控制第一接收模组131、第二发射模组132接收被目标反射回来的探测信号，以及控制第一接收模组131、第二发射模组132对接收到的探测信号进行处理，输出电信号；控制处理装置140对各个接收模组输出的电信号进行分析以生成点云数据、根据各个接收模组对应的点云数据确定目标的特征信息，等等。
在具体实施过程中，控制装置110和处理装置140可以集成在一个器件中实现，也可以分散在多个器件中单独实现。
示例性地，可以集成在一个器件中实现，该器件具体可以是一种集成电路芯片，例如可以是通用处理器，可以是现场可编程门阵列(field programmable gate array，FPGA)，还可以是专用集成芯片(application specific integrated circuit，ASIC)，还可以是系统芯片(system on chip，SoC)，还可以是网络处理器(network processor，NP)，还可以是数字信号处理电路(digital signal processor，DSP)，还可以是微控制器(micro controller unit，MCU)，还可以是可编程控制器(programmable logic device，PLD)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件及其他集成芯片。其中，该器件可以包括中央处理单元(central processor unit，CPU)、神经网络处理单元(neural-network processing unit，NPU)和图形处理单元(graphics processing unit，GPU)，还可以包括应用处理器(application processor，AP)，调制解调处理器，图像信号处理器(image signal processor，ISP)，视频编解码器，数字信号处理器(digital signal processor，DSP)，和/或基带处理器等，具体不作限定。
以下介绍的激光雷达100配合使用不同视场角大小的接收模组的具体方案。
为了便于理解，这里先对后文涉及到的几种时间类型进行说明：
(1)第一时间段：是第一发射模组131持续处于工作状态的时间段，在第一时间段内，第一发射模组131具有接收信号的能力。只要第一时间段内从目标有探测信号反射回来，则第一发射模组131会在第一时间段内接收到探测信号(即第一探测信号)。例如，第一时间段可以表示为Δt1。
可以理解的，第一时间段在时域上可以出现一次或多次，本申请不做限制。第一时间段的长度可以是固定的，也可以是变化的，本申请不做限制。
(2)第二时间段：是第二发射模组132持续处于工作状态的时间段，在第二时间段内，第二发射模组132具有接收信号的能力。只要第二时间段内从目标有探测信号反射回来，则第二发射模组132会在第二时间段内接收到探测信号(即第二探测信号)。例如，第二时间段可以表示为Δt2。
可以理解的，第二时间段在时域上可以出现一次或多次，本申请不做限制。第二时间段的长度可以是固定的，也可以是变化的，本申请不做限制。
可以理解的，第一时间段和第二时间段在时域上的分布情况，可以是重合的，也可以是不重合的，或者在一些时域位置上是重合的，另一些时域位置上是不重合的，本申请不做限制。
(3)第一预设时间范围：是比第一时间段更长的一个时间范围，在第一预设时间范围内，可以分布有一个或多个第一时间段，该多个第一时间段可以是连续分布的，也可以是间断分布的，本申请不做限制。例如，第一预设时间范围可以表示为ΔT1≥n×Δt1，n ≥1。
(4)第二预设时间范围：是比第二时间段更长的一个时间范围，在第二预设时间范围内，可以分布有一个或多个第二时间段，该多个第二时间段可以是连续分布的，也可以是间断分布的，本申请不做限制。例如，第二预设时间范围可以表示为ΔT2≥m×Δt2，m≥1。
可以理解的，第一预设时间范围与第二时间预设范围在时域上的分布情况可以是：全部重合、部分重合，或不重合等，本申请不做限定。
(5)第一子范围，第二子范围：第一预设时间范围和第二预设时间范围均可以进一步划分为多个子范围。例如，第一预设时间范围可以包括第一子范围、第二子范围等，其中第一子范围和第二子范围在时域上可以是连续的，也可以是间断的，本申请不做限制。进一步的，第一子范围中可以分布一个或多个第一时间段，第二子范围中可以分布一个或多个第一子时间段。例如，第一子范围表示为Δa，第二子范围表示为Δb，则ΔT1≥Δa+Δb，Δa≥Δt1，Δb≥Δt1。
综上所述，第一预设时间范围可以包括一个或多个子范围，每个子范围可以包括一个或多个第一时间段，第一接收模组131可以在每个第一时间段内接收第一探测信号；第二预设时间范围中可以包括一个或多个子范围，每个子范围可以包括一个或多个第二时间段，第二接收模组132可以在每个第二时间段内接收第二探测信号。
为了便于说明，下文以第一接收模组131对应的视场角大于第二接收模组132对应的视场角为例，例如，第一接收模组131为短距探测模组，用于短距探测，第二接收模组132为长距探测模组，用于长距探测。
一种可能的设计中，在对第一区域进行扫描时，控制装置110控制第二接收模组132接收第二探测信号；在对第二区域进行扫描时，控制装置110控制第一接收模组131接收第一探测信号，以及控制第二接收模组132不工作；其中，第一区域不同于第二区域。
其中，第二接收模组132不工作，也可以描述为第二接收模组132不启动。其具体实现方式是可以是第二接收模组132中的接收光学系统132b关闭或者第二接收模组132中的探测器132a不上电或者第二接收模组132中的探测器132a不上电不激活等。
在第一区域扫描时，使用视场角较小的第二接收模组132，可以获得第一区域更多的细节信息。而在非第二区域扫描时，使用视场角较大的第一接收模组131，探测范围更大，使得对第二区域的探测更加全面。
另一种可能的设计中，在对第一区域进行扫描时，控制装置110控制第一接收模组131接收第一探测信号，以及控制第二接收模组132接收第二探测信号；在对第二区域进行扫描时，控制装置110控制第一接收模组131接收第一探测信号，以及控制第二接收模组132不工作；其中，第一区域不同于第二区域。在第一区域扫描时，同时使用视场角较小的第二接收模组132和视场角较大的第一接收模组131，可以获得第一区域更多的细节信息；而在非第二区域扫描时，使用视场角较大的第一接收模组131，探测范围更大，使得对第二区域的探测更加全面。
可选的，第一区域可以是感兴趣区域(Region Of Interest，ROI)，第二区域为非感兴趣区域。其中，感兴趣区域为需要重点关注的区域，需要获得更多的细节信息。例如，感兴趣区域为探测区域中的中心区域。非感兴趣区域为探测区域中除感兴趣区域以外的其它区域。如此，可以有效的提升感兴趣区域的角度分辨率，同时提高了探测距离。
一种可能的设计中，控制装置100可以控制发射模组120、第一接收模组131、第二接收模组132的工作时序，实现将第一接收模组131、第二接收模组132配合使用。
示例性的，第一接收模组131在第一时间段内接收第一探测信号；第二接收模组132在第二时间段内接收第二探测信号。
可以理解的，只要第一接收模组131接收第一探测信号的时间位于第一时间段内，则认为第一接收模组131在第一时间段内接收第一探测信号，换而言之，第一接收模组131可以在第一时间段内一直接收第一探测信号，也可以仅在第一时间段内的部分时间接收第一探测信号，本申请不做限制。只要第二接收模组132接收第二探测信号的时间位于第二时间段内，则认为第二接收模组132在第二时间段内接收第二探测信号，换而言之，第二接收模组132可以在第二时间段内一直接收第二探测信号，也可以仅在第二时间段内的部分时间接收第二探测信号，本申请不做限制。
可以理解的，由于接收模组处理信号需要一定时间，所以一般情况下，接收模组处于工作状态的时间会比信号的接收时间长一些。例如图9A中，第一探测信号的接收时间为第一时间段前部分时间，第二探测信号的接收时间为第二时间段前部分时间。
在具体实施过程中，要实现第一接收模组131在第一时间段内接收第一探测信号，控制装置110需要控制第一接收模组131在第一时间段处于工作状态，即第一接收模组131第一时间段具有接收第一探测信号的能力。
其中，控制装置110控制第一接收模组131在第一时间段处于工作状态的具体实现方式，包括但不限于以下几种：1)第一时间段内，使探测器131a处于上电状态；2)第一时间段内，使探测器131a的接收功能处于激活状态；3)、第一时间段内，使收光学系统131b处于打开状态。
类似的，若要实现第二接收模组132在第二时间段内接收第二探测信号，则控制装置110需要控制第二接收模组132在第二时间段内处于工作状态。其中，控制装置110控制第二接收模组132在第二时间段内处于工作状态的实现方式，可以参考控制装置110控制第一接收模组131在第一时间段内处于工作状态的实现方式，这里不再赘述。
一种可能的设计中，第一时间段和第二时间段不同。即第一接收模组131和第二接收模组132在不同的时间段内。
一个具体示例中，第一时间段和第二时间段部分重叠，图9A所示，第一时间段的后部分与第二时间段的前部分重叠。
可以理解的，每个接收模组在处理信号的过程中不会再响应其它信号，因此，虽然第一时间段和第二时段重叠可能会导致第一时间段中也存在第二探测信号，但是由于第一接收模组131已在处理第一探测信号，所以其不会处理第二探测信号。
可以理解的，图9A仅为举例，实际还可以是第二时间段的后部分与第一时间段的前部分重叠，本申请不做限制。
另一个具体示例中，第一时间段和第二时间段不重叠，如图9B所示，第一时间段和第二时间段之间，间隔一段时长。
可以理解的，在本文所给的附图中(如图9A或图9B)，短距接收时序代表第一接收模组131的工作时序，其高电平持续期间为第一时间段，第一接收模组131处于工作状态，具备接收探测信号的能力，可以接收第一探测信号，低电平持续期间，第一接收模组131不处于工作状态，不接收探测信号。长距接收时序代表第二接收模组132的工作时序，其 高电平持续期间为第二时间段，第二接收模组132处于工作状态，具备接收探测信号的能力，可以接收第二探测信号，低电平持续期间，第二接收模组132不处于工作状态，不接收探测信号。
可以理解的，在本文所给的附图中(如图9A或图9B)，为了便于理解，采了不同的图案区分第一探测信号和第二探测信号，但第一探测信号和第二探测信号本质上可以是同一种激光信号。
进一步的，要实现第一接收模组131在第一时间段内接收第一探测信号以及第二接收模组132在第二时间段内接收第二探测信号，控制装置110还需要控制发射模组120在第一时间段和第二时间段内处于工作状态，即在第一时间段内对外发射第一探测信号，在第二时间段内对外发射第二探测信号。
一种可能的设计中，发射模组120可以一直处于工作状态，即发射时域连续的探测信号，进而使得第一时间段内存在第一探测信号，第二时间段内存在第二探测信号。例如，图9C所示，发射时序一直处于高电平状态，表征发射模组120持续发射探测信号。
另一种可能的设计中，发射模组120的工作时序、第一接收模组131以及第二接收模组132的工作时序，由控制装置110中的同一个时钟同步。控制装置100可以控制发射模组120的工作时序与第一接收模组131和第二接收模组132的工作时序相对应。如图9D所示，发射模组120在第一时间段内发射第一探测信号，以及在第二时间段内发射第二探测信号，而在第一时间段和第二时间段之外，则不发射探测信号。
可以理解的，图9C和图9D是以第一时间段和第二时间段部分重叠为例介绍发射模组120的工作时序的设计，对于第一时间段和第二时间段不重叠的情况，发射模组120的工作时序也可以采用类似的设计。
一种可能的设计中，控制装置110还可以配置第一时间段在第一预设时间范围内按照第一规则出现，以及配置第二时间段在第二预设时间范围内按照第二规则出现。其中，第一预设时间范围和第二预设时间范围可以相同，也可以不同，本申请不做限制。
其中，第一规则可以是第一时间段在第一预设时间范围内的出现呈现一定规律，第二规则可以是第二时间段在第二预设时间范围内的出现呈现一定规律。
一个具体的示例中，第一规则为以第一时长为周期，其中第一时长小于第一预设时间范围，换而言之，第一预设时间范围内可以有多个第一时间段，且该多个第一时间段在第一预设时间范围内呈周期性分布，周期的大小为第一时长，如图9E所示；和或，第二规则为以第二时长为周期，其中第二时长小于第二预设时间范围，换而言之，第二预设时间范围内可以有多个第二时间段，且该多个第二时间段在第二预设时间范围内呈周期性分布，周期的大小为第二时长，如图9F所示。可以理解的，第一时长和第二时长，可以相同，也可以不同，本申请不做限制。关于第一时长、第二时长的具体值，本领域技术人员可以根据需求进行设置，本申请不做限制。
一个具体的示例中，第一预设时间范围可以是N帧时长，N为正整数。其中，激光雷达100遍历一次探测区域所需要的时长为一帧时长，激光雷达100遍历一次探测区域获得的点云数据为一帧点云数据。
一个具体的示例中，第一预设时间范围与第二预设时间范围相同。第一预设时间范围包括至少一个第一子范围和至少一个第二子范围。第一规则可以为：在至少一个第一子范围内第一探测信号的接收频率低于在至少一个第二子范围内第一探测信号的接收频率；和 /或，第二规则为：在至少一个第一子范围内第二探测信号的接收频率低于在至少一个第二子范围内第二探测信号的接收频率。其中，第一探测信号的接收频率可以是指单位时长内第一时间段出现的次数，第二探测信号的接收频率可以是指单位时长内第二时间段出现的次数。单位时长可以根据需求进行设定，例如N个时隙，N大于或等于1，其中一帧包括多个时隙。
示例性的，参见图9G，第一预设时间范围包括两个第一子范围和一个第二子范围，其中，第一接收模组131在第一子范围内接收第一探测信号的频率低于在第二子范围内接收第一探测信号的频率，第二接收模组132在第二子范围内接收第二探测信号的频率低于在第二子范围内接收第二探测信号的频率。当然，图9G仅仅是对第一子范围和第二子范围的示例，并非具体限定，实际应用中，还可以有其它具体设计方式。
如此，激光雷达100在第二子范围内从目标处接收到的探测信号多于在第一子范围内从目标处接收到的探测信号，例如，当激光雷达在第二子范围内是对感兴趣区域扫描，则可以获得感兴趣区域更多的细节信息。
当然，以上仅仅是对第一规则和第二规则进行示例而非限定，在具体应用中，控制装置110还可以配置第一时间段和第二时间段呈现其它规律。例如，每两个相邻第一时间段之间，间隔X个第二时间段，X为正整数。以X＝2为例，用A表示第一时间段，B表示第二时间段，则第一时间段和第二时间段在时域上呈以下规律：ABBABBABBABB……。
可以理解的是，以上各设计方式可以分别单独实施，也可以相互结合实施，本申请实施例不做限制。
为了更好地理解本申请技术方案，以下再列举几种可能的时序设计方案：
示例1、如图10A所示，在每一帧中，发射模组120周期性交替发出一组两个激光脉冲，分别用于短距测量与长距测量。发射模组120发出短距激光脉冲(即第一探测信号)的同时，与之对应的短距接收模组(即第一接收模组131)同步开启(即进入工作状态，具备接收探测信号的能力)，短距接收模组可以接收到目标反射回来的短距激光脉冲；发射模组120发出长距激光脉冲(即第二探测信号)的同时，与之对应的长距接收模组(如第二接收模组131)同步开启，长距接收模组可以接收到目标反射回来的长距激光脉冲。其中，短距接收时序和长距接收时序之间的波位部分重叠。
可以理解的，由于短距接收时序和长距接收时序之间的波位部分重叠，所以发射模组120发射长距激光脉冲时，短距接收模组很可能还处于开启状态，但是在此刻，短距接收模组已经被之前接收的短距激光脉冲触发，而短距接收模组在响应于短距激光脉冲之后的一段时间内，不再具有响应于其它激光脉冲能力(例如，对于SPAD探测器，在响应光子后，存在一段死时间(deadtime)，该死时间内，不再响应其它光子)，因此不会响应于后来的长距激光脉冲，所以相当于不接收长距激光脉冲。例如，在图10A所示的短距接收时序中，短距接收时序的第一个高电平持续期间，后部分时间存在长距激光脉冲，但是由于短距接收模组已经在前部分时间被短距激光脉冲触发，所以不会再被长距激光脉冲触发。同理，发射模组120发射短距激光脉冲时，长距接收模组很可能还处于开启状态，但是由于长距接收模组已经被之前接收的长距激光脉冲触发，所以不会响应于后来的短距激光脉冲，相当于不接收短距激光脉冲。
需要说明的是，以上仅为示例，实际应用中，除了探测器的工作特性之外，还可以有其他原因(例如接收模组中其他器件的性能、工作机制等)导致接收模组在某些时间即便 处于开启状态也不响应于激光脉冲，本申请不做限制。
另外，由于器件的性能、工作机制等，本文所述的“同步”是可以允许存在一定时间偏差的。例如，发射模组120发出短距激光脉冲的时刻和短距接收模组被开启的时刻的时间差只要小于某个阈值，则可以认为发射模组120发出短距激光脉冲的同时，与之对应的短距接收模组同步开启。
示例2、如图10B所示，发射模组120持续发射激光脉冲。在每一帧中，长距接收模组(即第二接收模组132)开启时，短距接收模组(即第一接收模组131)关闭，短距接收模组(即第一接收模组131)开启时，长距接收模组(即第二接收模组132)关闭，使得长距激光脉冲和短距激光脉冲的时序刚好交错一个波位，如此可以提高激光雷达100的空间采样的精度。
示例3、部分时间，短距接收模组和长距接收模组同时接收激光脉冲，其它时间，短距接收模组和长距接收模组不同时接收激光脉冲。如图10C所示，在示例1的基础上，每一帧的第一个周期中，控制装置110控制发射模组120只发送一个激光脉冲，如长距激光脉冲)，这样，第一个周期中的激光脉冲到来时，短距接收模组和激光脉冲模组均处于开启状态且在此之前短距接收模组和激光脉冲模组均未被激光脉冲触发，因此短距接收模组和激光脉冲模组可以同时接收该长距激光脉冲，而在其它周期中，发射模组120先后发送一个用于短距测量的激光脉冲和一个用于长距测量的激光脉冲，短距接收模组和长距接收模组分别接收对应的激光脉冲。
示例4、如图10D所示，在每一帧中，发射模组120先后多次发出一组两个激光脉冲，每组两个激光脉冲分别用于短距测量与长距测量。发射模组120发出短距激光脉冲(即第一探测信号)的同时，与之对应的短距接收模组(即第一接收模组131)同步开启，短距接收模组可以接收到目标反射回来的短距激光脉冲；发射模组120发出长距激光脉冲(即第二探测信号)的同时，与之对应的长距接收模组(如第二接收模组131)同步开启，长距接收模组可以接收到目标反射回来的长距激光脉冲。其中，同一帧里，在起始时段和结束时段，发射模组120发出激光脉冲的频次低，长距激光脉冲和短距激光脉冲的时序刚好交错一个波位，而在中间时段，发射模组120发出激光脉冲的频次高，长距激光脉冲和短距激光脉冲的时序的波位部分重叠，这样可以使得激光雷达在中间时段比在起始时段/结束时段获得更多的点云数据。例如，当一帧时长为激光雷达100遍历一次探测区域所需要的时长时，中段时间刚好是激光雷达100扫描探测区域的中心区域的时间，而中心区域一般为感兴趣区域，因此该设计可有效增加感兴趣区域的点云数据的角分辨率。
应理解，实际应用中，激光雷达100扫描探测区域的中心区域的时段不限于是一帧的中间时段，并且感兴趣区域也不限于是探测区域的中心区域。图10D仅为一种示例，实际还可以有其它设计方式。
示例5、如图10E所示，发射模组120周期性地发出激光脉冲。在同一帧里，发射模组120在发射激光脉冲的时候，长距接收模组和短距接收模组同时开启接收探测信号，长距接收模组(即第二接收模组132)和短距接收模组(即第一接收模组131)之间的波位完全重叠。
以上是以激光雷达100包括两个接收模组为例，在具体实施过程中，激光雷达还可以包括更多的接收模组，例如图11所示，激光雷达100除了第一接收模组131、第二接收模组132之外，还包括第三接收模组133。
其中，第一接收模组131对应的视场角、第二接收模组132对应的视场角、第三接收模组133对应的视场角均不同；或者，第一接收模组131对应的视场角与第二接收模组132对应的视场角不同，第三接收模组133对应的视场角与第一接收模组131对应的视场角或第二接收模组132对应的视场角相同；或者，第一接收模组131对应的视场角与第三接收模组133对应的视场角不同，第二接收模组132对应的视场角与第一接收模组131对应的视场角或第三接收模组133对应的视场角相同；或者，第二接收模组132对应的视场角与第三接收模组133对应的视场角不同，第一接收模组131对应的视场角与第二接收模组132对应的视场角或第三接收模组133对应的视场角相同。
关于第三接收模组133的具体设计，可以参考上文第一接收模组131或第二接收模组132的具体设计，此处不再赘述。
可以理解的，以上附图中各部件的形状和大小不反应真实比例，目的只是示意说明本申请内容。
并且，以上仅仅是本申请的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据上述附图获得其他的附图。
基于相同的技术构思，本申请实施例还提供一种控制方法，应用于激光雷达100，所述激光雷达100包括发射模组120、至少两个接收模组，至少两个接收模组包括第一接收模组131和第二接收模组132。参见图12，该方法包括：
S1201、控制发射模组120发射探测信号；
S1202、控制第一接收模组131接收第一探测信号，以及控制第二接收模组132接收第二探测信号；其中，探测信号包括第一探测信号和第二探测信号；第一接收模组131对应的视场角与第二接收模组132对应的视场角不同。
上述方法步骤S1201、S1202的具体实现方式，可以参考上文激光雷达100中的控制装置110实现对应方法步骤的具体实现方式，此处不再赘述。
基于同一技术构思，本申请实施例还提供一种终端，包括上文中所述的激光雷达100。其中该终端可以应用于智能运输设备(如汽车、轮船、无人机、火车、货车、卡车等)、智能家居设备(如电视、扫地机器人等)、智能制造设备(如机器人、工业设备、智能物流等)等。
基于同一技术构思，本申请实施例还提供一种车辆，包括上文中所述的激光雷达100。
基于同一技术构思，本申请实施例还提供一种控制装置，包括至少一个处理器和接口电路，接口电路用于为至少一个处理器提供数据或者代码指令，至少一个处理器用于通过逻辑电路或执行代码指令实现如上文激光雷达100中的控制装置110所执行方法。
基于同一技术构思，本申请实施例还提供一种芯片，包括处理器和接口，处理器用于通过接口读取指令，以执行如上文激光雷达100中的控制装置110所执行方法。
基于同一技术构思，本申请实施例还提供一种计算机可读存储介质，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通信装置执行时，实现如上文激光雷达100中的控制装置110所执行方法。
基于同一技术构思，本申请实施例还提供一种计算机程序产品，当计算机程序产品在处理器上运行时，实现如上文激光雷达100中的控制装置110所执行方法。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实 施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
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保护范围。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 (23)

  1. 一种控制方法，应用于激光雷达，其特征在于，所述激光雷达包括发射模组、至少两个接收模组，所述至少两个接收模组包括第一接收模组和第二接收模组；
    所述方法包括：
    控制所述发射模组发射探测信号；
    控制所述第一接收模组接收第一探测信号，以及控制所述第二接收模组接收第二探测信号；其中，所述探测信号包括所述第一探测信号和所述第二探测信号；所述第一接收模组对应的视场角与所述第二接收模组对应的视场角不同。
  2. 如权利要求1所述的方法，其特征在于，所述控制所述第一接收模组接收第一探测信号，以及控制所述第二接收模组接收第二探测信号，包括：
    控制所述第一接收模组在第一时间段内接收所述第一探测信号；
    控制所述第二接收模组在第二时间段内接收所述第二探测信号。
  3. 如权利要求2所述的方法，其特征在于，所述第一时间段和所述第二时间段相同，或者，所述第一时间段和所述第二时间段不同。
  4. 如权利要求3所述的方法，其特征在于，
    所述第一时间段和所述第二时间段部分重叠；或者，
    所述第一时间段和所述第二时间段不重叠。
  5. 如权利要求2-4中任一项所述的方法，其特征在于，所述方法还包括：
    配置所述第一时间段在第一预设时间范围内按照第一规则出现，以及配置所述第二时间段在第二预设时间范围内按照第二规则出现。
  6. 如权利要求5所述的方法，其特征在于，
    所述第一规则为以第一时长为周期；和/或
    所述第二规则为以第二时长为周期；
    其中，所述第一时长和所述第二时长相同或者不同。
  7. 如权利要求5所述的方法，其特征在于，所述第一预设时间范围与所述第二预设时间范围相同，所述第一预设时间范围包括至少一个第一子范围和至少一个第二子范围；
    所述第一规则为：在所述至少一个第一子范围内所述第一探测信号的接收频率低于在所述至少一个第二子范围内所述第一探测信号的接收频率；和/或
    所述第二规则为：在所述至少一个第一子范围内所述第二探测信号的接收频率低于在所述至少一个第二子范围内所述第二探测信号的接收频率。
  8. 如权利要求2-7中任一项所述的方法，其特征在于，所述控制所述发射模组发射探测信号，包括：
    控制所述发射模组发射时域连续的探测信号；或者，
    控制所述发射模组在所述第一时间段内发射所述第一探测信号，以及控制所述发射模组在所述第二时间段内发射所述第二探测信号，所述第一时间段和所述第二时间段不同。
  9. 如权利要求1所述的方法，其特征在于，所述第一接收模组对应的视场角大于所述第二接收模组对应的视场角；
    所述方法还包括：
    在对第一区域进行扫描时，控制所述第一接收模组接收所述第一探测信号，以及控制 所述第二接收模组接收所述第二探测信号；
    在对第二区域进行扫描时，控制所述第一接收模组接收所述第一探测信号，以及控制所述第二接收模组不工作；
    其中，所述第一区域不同于所述第二区域。
  10. 如权利要求1-9中任一项所述的方法，其特征在于，
    所述发射模组为一个发射模组，所述控制所述发射模组发射探测信号，包括：控制所述发射模组发射所述第一探测信号和所述第二探测信号；或者，
    所述发射模组包括第一发射模组和第二发射模组，所述控制所述发射模组发射探测信号，包括：控制所述第一发射模组发射所述第一探测信号，以及控制所述第二发射模组发射所述第二探测信号。
  11. 如权利要求1-9中任一项所述的方法，其特征在于，所述第一接收模组包括第一探测器，所述第二接收模组包括第二探测器；
    所述控制所述第一接收模组接收所述第一探测信号，以及控制所述第二接收模组接收所述第二探测信号，包括：
    控制所述第一探测器从光学系统接收所述第一探测信号，以及控制所述第二探测器从所述光学系统接收所述第二探测信号。
  12. 如权利要求11所述的方法，其特征在于，所述光学系统包括多面转镜；
    其中，所述第一探测信号经由所述多面转镜的第一反射面反射，所述第二探测信号经由所述多面转镜的第二反射面反射。
  13. 如权利要求12所述的方法，其特征在于，所述光学系统还包括分束镜；
    所述第一探测信号还经由所述分束镜反射或透射；或者，所述第二探测信号还经由所述分束镜反射或透射。
  14. 如权利要求11所述的方法，其特征在于，所述光学系统包括摆镜；
    其中，所述摆镜位于第一角度时，所述第一探测信号经由所述摆镜反射；所述摆镜位于第二角度时，所述第二探测信号经由所述摆镜反射。
  15. 一种激光雷达，其特征在于，包括：
    控制装置，用于执行如权利要求1-14中任一项所述的方法；
    发射模组，用于发射探测信号；
    第一接收模组，用于接收第一探测信号；
    第二接收模组，用于接收第二探测信号；其中，所述探测信号包括所述第一探测信号和所述第二探测信号；所述第一接收模组对应的视场角与所述第二接收模组对应的视场角不同。
  16. 如权利要求15所述的激光雷达，其特征在于，
    所述发射模组为一个发射模组，所述控制所述发射模组发射探测信号，包括：控制所述发射模组发射所述第一探测信号和所述第二探测信号；或者，
    所述发射模组包括第一发射模组和第二发射模组，所述控制所述发射模组发射探测信号，包括：控制所述第一发射模组发射所述第一探测信号。
  17. 如权利要求15或16所述的激光雷达，其特征在于，所述第一接收模组包括第一探测器，所述第二接收模组包括第二探测器；
    所述第一探测器用于从光学系统接收所述第一探测信号，所述第二探测器用于从所述 光学系统接收所述第二探测信号。
  18. 如权利要求17所述的激光雷达，其特征在于，所述光学系统包括多面转镜；
    其中，所述第一探测信号经由所述多面转镜的第一反射面反射，所述第二探测信号经由所述多面转镜的第二反射面反射。
  19. 如权利要求17所述的激光雷达，其特征在于，所述光学系统还包括分束镜；
    所述第一探测信号还经由所述分束镜反射或透射；或者，所述第二探测信号还经由所述分束镜反射或透射。
  20. 如权利要求17所述的激光雷达，其特征在于，所述光学系统包括摆镜；
    其中，所述摆镜位于第一角度时，所述第一探测信号经由所述摆镜反射；所述摆镜位于第二角度时，所述第二探测信号经由所述摆镜反射。
  21. 一种终端，其特征在于，包括如权利要求15-20中任一项所述的激光雷达。
  22. 一种车辆，其特征在于，包括如权利要求15-20中任一项所述的激光雷达。
  23. 一种计算机可读存储介质，其特征在于，所述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通信装置执行时，实现如权利要求1至14中任一项所述的方法。
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