WO2023197570A1 - 激光雷达及其探测方法、可读存储介质 - Google Patents

激光雷达及其探测方法、可读存储介质 Download PDF

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Publication number
WO2023197570A1
WO2023197570A1 PCT/CN2022/128765 CN2022128765W WO2023197570A1 WO 2023197570 A1 WO2023197570 A1 WO 2023197570A1 CN 2022128765 W CN2022128765 W CN 2022128765W WO 2023197570 A1 WO2023197570 A1 WO 2023197570A1
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detection
sub
channels
channel
laser
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PCT/CN2022/128765
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English (en)
French (fr)
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时从波
丁春波
卢潇鸣
向少卿
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上海禾赛科技有限公司
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Priority claimed from CN202210390050.XA external-priority patent/CN116953666A/zh
Priority claimed from CN202210389119.7A external-priority patent/CN116953665A/zh
Application filed by 上海禾赛科技有限公司 filed Critical 上海禾赛科技有限公司
Publication of WO2023197570A1 publication Critical patent/WO2023197570A1/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
    • 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 embodiments of this specification relate to the field of radar technology, and in particular, to a laser radar, a detection method thereof, and a readable storage medium.
  • the number of lidar channels (lines) increases, in order to improve the resolution of the point cloud or the frequency of the point cloud, the number of parallel light-emitting channels can be increased.
  • the detectors of each channel may receive reflected light from obstacles in other channels, and the closer the distance between the lidar and the target object, the higher the reflectivity of the target object. High, the intensity of reflected light is higher. When the intensity reaches a certain level, crosstalk will occur on the detector.
  • One solution to the crosstalk problem between multiple channels working in parallel is the encoding of laser pulses. For example, when transmitting double pulses, multiple channels working in parallel use different pulse intervals, and the echo signal is decoded to determine whether it is the echo of this channel. Wave.
  • the echo signal is very strong, and other channels working in parallel are likely to receive serious interference signals (echoes from other parallel channels) , making it unable to effectively decode, and may misjudge the interference signal as the echo of this channel, and generate point cloud information for the position or angle of the original object, resulting in "ghosting".
  • one aspect of the embodiments of this specification provides a laser radar, a detection method thereof, and a readable storage medium, which can reduce the crosstalk between simultaneous light-emitting channels caused by high reflectivity objects and improve detection quality.
  • another aspect of the embodiments of this specification provides a laser radar, a detection method thereof, and a readable storage medium, which can reduce crosstalk between parallel light-emitting channels and improve detection quality.
  • inventions of this specification provide a detection method for lidar.
  • the lidar includes multiple lasers and multiple detectors, forming multiple channels.
  • the detection method includes:
  • detection is performed in groups according to the preset detection timing, in which each group of channels is detected in parallel, and the single detection of each channel includes the first sub-test and the second sub-test.
  • detection is performed in groups according to the preset detection timing, in which each group of channels is detected in parallel, and the single detection of each channel includes the first sub-test and the second sub-test.
  • the first sub-detection its corresponding laser is controlled to emit light with a first light intensity, and the first detection data is obtained through its corresponding detector detection, wherein the first light intensity is suitable for its corresponding detector Only echoes from high-reflectivity objects whose reflectivity is greater than the preset first reflectivity threshold can be received;
  • the lighting strategies of the lasers of the multiple channels are adjusted, and the second detection data is obtained through their corresponding detector detection;
  • detection results of a single detection of the multiple channels are obtained.
  • adjusting the lighting strategy of the lasers of the multiple channels according to the first detection result includes:
  • the second sub-test based on the first detection data, it is determined whether there is a high reflectivity object with a reflectivity greater than the first reflectivity threshold within the detection range of the multiple channels;
  • control the corresponding laser For channels with no high reflectivity objects within the detection range, control the corresponding laser to emit light with a second light intensity, where the second light intensity is greater than the first light intensity; for channels with high reflectivity objects within the detection range The channel controls the light intensity of its corresponding laser to be less than the second light intensity.
  • determining whether there is a high reflectivity object with a reflectivity greater than the first reflectivity threshold within the detection range of the multiple channels includes:
  • controlling the light intensity of its corresponding laser to be less than the second light intensity includes at least one of the following:
  • the light intensity of the corresponding laser is controlled to a third light intensity, and the third light intensity is smaller than the second light intensity.
  • the third light intensity does not exceed the first light intensity.
  • obtaining the detection result of a single detection of the multiple channels based on the first detection data and/or the second detection data includes:
  • the detection results of a single detection of the multiple channels are obtained;
  • obtaining the detection result of a single detection of the multiple channels based on the first detection data and the second detection data includes:
  • the detection result of a single detection of each corresponding channel is obtained.
  • controlling its corresponding laser to emit light with a second light intensity includes:
  • the corresponding laser is controlled to emit a single laser pulse or a multi-pulse sequence.
  • controlling its corresponding laser to emit light with the first light intensity also includes:
  • the lasers of the plurality of channels are controlled to emit a single laser pulse or a sequence of multiple pulses.
  • the single laser pulse or multi-pulse sequence emitted by the lasers of different channels in the plurality of channels has different coded information, and the coded information includes: pulse number, pulse starting emission time, time interval between multiple pulses, At least one of pulse intensity ratio and pulse width ratio.
  • the method also includes:
  • the detection results of multiple channels based on parallel detection in the previous detection round and adjusting their encoding information in the current detection round include:
  • the pulse start emission time of the laser of the channel with overlapping echo times is adjusted so that the echo time Multiple overlapping channels have different pulse start emission times in the current detection round.
  • group detection is performed according to a preset probing sequence, including:
  • the lasers of all channels are controlled to emit light in sequence according to the first sub-measurement and the second sub-measurement of all channels.
  • group detection is performed according to the preset detection timing, including:
  • the lasers of one or more groups of channels are controlled to emit light sequentially according to the first sub-measurement and the second sub-measurement grouping.
  • the embodiment of this specification also provides another detection method of lidar.
  • the lidar includes multiple lasers and multiple detectors to form multiple channels.
  • the detection method includes:
  • the detection includes: the laser emits a light signal, the detector receives the echo signal reflected by the obstacle, and obtains the detection information of the obstacle according to the echo signal;
  • Each group of lasers emits light in parallel
  • each channel including: the first sub-test and the second sub-test;
  • the lighting strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent round is correspondingly adjusted.
  • correspondingly adjusting the light-emitting strategy of the laser of the parallel emitting channel in the second sub-test or the first sub-test of the subsequent round includes:
  • the emission intensity of the laser of the parallel emitting channel in the second sub-measurement and/or the first sub-measurement of subsequent rounds is adjusted accordingly.
  • the emitted light intensity of the laser of the parallel emitting channel in the first sub-measurement is a first light intensity
  • the first light intensity enables the detector to detect only the high intensity laser whose intensity is greater than the preset first threshold.
  • the echo signal of the reflectivity object is a first light intensity
  • the intensity of the echo signal of the first sub-measurement is accordingly adjusted.
  • Strong including:
  • the second light intensity is different from the first light intensity
  • the intensity of the echo signal of the first sub-measurement is accordingly adjusted.
  • Strong including at least one of the following:
  • control its laser For a channel with an echo signal whose intensity is not less than the second threshold within the detection range, control its laser not to emit light in the second sub-test, or control its laser to use the laser in the second sub-test and/or subsequent rounds.
  • a fourth light intensity emits light, and the fourth light intensity is smaller than the second light intensity and greater than the first light intensity.
  • the echo signal of the first sub-test correspondingly adjust the lighting strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent round, including :
  • the relative emission timing of the lasers of the parallel emitting channels in the second sub-measurement and/or the first sub-measurement of subsequent rounds is adjusted accordingly.
  • the detection method further includes: controlling the laser of each channel to emit a single laser pulse or a multi-pulse sequence in the first sub-measurement and/or the second sub-measurement.
  • the laser of the parallel emitting channel is adjusted accordingly in the second sub-measurement and/or the first sub-measurement of the subsequent round.
  • the relative lighting timing includes:
  • the pulse start emission time of the laser of the channel with overlapping echo time is adjusted so that the multiple channels with overlapping echo time are in the first sub-measurement.
  • the pulse start emission times in the second sub-test and/or the first sub-test of the subsequent preset round are different.
  • the pulse start emission time of the laser of the channel with overlapping echo times is adjusted so that the echo times overlap
  • the pulse start emission times of the channels in the first sub-test of the subsequent preset rounds are different, including:
  • the pulse start emission time of the laser of the channel with overlapping echo times is adjusted so that the multiple echo times overlap.
  • the pulse start emission time in the next detection corresponding to the next horizontal angle of the channel is different.
  • the detection method further includes: controlling all channels to sequentially execute the first sub-test according to a preset grouping sequence, and then grouping the second sub-test.
  • the detection method further includes: controlling the channels of a preset group to sequentially and continuously execute the first sub-test and the second sub-test according to a preset grouping sequence.
  • the detection method further includes: obtaining the detection result of the single detection based on the echo signals of the first sub-measurement and/or the second sub-measurement.
  • lidar including:
  • a light emitting module including multiple lasers
  • the light detection module includes a plurality of detectors, which are respectively arranged corresponding to the plurality of lasers to form a plurality of channels.
  • the plurality of detectors are suitable for collecting the echoes after the lasers of the corresponding channels emit light and illuminate the object;
  • the data processing device is suitable for performing detection in a single detection round for all channels in groups according to a preset detection sequence, wherein each group of channels is detected in parallel, and a single detection of each channel includes the first sub-measurement sum.
  • the second sub-test wherein for multiple channels of parallel detection: in the first sub-test, the laser is controlled to emit light with the first light intensity, and the first detection data is obtained through its corresponding detector detection, wherein, The first light intensity is suitable for its corresponding detector to receive the echo of a high-reflectivity object whose reflectivity is greater than the preset first reflectivity threshold; in the second sub-measurement, according to the first detection data , adjust the lighting strategy of the lasers of the plurality of channels, and obtain the second detection data through its corresponding detector detection; and, based on the first detection data and/or the second detection data, obtain the multiple detection data
  • the detection results of a single detection of channels in the first sub-test, the laser is controlled to emit light with the first light intensity, and the first detection data is obtained
  • the data processing device in the second sub-measurement, is adapted to determine, based on the first detection data, whether there is a reflectivity greater than the first reflectivity threshold within the detection range of the plurality of channels.
  • High reflectivity objects and, for channels where there are no high reflectivity objects within the detection range, control the corresponding laser to emit light with a second light intensity, wherein the second light intensity is greater than the first light intensity; for There is a channel of high reflectivity objects within the detection range, and the light intensity of the corresponding laser is controlled to be less than the first light intensity.
  • the embodiment of this specification also provides another lidar, and the lidar includes:
  • Multiple lasers and multiple detectors form multiple channels, wherein: the lasers emit optical signals, the detectors receive echo signals reflected by obstacles, and the lasers and detectors located in the same channel have at least partial field of view overlap. ;
  • the controller is adapted to control all channels and perform detection in groups, including: controlling the lasers of each group to emit light in parallel, and for a single detection of each channel, including: a first sub-test and a second sub-test; according to the third According to the echo signal of a sub-test, the lighting strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent round is adjusted accordingly.
  • embodiments of this specification also provide a computer-readable storage medium on which computer instructions are stored, and when the computer instructions are run, the steps of the method described in any of the foregoing embodiments are executed.
  • detection is performed in groups according to the preset detection timing, each group of channels is detected in parallel, and a single detection of each channel includes two The detection stage, that is, the first sub-test and the second sub-test, wherein for multiple channels of parallel detection, in the first sub-test, the corresponding laser is controlled to emit light with the first light intensity. Since the first light intensity is suitable for This allows the corresponding detector to only receive echoes from high-reflectivity objects whose reflectivity is greater than the preset first reflectivity threshold, so that the first sub-measurement can identify that the reflectivity within the detection range is greater than the first reflectivity threshold.
  • the lighting strategy of the lasers of the multiple channels is adjusted, and the second detection data is obtained through detector detection, and finally based on the third detection data
  • the first detection data and/or the second detection data are used to obtain the detection results of the single detection of the multiple channels. From the above detection process, it can be seen that high reflectivity objects can be identified through the first sub-detection, and then the objects with high reflectivity can be identified in the second sub-detection.
  • the sub-test adjusts the lighting strategy of the lasers of the multiple parallel-emitting channels to reduce the impact of the echo of the high-reflectivity object on the multiple channels of parallel detection, thereby reducing the number of parallel detection caused by the high-reflectivity object. solve the crosstalk problem of each channel and improve the detection quality.
  • the second sub-measurement based on the first detection data, it can be determined whether there is a high reflectivity object with a reflectivity greater than the first reflectivity threshold within the detection range of the multiple channels, and further, a
  • the corresponding laser is controlled to emit light with a second light intensity, and the second light intensity is greater than the first light intensity.
  • the light intensity of its corresponding laser is further controlled to be smaller than the second light intensity.
  • the corresponding laser is controlled to emit light with a second light intensity greater than the first light intensity.
  • Objects within the detection range can be detected normally, and for channels with high reflectivity objects within the detection range, the light intensity of the corresponding laser is controlled to be less than the second light intensity, so that objects within the detection range can be detected.
  • the interference to other channels is reduced and the overall detection quality is improved.
  • controlling the corresponding laser not to emit light or controlling the light intensity of the corresponding laser to a third light intensity smaller than the second light intensity can suppress high reflectivity.
  • the echo of the object interferes with each channel of parallel detection to avoid crosstalk between channels.
  • the first light intensity of the first sub-detection is suitable for the detector to only receive echoes from high-reflectivity objects within the detection range whose reflectivity is greater than the preset first reflectivity threshold, the visual field of any channel In the field, if there is a conventional diffuse reflection object, its echo signal may also be received by the detector, especially if the diffuse reflection object is relatively close.
  • the first sub-object is The echo signal of the second sub-measurement is superposed with the echo signal of the second sub-measurement as the detection data of each corresponding channel, and then based on the detection data of each corresponding channel, the detection result of a single detection of each corresponding channel is obtained. This detection Through this process, it can detect not only high-reflectivity objects within the detection range, but also conventional diffuse-reflection objects within the detection range (including relatively close places), thereby improving the detection capability.
  • the single laser pulse or multi-pulse sequence emitted by the lasers of different channels in the plurality of channels has different encoding information
  • inter-channel crosstalk and interference from other radars can be further reduced, and the detection quality can be further improved.
  • by adjusting the coding information of each channel working in parallel in the current detection round based on the detection results of each channel working in parallel in the previous detection round it is possible to adjust the coding information of each channel working in parallel to avoid conflicts among the channels working in parallel. crosstalk occurs between them, further improving detection quality.
  • the pulse start emission time of the laser is adjusted so that the multiple channels with overlapping echo times have different pulse start emission times in the current detection round, so that the echo times of these channels no longer overlap, that is, by The detection data of the first sub-measurement of the previous horizontal azimuth angle is used to adjust the encoding information of the current detection round, thereby avoiding crosstalk between channels.
  • the lasers of one or more groups of channels are controlled to emit light sequentially according to the first sub-test and the second sub-test grouping, so that the same channel can be reduced in the first sub-test and
  • the two detections of the second sub-measurement correspond to the angular deviation of the field of view, which can further improve the detection accuracy.
  • lidar and the detection method in the embodiments of this specification when using lidar for detection, detection is performed in groups for all channels, where a single detection of each channel includes the first sub-test and the second sub-test. sub-test, and, according to the echo signal of the first sub-test, the lighting strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of subsequent rounds can be adjusted accordingly.
  • the echo signals of the first sub-detection of each channel emitting light in parallel can reflect the characteristics of obstacles within the detection range of the corresponding channel and the possible crosstalk between parallel channels.
  • the multiple parallel-emitting channels are in The crosstalk between echo signals during the second sub-test or/the first sub-test of subsequent rounds can be reduced, thereby more accurately reflecting the characteristics of obstacles within the detection range of the corresponding channel, and thus overall reducing Crosstalk between parallel emitting channels improves detection quality.
  • the laser of the parallel emitting channel is adjusted accordingly in the third sub-measurement.
  • the emitted light intensity in the second sub-test and/or the first sub-test of the subsequent round is such that the emitted light intensity of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent round changes, thereby reducing crosstalk between parallel emitting channels and improving detection quality.
  • the emitted light intensity of the laser of the parallel emitting channel in the first sub-measurement is controlled to be a first light intensity, and the first light intensity enables the detector to only detect high-frequency components whose intensity is greater than the preset first threshold.
  • the echo signal of the reflectivity object can be used to identify the high reflectivity object within the detection range based on the intensity of the echo signal received by the detector in the first sub-measurement, and then provide the laser for the subsequent parallel emitting channel with the Provide an accurate basis for adjustments to the luminescence strategy in the second subtest and/or the first subtest in subsequent rounds.
  • the corresponding laser is controlled to use a signal greater than the required intensity in the second sub-test and/or the first sub-test of subsequent rounds.
  • the laser is controlled to operate in the second sub-second It does not emit light during the test, or its laser is controlled to use the fourth light intensity to emit light in the second sub-test and/or subsequent rounds, because the fourth light intensity is smaller than the second light intensity and greater than the first light intensity. Strong, it can suppress the interference of the echoes of high reflectivity objects on each channel working in parallel, avoid crosstalk between channels, and improve the overall detection quality.
  • the laser of the parallel emitting channel is adjusted in the second sub-measurement and/or the subsequent round. Relative emission timing in one sub-test, thereby achieving a hash distribution of the emission timing of the lasers of the parallel emitting channels in the second sub-test and/or the first sub-test in subsequent rounds, so that interference can be avoided
  • the channel affects other channels that emit light in parallel, so the detection accuracy can be further improved.
  • the echo time overlapped The pulse start emission time of the laser of the channel is adjusted so that the multiple channels with overlapping echo times have the pulse start emission time in the second sub-test and/or the first sub-test of the subsequent preset round. Different, so that the echo times of these channels no longer overlap, that is, through the detection data of the first sub-test, the coding information of the second sub-test and/or the first sub-test of subsequent preset rounds is adjusted, This can avoid crosstalk between channels and improve the overall detection quality.
  • the first sub-measurement and the second sub-measurement, and the laser of the parallel emitting channel in the second sub-measurement can be adjusted accordingly based on the echo signal of the first sub-measurement.
  • the lighting strategy can further reduce the crosstalk between parallel lighting channels. Then, the detection result of a single detection based on the echo signals of the first sub-measurement and the second sub-measurement will be more accurate.
  • Figure 1 shows a top view of the internal structure and basic optical path of a lidar
  • Figure 2 shows a schematic plan view of a light emitting module
  • Figure 3 shows a flow chart of a laser radar detection method in the embodiment of this specification
  • Figure 4 shows a schematic diagram of the detection principle of lidar in a specific application scenario in the embodiment of this specification
  • Figure 5 shows a schematic diagram of a detection timing control method in an embodiment of the present invention
  • Figure 6 shows a schematic diagram of the principle of adjusting the pulse starting transmission time of multiple channels in an embodiment of this specification
  • Figure 7 shows another schematic diagram of the principle of adjusting the pulse starting transmission time of multiple channels in the embodiment of this specification
  • Figure 8 shows a schematic structural diagram of a lidar control system in an embodiment of this specification
  • Figure 9 shows a schematic diagram of the frame structure of a lidar in the embodiment of this specification.
  • Figure 10a shows a schematic plan view of a light emitting device
  • Figure 10b shows a scanning field of view diagram of a lidar
  • Figure 11 shows a schematic diagram of a specific scenario of crosstalk between laser radar channels
  • Figure 12 shows a schematic diagram of the luminescence detection process of the corresponding channel of the lidar in a specific application scenario in the embodiment of this specification;
  • Figure 13 shows a schematic diagram of the luminescence detection process of the corresponding channel of the lidar in another specific application scenario of the embodiment of this specification;
  • Figure 14 shows a schematic diagram of the principle of adjusting the pulse starting transmission time of multiple channels in an embodiment of this specification
  • Figure 15 shows another schematic diagram of adjusting the pulse starting transmission time of multiple channels in the embodiment of this specification
  • Figure 16 shows a schematic structural diagram of a lidar in an embodiment of this specification
  • Figure 17 shows a schematic diagram of the detection principle of lidar in a specific application scenario in the embodiment of this specification
  • Figure 18 shows a schematic diagram of the detection principle of lidar in another specific application scenario in the embodiment of this specification.
  • Figure 19a shows a schematic diagram of the frame structure of a lidar in the embodiment of this specification
  • Figure 19b shows a schematic diagram of the internal layout structure of a lidar in the embodiment of this specification.
  • lidar In order to enable those skilled in the art to better understand the problems existing in the prior art, the detection principle of lidar is briefly introduced below based on the specific structure of a lidar.
  • the echo signal is very strong, and other channels working in parallel may receive Serious interference signals (echoes from non-channels) make it impossible to effectively decode.
  • the interference signals may be misjudged as echoes from this channel, and false objects may be detected at positions or angles where no objects originally existed, resulting in "ghosts". film”.
  • the detection beam emitted by the light emitting device 11 is shaped by the first lens (assembly) 12 and then reflected by the reflector 13
  • the light beam reflected by the rotating mirror 14 is transmitted to the external environment through the light mask 15.
  • the light beam transmitted to the outside encounters an obstacle, light reflection will occur, and part of the reflected light beam will pass through the light mask.
  • 15 is transmitted to the rotating mirror 14.
  • the light beam reflected by the rotating mirror 14 passes through the gap beside the reflecting mirror 13 and is converged by the second lens (assembly) 16 before being detected by the photodetector 17.
  • the receiving and receiving light paths are separated by the reflecting mirror 13 .
  • the reflector 13 can be configured in different styles, and the relative positions of the light-emitting device 11 and the light-detecting device 17 can be adjusted.
  • the reflecting mirror 13 may include annular reflecting surfaces. The detection beam passes through the gap between the annular reflecting surfaces and is illuminated on the rotating mirror 14. After being reflected by the rotating mirror 14, it is transmitted to the external environment through the mask 15. The reflected beam is After reflection by the rotating mirror 14 , it is reflected by the annular reflecting surface of the reflecting mirror 13 to the second lens (component) 16 , and then is focused onto the photodetector device 17 .
  • the light-emitting devices and the light-detecting devices are usually arranged correspondingly and adopt similar layout structures.
  • the following shows a planar structural layout of a light-emitting device.
  • the same layout can be used for the photodetection device at the corresponding position in the laser radar.
  • the light-emitting device 11 includes: a light-emitting circuit board PB0 and a plurality of light-emitting line arrays Bk1 disposed on the light-emitting circuit board PB0. ⁇ Bk4, wherein each light-emitting line array includes multiple light-emitting units.
  • each light-emitting line array includes 8 lasers.
  • the photodetection device may include a photodetection array of multiple photodetection units (eg, detectors).
  • the "line" of multi-line lidar is the scanning line beam.
  • the number of scanning line beams referred to as the number of scanning lines, is the number of laser transceiver channels, or the number of minimum addressable channels.
  • the laser and the detector are configured in a 1:1 configuration.
  • the detection light emitted by a laser is reflected by an obstacle and the echo is received by a detector of the lidar, and a data point corresponding to the obstacle is obtained, that is, a line of data; this
  • the number of scanning line beams is equal to the number of lasers or detectors, and also equal to the number of transmitting channels or receiving channels.
  • the number of scan lines can be determined by distinguishing the number of minimum addressable and passable channels.
  • Figure 1 illustrates a hybrid solid-state lidar, which achieves scanning of a certain vertical field of view by arranging light-emitting devices and light-detecting devices in the vertical direction.
  • the rotating mirror rotates around the vertical axis to deflect the detection beam to different directions in the horizontal direction. , thereby achieving scanning of a certain range of horizontal fields of view.
  • the rotating mirror can also be a scanning mirror such as a galvanometer or a swing mirror.
  • the lidar is a mechanical rotating lidar.
  • the light emitting device and the light detecting device are arranged on the rotor and rotate with the rotor to achieve 360° scanning in the horizontal direction.
  • the lidar is a solid-state lidar, that is, the lidar does not contain any mechanical rotating parts, and the light-emitting devices and the light-detecting devices are arranged in a two-dimensional manner. Interval setting can achieve two-dimensional scanning at a certain horizontal and vertical angle.
  • multiple channels for parallel detection usually select channels that are far apart.
  • the light-emitting line columns Bk1 ⁇ At the transmitting end, for the light-emitting device 11, the light-emitting line columns Bk1 ⁇
  • the first longitudinal laser in Bk4 emits light in parallel, and by using different pulse codes for the multiple channels that emit light in parallel, the echo signal is decoded to determine whether it is the echo of this channel.
  • the echo signal is very strong, and other channels working in parallel will receive serious interference signals. , making it unable to effectively decode, and the interference signal may be misjudged as the echo of this channel, and false objects may be detected at positions or directions where no objects originally existed, resulting in "ghosts".
  • a lidar and its detection solution in which a single detection round includes at least two detection stages, namely a first sub-test and a second sub-test, wherein in the In one sub-detection, the lasers of multiple channels of parallel detection are controlled to emit light with the first light intensity, so that the corresponding detector can identify the echo from the high reflectivity object within the detection range, obtain the first detection data, and then The second sub-measurement is to adjust the lighting strategies of the lasers of the multiple channels according to the first detection data of the first sub-measurement and obtain the second detection data. After that, it can be based on the first detection data and/or The second detection data obtains the detection results of a single detection of the multiple channels.
  • all channels of the lidar complete the emission of detection light and reception of echoes, that is, all channels of the lidar complete one obstacle detection, and each channel obtains one data point.
  • the detection light emitted by lidar continues to attenuate as the propagation distance increases. After being reflected by the obstacle surface, part of the reflected light can be received again by lidar to form an echo. Therefore, the closer the obstacle is to the lidar and the higher the reflectivity of the obstacle surface is, the higher the intensity of the echo that the lidar can receive.
  • the first light intensity can be determined based on the maximum detection distance of the laser radar and the reflectivity of the high-reflectivity object, so that the detector can only receive high reflections that exist within the orientation corresponding to its channel and the maximum detection distance.
  • high-frequency echoes can be identified in the above three types of echoes. Reflection echo from a reflectivity object.
  • two scans are performed within a single detection round, that is, the azimuth angle where there is a high reflectivity object can be identified through the first sub-detection, and then the azimuth angle where the object with high reflectivity exists can be identified in the second sub-detection.
  • lidar can include multiple lasers and multiple detectors to form multiple channels.
  • detection can be performed in groups according to a preset detection sequence, where, Each group of channels is detected in parallel, and a single detection of each channel can include two detection stages: the first sub-test and the second sub-test.
  • single detection refers to the detection process of obtaining the distance or obstacle information of obstacles in the detection direction set by the channel.
  • Group order is the concept of grouping the channels to be detected in the current orientation
  • round is the detection of the channels to be detected in the next orientation after all the channels to be detected in the current orientation are detected.
  • the first light intensity is suitable so that its corresponding detector can only receive echoes from high-reflectivity objects within the detection range whose reflectivity is greater than a preset first reflectivity threshold.
  • lidar In the practical application of lidar, most obstacles are Lambertian bodies or approximately Lambertian bodies, that is, the incident energy is centered on the incident point and reflects energy isotropically around the entire hemispheric space, which is also called diffuse reflection.
  • the maximum detection distance of the lidar is determined based on the reflectivity of the Lambertian body. For example, the echo reflected by the Lambertian body at the farthest detection distance with a reflectivity of 10% can be received and responded to by the detector to obtain distance information, and Objects that are farther away or have lower reflectivity may not be detected by the detector due to reduced echo intensity.
  • high-reflectivity objects such as road signs commonly used in autonomous driving scenarios have angular reflector surfaces.
  • the equivalent reflectivity calculated based on Lambertian bodies exceeds 10000%. We must pay attention to the high azimuth angles of some channels. Crosstalk problems caused by high-intensity echoes generated by reflective objects on other channels.
  • the first reflectivity threshold is determined based on the crosstalk level of the lidar.
  • the first reflectivity threshold can be slightly higher than the reflectivity corresponding to the crosstalk echo, so that the first light intensity is suitable so that its corresponding detector can only receive the light of high reflectivity objects within the detection range. echo, and no crosstalk echo is received.
  • the first detection threshold is a Lambertian equivalent reflectivity of 50%.
  • the lasers of the plurality of channels can be controlled to emit a single laser pulse or a multi-pulse sequence.
  • the probing of each channel includes the first sub-test and the second sub-test respectively.
  • a sequential channel completes the first sub-test and the second sub-test, it proceeds to the next sequence
  • the first sub-test and the second sub-test of the channel in other optional examples, after the multiple timing channels complete the first sub-test in sequence, the second sub-test of the multiple timing channels is sequentially performed.
  • the second sub-measurement based on the first detection data, it can be determined whether there is a high reflectivity object with a reflectivity greater than the first reflectivity threshold within the detection range of the multiple channels; For channels where there are no high-reflectivity objects within the detection range, the corresponding laser can be controlled to emit light with a second light intensity, where the second light intensity is greater than the first light intensity; for channels with high reflectivity within the detection range rate the channel of the object, and control the light intensity of its corresponding laser to be less than the second light intensity.
  • the laser corresponding to each channel in the second sub-measurement, can be controlled to emit light with a second light intensity that meets the radar's normal ranging capability.
  • the radar's predetermined maximum detection distance is 150m
  • the second light intensity can be set so that the detector can receive the echo signal from an object with a reflectivity of 10% at 150m.
  • the corresponding laser in the second sub-test, for the channel that emits light according to the adjusted light-emitting strategy, its corresponding laser can be controlled to emit a single laser pulse or a multi-pulse sequence.
  • the corresponding laser can be controlled to emit a single laser pulse or a multi-pulse sequence.
  • the detector can obtain detection data through data sampling for the detected echo signal.
  • the first detection data may include at least one characteristic value such as pulse peak intensity of the echo, pulse leading edge slope, pulse trailing edge slope, pulse threshold pulse width, pulse coverage area, etc.
  • a first detection threshold is set, and based on whether the characteristic value of the first detection data exceeds the first detection threshold, it is determined whether there is a high reflectivity object within the detection range.
  • the first detection threshold is characterized by at least one of pulse peak intensity, pulse leading edge slope, pulse trailing edge slope, pulse threshold pulse width, pulse coverage area, and the like.
  • the pulse peak intensity in the first detection data can be collected as a characteristic value, the first detection threshold is the peak threshold, and then the intensity in the first detection data is determined. Whether the pulse peak intensity exceeds a preset peak threshold is used to determine whether there is a high reflectivity object within the detection range of the multiple channels with a reflectivity greater than the preset first reflectivity threshold.
  • the same peak threshold can be set for each channel; if the maximum detection distances of multiple channels are different, the peak thresholds of multiple channels can be different.
  • its peak threshold is smaller than the peak threshold of a channel with a longer maximum detection distance.
  • the peak threshold of a channel with a maximum detection distance of 50m can be a maximum detection distance of 100m. 1/2 of the channel peak threshold.
  • One is to control the corresponding laser not to emit light for channels with high reflectivity objects within the detection range; the other is to control the light intensity of the corresponding laser for channels with high reflectivity objects within the detection range.
  • a third light intensity, the third light intensity is smaller than the second light intensity.
  • the above two solutions can be used separately or in combination.
  • the corresponding laser can be controlled not to emit light; while for another part of the detection range with high reflectivity objects, for the channel of a high reflectivity object, the light intensity of its corresponding laser can be controlled to be the third light intensity.
  • the corresponding laser is controlled not to emit light or the light intensity of the corresponding laser is controlled to a third light intensity that is less than the second light intensity, thereby suppressing the detection of high reflectivity objects.
  • the echo interferes with each channel working in parallel to avoid crosstalk between channels.
  • the laser can detect it using very weak light intensity. Therefore, in order to further reduce power consumption, the third light intensity can be set not to exceed the first Light intensity. In an optional example, the third light intensity is equal to the first light intensity.
  • the detection results of the single detection of the multiple channels can be obtained based only on the first detection data, or the detection results of the single detection of the multiple channels can be obtained based on only the second detection data. , or based on the first detection data and the second detection data, the detection results of a single detection of the multiple channels are obtained.
  • the specific solution adopted can be determined based on the specific situation of the first detection data and the lighting strategy of the multiple channels in the second sub-measurement.
  • different channels can also be used. different way. The following is an example description combined with some specific application scenarios.
  • the detection results within the detection range can be obtained based only on the second detection data, for example, directly adding the second detection data
  • the data is used as the detection result within the detection range in the detection round.
  • different processing methods can be used according to the lighting strategy of the laser in the second sub-measurement. Specifically, the following examples can be used:
  • step S12 the corresponding laser is controlled not to emit light for a channel with a high reflectivity object within the detection range
  • the laser can be controlled solely based on the The first detection data is to obtain the detection result of a single detection of the detection channel
  • step S12 for the channel with high reflectivity objects in the detection range, the light intensity of the corresponding laser is controlled to the third light intensity, then in step S13, for the channel with high reflectivity objects in the detection range, , the detection result of a single detection of the channel may be obtained based only on the second detection data, or based on the first detection data and the second detection data.
  • the echo signal of the first sub-detection can be directly It is superimposed with the echo signal of the second sub-measurement as the detection data of each corresponding channel, and based on the detection data of each corresponding channel, the detection result of a single detection of each corresponding channel is obtained. In this way, only the echo signal obtained by the first sub-measurement and the echo signal obtained by the second sub-measurement need to be sampled once after superimposition, which can simplify the system operation and processing process.
  • step S13 the above specific examples are not used to limit the specific implementation of step S13.
  • the following specific example methods can be expanded, transformed or optimized according to the specific circumstances, or other methods based on these two detections can be used.
  • the first detection data and the second detection data of the stage are used to obtain the detection results of the single detection of the multiple channels.
  • high reflectivity objects can be identified through the first sub-measurement, and then the lasers of the multiple channels can be adjusted in the second sub-measurement
  • the lighting strategy is used to reduce the impact of the echo of high reflectivity objects on multiple channels that are simultaneously detected, thereby reducing the crosstalk problem of multiple channels working in parallel caused by high reflectivity objects and improving detection quality.
  • the second sub-measurement based on the first detection data, it can be determined whether there is a high reflectivity object with a reflectivity greater than the first reflectivity threshold within the detection range of the multiple channels, and further, a On the one hand, for the channel where there is no high reflectivity object within the detection range, the corresponding laser is controlled to emit light with a second light intensity, and the second light intensity is greater than the first light intensity; on the other hand, for the detection range memory In the passage of the high reflectivity object, the light intensity of its corresponding laser is further controlled to be smaller than the first light intensity.
  • the first light intensity of the first sub-detector is suitable for its corresponding detector to receive the echo of a high-reflectivity object whose reflectivity is greater than the preset first reflectivity threshold, in the field of view of any channel
  • its echo signal may also be received by the detector, especially if the diffuse reflection object is relatively close.
  • the echo signal of the first sub-measurement and the above-mentioned The echo signals of the second sub-measurement are superimposed and used as the detection data of each corresponding channel. Based on the detection data of each corresponding channel, the detection result of a single detection of each corresponding channel is obtained.
  • This detection process can not only detect the detection range Highly reflective objects within the detection range can also be detected, and conventional diffuse reflection objects within the detection range (including relatively close distances) can be detected, thereby improving the detection capability.
  • the corresponding laser in the first sub-test and/or the second sub-test, for each channel of parallel detection, can be controlled to emit a single laser pulse or a multi-pulse sequence.
  • the single laser pulse or multi-pulse sequence emitted by the laser in multiple channels of parallel detection can be encoded, and the different channels can be encoded.
  • a laser emits a single laser pulse or a sequence of multiple pulses with different encoded information.
  • the specific types and possible dimensions of the encoded information are not limited.
  • the encoded information may include: number of pulses, pulse starting transmission time, time interval between multiple pulses, pulse intensity ratio, pulse One or more of the width ratios.
  • the lasers of these 32 channels can be controlled to patrol and emit light in sequence according to the preset detection timing, and the corresponding detectors can be used to detect the light within the detection range.
  • Objects are detected, one field of view, and one detection round includes two detection stages: the first sub-test Loop0 and the second sub-test Loop1.
  • parallel detection can be grouped.
  • 32 channels are divided into 4 groups, and the lasers of 8 channels are controlled to work in parallel each time.
  • the corresponding 8 detectors receive echo signals within the preset time window. After the time window ends, the other 8
  • the lasers of the channels work in parallel, corresponding to the other 8 detectors receiving echo signals...
  • the detection of the first sub-measurement Loop0 of each channel is completed in order, and the first detection data is obtained.
  • adjust the lighting strategy of the corresponding channel laser of the second sub-test Loop1 and perform detection of the second sub-test Loop1 on each channel group in sequence to obtain the second detection data.
  • the lasers of multiple channels of parallel detection can be controlled to use a first light intensity with a smaller light intensity to emit light, wherein the first light intensity is suitable for In order to enable the corresponding detector to only receive echoes from objects with high reflectivity whose reflectivity is greater than the preset first reflectivity threshold.
  • the first light intensity and the first response threshold of the corresponding detector can be set according to the expected distance measurement capability of the lidar, the echo energy of the high reflectivity object, and the degree of crosstalk between channels, so that The detector only needs to be able to receive echoes from objects with high reflectivity within the detection range.
  • the maximum detection distance of lidar is 100m and the Lambertian equivalent reflectivity of a high-reflectivity object is 50%.
  • the lowest light intensity that it can respond to is determined according to the parameters of the detector, that is, the first response threshold.
  • the detection light of the first light intensity emitted by the laser is attenuated by propagation at 200m and reflection attenuation on the surface of a high-reflectivity object, and the intensity of the echo light reaching the detector is not lower than the first response threshold.
  • the double pulses of the lasers of each channel pass through The inter-pulse time intervals are independently encoded.
  • channels 1-8 work in parallel. Each channel emits the first pulse in parallel, and emits its second pulse respectively according to the preset inter-pulse time interval.
  • the detectors of channels 1-8 are within the preset time window. Receive signals; after the end of the time window, channels 9-16 work in parallel, each channel sends out the first pulse in parallel, and sends out its second pulse respectively according to the preset inter-pulse time interval, channels 9-16
  • the detector receives signals within the preset time window; ... until channels 25-32, multiple channels working in parallel are grouped for emission and detection, so that the corresponding signals of channels 1-32 in the first sub-measurement Loop0 can be obtained First detection data.
  • the reflected echo of the high-reflectivity object can only reach the response threshold of the detector. Therefore, even the echo of the high-reflectivity object cannot will be too strong, so it can avoid causing serious distortion of the echoes of other channels working in parallel, so that each channel can identify effective signals through decoding.
  • the detection data of the first sub-test Loop0 adjust the lighting strategy of the corresponding channel in the second sub-test Loop1.
  • a similar timing sequence is used to sequentially perform the second sub-detection light emission on multiple channels working in parallel, and the corresponding echo signal is detected through the detector to obtain the second detection data.
  • the laser corresponding to each channel in the second sub-measurement Loop1, can be controlled to emit light with a second light intensity that meets the normal ranging capability of the radar.
  • the predetermined measuring distance of the radar is 150m
  • the second light intensity can be set so that the detector can receive the echo signal from an object with a reflectivity of 10% at 150m.
  • the detector detects a high reflectivity object in the azimuth angle of channel 2, then in the second sub-measurement Loop1, Channel 2 does not emit any pulses (shown as blank in Figure 4), which can avoid the strong light signal emitted by the laser of this channel being reflected by high reflectivity objects and causing signal crosstalk in other channels working in parallel.
  • control its corresponding light intensity to be the third light intensity, and the third light intensity is smaller than the second light intensity.
  • first control the lasers 1-7 in the parallel working channels 1-8 to use the second light intensity to emit light (a single thick solid line arrow in Figure 4 indicates that the laser emits a single laser pulse, and Its light intensity is greater than the first light intensity), and the laser of channel 8 is controlled to work with the third light intensity (the dotted arrow in Figure 4 indicates that its light intensity is lower than the first light intensity); and then the channels 9-16 that work in parallel are controlled.
  • the lasers of channel 9 and channels 11-16 in the laser emit light with the second light intensity (a single thick solid line arrow in Figure 4 indicates that the laser emits a single laser pulse, and its light intensity is greater than the first light intensity), and control
  • the laser of channel 10 operates with the third light intensity (the dotted arrow in Figure 4 indicates that its light intensity is lower than the first light intensity).
  • the above two schemes for adjusting the second sub-test luminescence strategy are combined with the same picture to illustrate.
  • the two schemes can also be implemented in combination. For example, if in the first sub-test Loop0, based on the first sub-test Loop0 According to the detection data, it is determined that there are high reflectivity objects in channel 2, channel 8 and channel 10.
  • the laser of channel 2 does not emit light
  • the laser of channel 8 is controlled to emit light at the third light intensity
  • channel 1 and channel 3-7 use the second light intensity to emit light
  • control The lasers of channel 9 and channels 11-16 emit light with the second light intensity
  • the laser of control channel 10 operates with the third light intensity.
  • a single detection round includes the detection process of the above two detection stages.
  • the second sub-detection Loop1 there may be channels with high reflectivity objects in the field of view (ie, detection range) that do not emit light or that emit light intensity (corresponding to the emitted light). power) is reduced, then the echo signal received by the normally detected channel in the second sub-measurement Loop1 will not be particularly strong, so the crosstalk will be small.
  • Single pulse detection can be used (that is, the laser of the corresponding channel emits a single laser pulse), which reduces System power consumption.
  • controlling how the lasers of multiple channels emit light according to the preset light-emitting timing can also be implemented in different ways.
  • One is to control the lasers of all channels to emit light in sequence according to the first sub-measurement and the second sub-measurement of all channels in one detection round, that is, after completing the detection of the first sub-measurement of all channels , and then control all channels to complete the detection of the second sub-test according to the preset detection timing.
  • all channels can be controlled to detect in parallel in the first sub-test, and then all channels can be controlled to detect in parallel in the second sub-test.
  • all channels of the lidar can be divided into multiple groups of channels according to the detection timing. Each group of channels includes multiple channels of parallel detection. Then the lasers of all channels can be controlled to emit light in the first sub-measurement group in sequence, and then all the channels can be controlled. The lasers of the channels emit light in sequence in the second sub-test group, as shown in the application scenario in Figure 4.
  • the detection of the second sub-test is started.
  • the first sub-test may last for a long time.
  • the The first sub-detection has turned a certain angle, so there is an angular deviation in the fields of view of the two detections. It is possible that the high-reflectivity object detected by the first sub-detection has deviated from the field of view during the second sub-detection of the same channel. , thus causing feedback bias.
  • the lasers of all channels can be controlled to emit light sequentially according to the first sub-test and the second sub-test group. More specifically, in a single detection round, the lasers of one or more groups of channels can be controlled to emit light sequentially according to the first sub-measurement and the second sub-measurement grouping. That is to say, in one detection round, after one or more groups of channels complete the first sub-test and second sub-test of themselves, the first sub-test and the second sub-test of the next group or groups of channels can then be completed. Two sub-tests until the first and second sub-tests of all channels are completed.
  • the following is introduced with reference to the schematic diagram of the detection timing control method shown in Figure 5.
  • the 24 channels are divided into three groups, and one group has 8 channels. It can work in parallel.
  • the detection of channels 1-8 in the first sub-test and the second sub-test will be completed first, and then the first sub-test and second sub-test of channels 9-16 will be completed.
  • the detection of channels 17-24 in the first sub-test and the second sub-test is finally performed.
  • the first sub-test and the second sub-test of different groups/groups are interleaved, which can reduce the angle deviation detected by the same channel in the two detection stages, thereby improving the first sub-test.
  • the accuracy of the first detection data obtained by the sub-test detection is used as feedback data to adjust the second sub-test detection.
  • the laser corresponding to each channel can be controlled to emit multiple pulses. sequence (such as double pulse), and set different encoding information for the multi-pulse sequence of the multi-channel laser for parallel detection.
  • the encoding information may include: pulse number, pulse starting emission time, time interval between multiple pulses, pulse At least one of intensity ratio and pulse width ratio.
  • a different starting transmission time can be set for each channel.
  • the interval between the emission moments of the lasers in each channel differs by a fixed value or a preset ratio, or a random time jitter value ⁇ is applied to each channel based on the predetermined pulse starting emission time t0, and t0 is + ⁇ is used as the actual starting time of the laser emission pulse of each channel.
  • the coding information in the current detection round can be adjusted based on the detection results of the multiple channels of parallel detection in the previous detection round.
  • An optional example is given below to explain how to adjust.
  • the lasers of multiple channels in each sequence emit light in parallel (work in parallel), and the pulse start emission time is the same, then the next Sequence will The lasers of multiple channels detected in parallel also start to emit light at the same predetermined time and have the same pulse starting emission time.
  • the Time of Flight (ToF) values and/or positions corresponding to the interference points of these multiple channels have a high correlation and may be misjudged as valid. data point.
  • the following expansion scheme can be adopted.
  • the laser of each channel can be set to a different starting emission time.
  • the intervals between the emission moments of the lasers of each channel differ by a fixed value, or are in a preset ratio.
  • a random time jitter value ⁇ is applied to each channel based on the predetermined pulse start emission time t0, and t0+ ⁇ is used as the actual start time of the laser emission pulse of each channel.
  • the predetermined pulse start emission time of multiple channels A ⁇ H working in parallel is t0, and the random time jitter value corresponding to each channel corresponds to The order is ⁇ A ⁇ ⁇ H . Since the time jitter values of different channels are random and can be considered to be different, the pulse start emission times corresponding to the laser emission of multiple channels working in parallel are different, and the interference signal does not have this randomness, so even if Noise is generated in multiple channels, and the ToF values of the noise are also very different, and there is no correlation.
  • the point cloud noise filtering method shown in the previous embodiment can be combined with the point cloud noise filtering method to determine it as an orphan point and filter it out.
  • each detection round T contains two detection stages, the pulse starting emission time corresponding to each channel changes in the first sub-test and the second sub-test, and becomes: t0+ ⁇ A ⁇ t0+ ⁇ H .
  • the pulse start emission time of the laser of the channel with overlapping echo times is adjusted so that the echo time
  • Multiple overlapping channels have different pulse start emission times in the first sub-measurement in the current detection round.
  • FIG. 7 for another schematic diagram of adjusting the pulse starting transmission time of multiple channels.
  • the solid arrow represents the detection signal S0 emitted by the laser, and the dotted arrow represents the echo signal R0.
  • Figure 7 shows that when the horizontal azimuth angle is 0° (the first sub-measurement of the previous horizontal azimuth angle), The time of the echo signals of channel A and channel B overlaps, and the starting time of the two is the same, and echo interference occurs. In this case, the first sub-measurement in the next current detection round can be performed, for example, the corresponding level The azimuth angle is 0.2°. Adjust the pulse start emission time of the lasers of channel A and channel B.
  • ⁇ B For example, add a random disturbance value ⁇ B to the pulse start emission time of the laser of channel B to make it consistent with the laser of channel A.
  • the initial emission time of the pulses is staggered.
  • the time of the echo signals of the two is also separated, thus avoiding mutual interference between different channels.
  • the feedback and adjustment based on the angles are not limited to the first sub-measurement of different detection rounds.
  • the feedback can be based on the previous horizontal azimuth angle of each channel (corresponding to the previous detection round)
  • the relationship between the echo signals of the first sub-measurement and/or the second sub-measurement, and the pulse start of the laser of the first sub-measurement and/or the second sub-measurement of the current azimuth angle of each channel (corresponding to the current detection round) Adjust the launch time, etc.
  • a random number generator in order to generate the random jitter value as needed during the detection process, can be built into the lidar.
  • the lidar 80 includes: a controller 81, a random number generator 82, and a driver 83, a laser 84 and a detector 85 corresponding to each channel. Its working principle is introduced in detail below in conjunction with Figure 8:
  • the controller 81 when determining based on the detection results in the previous detection round that the characteristics (such as the corresponding ToF values and/or positions) of the interference points of the multiple channels detected in parallel have a relatively high correlation, may Control the random number generator 82 to start working, and generate random disturbance values of corresponding channels for multiple channels working in parallel, and output them to the driver 83 and feed back to the controller 81;
  • the driver 83 corresponding to each channel is superimposed based on the predetermined pulse starting time and the random disturbance value of the corresponding channel to obtain the actual starting time of the pulse corresponding to each channel, and drives the laser of the corresponding channel at the actual starting time of the corresponding pulse. 84 glow;
  • the detector 85 corresponding to each channel performs echo detection within the detection round, obtains the detection results, and transmits them to the controller 81;
  • controller 81 subtracts the corresponding pulse start transmission time from the echo signal reception time according to the detection results returned by the detectors of each channel, so as to obtain a relatively accurate ToF value.
  • the random number generator 82 may be implemented in hardware, or may be implemented through a software algorithm, such as a hash algorithm.
  • a software algorithm such as a hash algorithm.
  • the lidar LA0 includes: a light emission module TX, a light detection module RX and a data processing device C0, where:
  • Light transmitting module TX including multiple lasers
  • the light detection module RX includes a plurality of detectors, which are respectively arranged corresponding to the plurality of lasers to form a plurality of channels.
  • the plurality of detectors are suitable for collecting the echoes after the lasers of the corresponding channels emit light and illuminate the object O;
  • the data processing device C0 is adapted to perform detection in a single detection round for all channels in groups according to the preset detection timing sequence, wherein each group of channels is detected in parallel, and the single detection of each channel includes the first sub-detection test and the second sub-test, wherein, for multiple channels of parallel detection: in the first sub-test, the laser is controlled to emit light with the first light intensity, and the first detection data is obtained through its corresponding detector detection, where , the first light intensity is suitable so that its corresponding detector can receive the echo of a high-reflectivity object whose reflectivity is greater than the preset first reflectivity threshold; in the second sub-measurement, according to the first Detect data, adjust the lighting strategy of the lasers of the multiple channels, and obtain the second detection data through its corresponding detector detection; and, based on the first detection data and/or the second detection data, obtain the Describes the detection results of a single detection of multiple channels.
  • the data processing device in the second sub-measurement, is adapted to determine, based on the first detection data, whether there is a reflectivity within the detection range of the plurality of channels that is greater than the first reflectance. Threshold high reflectivity objects; and, for channels where there are no high reflectivity objects within the detection range, control the corresponding laser to emit light with a second light intensity, wherein the second light intensity is greater than the first light intensity; For a channel with a high reflectivity object within the detection range, the light intensity of the corresponding laser is controlled to be smaller than the first light intensity.
  • the data processing device may be a single chip microcomputer, a field programmable gate array (Field Programmable Gate Array, FPGA), a single-core or multi-core processor, or any other chip, device or equipment with data processing capabilities.
  • FPGA Field Programmable Gate Array
  • the specific hardware structure is not limited.
  • Figure 9 is only a schematic illustration of the relationship between the corresponding functional modules of the lidar, and is not used for the actual mechanical structure or position and layout relationship of the surface lidar.
  • the light emitting device 11 includes: a transmitting circuit board PB1 and a device disposed on the transmitting circuit board PB1.
  • a transmitting circuit board PB1 There are multiple light-emitting line arrays Bk1 to Bk16 on the circuit board PB1, where each light-emitting line array includes multiple light-emitting units.
  • each light-emitting line array includes 8 lasers.
  • the photodetection device may include a photodetection line array composed of a plurality of photodetection units (eg, detectors).
  • the laser of the radar emits light, and the emitted light is deflected by the emission lens (group). When it emerges from the radar, it is directed in different directions.
  • each channel is responsible for detection in a vertical angle (generally parallel to the radar's axis of rotation, while the horizontal angle is generally perpendicular to the radar's axis of rotation). All The channels constitute the vertical field of view of the radar.
  • Figure 10b shows n channels/harnesses, n can be 16, 32, 40 or 64 or 128 or other numbers, the vertical field of view (Field Of View, FOV) is (-16° ⁇ 7°), consisting of all Together they form the vertical detection angle of the laser.
  • the vertical direction angle of the uppermost laser is 7°, which is responsible for the distance detection in the 7° azimuth
  • the vertical direction angle of the lowermost laser is -16°, which is responsible for the distance detection in the -16° azimuth.
  • the number of scanning line beams is the number of laser transceiver channels, or the number of minimum addressable channels.
  • the number of scanning line beams is equal to the number of lasers or detectors, and also equal to the number of transmitting channels or receiving channels.
  • the number of minimum addressable and passable channels can be determined, Determine the number of scan lines.
  • the lidar includes lasers of multiple channels (for example, Channel1 ⁇ Channeln, where n is an integer greater than 1).
  • the lasers corresponding to Channel1 and Channel3 emit light in parallel, and the emitted detection beam is emitted into the external environment through the optical component 3C.
  • obstacle 3A is a high reflectivity object
  • the echo reflected by the beam emitted by the laser from Channel 3 is not only transmitted to the corresponding detector of Channel 3 through the optical component 32 (for ease of understanding, the echo emitted by Channel 3 is
  • the detection beam and the echo of the beam reflected by obstacle 3A are drawn on the same optical path.
  • the two optical paths may not be consistent), and may also be transmitted to other channels that emit light in parallel, such as the detector in Channel 1, obstacles
  • the light beam reflected by object 3A is transmitted to the detector in Channel 1 through the optical component 32, so that the detector of Channel 31 detects the false object 3B at a position or angle where there is no original object, thereby constructing a point cloud that does not reflect the real obstacle information. , commonly known as "ghost shadow".
  • embodiments of this specification provide corresponding laser radar and its detection scheme.
  • laser radar When laser radar is used for detection, for all channels to be detected, the groups are rotated in turn. Probing is performed until all channels that need to be probed are completed before proceeding to the next round of probing. All channels of the same group of detections emit light in parallel, where a single detection of each channel includes two detection actions, respectively called the first sub-test and the second sub-test, and according to the return of the first sub-test According to the wave signal, the lighting strategy of the laser of the parallel emitting channel in its second sub-measurement can be adjusted accordingly, or the lighting strategy in the first sub-measurement of the channel for detection in subsequent rounds can be adjusted accordingly.
  • the laser of the parallel-emitting channel is adjusted correspondingly to the illumination strategy in the second sub-test and/or the first sub-test of the subsequent round, and the multiple channels of parallel emitting light are emitted in the second sub-test.
  • the crosstalk between the echo signals during the second sub-test or/or the first sub-test of the subsequent round can be reduced, thus overall the crosstalk between parallel light-emitting channels can be reduced and the detection quality can be improved.
  • the direction parallel to the rotation axis can be set as the vertical direction, and the direction perpendicular to the rotation axis can be set as the horizontal direction.
  • Single detection refers to the detection process of obtaining the distance or obstacle information of obstacles in the detection direction set by the channel.
  • Group order is the concept of grouping the channels to be detected in the current orientation, and round is the detection of the channels to be detected in the next orientation after all the channels to be detected in the current orientation are detected. For example, at the current horizontal azimuth angle of 0°, 128 channels need to be detected. 8 channels are emitted in parallel as a group, and are divided into 16 groups.
  • the first group can control lasers 1, 3, 5, 7, and 9.
  • the second group controls lasers 2, 4... to emit light
  • the sixteenth group controls the remaining 8 lasers to emit light
  • the corresponding detector receives the echo to complete all channels in this direction.
  • start the next round of detection that is, detection at the next horizontal azimuth angle such as 0.2°. For example, if there are 32 channels to be tested, they can be divided into groups of four and emit light in parallel, divided into 8 groups.
  • the lidar may include multiple lasers and multiple detectors, and the lasers and detectors form corresponding channels.
  • one channel can be composed of one laser and one detector, or it can be composed of one laser and corresponding It can be composed of multiple detectors, or it can also be composed of one detector and corresponding multiple lasers.
  • the embodiments of this specification do not limit the specific structure of the lidar channel, as long as the channel can complete obstacle detection.
  • probing can be performed in groups for all channels.
  • the detection includes: a laser emitting a light signal, a detector receiving an echo signal reflected by an obstacle, and obtaining detection information of the obstacle, such as distance and reflectivity, based on the echo signal.
  • Each group of detection lasers can emit light in parallel. It should be noted that the "parallel emission” refers to multiple channels completing signal transmission and receiving echoes within a time window. The emission times of these channels can overlap with each other, but they do not necessarily need to emit or receive light at the same time. .
  • the laser In order to complete a detection of the distance between the obstacle and the radar, the laser can emit light at time t1 and return after encountering the preset obstacle at the farthest dmax that the radar can detect. The echo is detected at time t2.
  • the detector receives the time window ⁇ t ⁇ dmax/2C (C is the speed of light) ⁇ t2-t1.
  • the lasers in each group start to emit light at the same moment, or that all the lasers in each group are in the emitting state at a certain moment during the detection process, or during the same detection period, the lasers in each group will emit light at the same time.
  • the lasers emit light in sequence.
  • multiple channels working in parallel can choose channels that are relatively far apart.
  • the light-emitting line arrays Bk1 to Bk8 can be selected from the longitudinal direction. The first lasers to emit light in parallel.
  • lidar can obtain obstacle detection information according to the following detection methods:
  • the single detection may include a first sub-measurement and a second sub-measurement, wherein the laser of the parallel emitting channel may be adjusted accordingly according to the echo signal of the first sub-measurement.
  • the parallel light-emitting channels can be adjusted accordingly according to the intensity of the echo signal of the first sub-measurement.
  • the emission intensity of the laser in the second sub-test and/or the first sub-test of the subsequent round is such that the laser of the parallel emitting channel is in the second sub-test and/or the first sub-test of the subsequent round.
  • the emitted light intensity during measurement changes, thereby reducing crosstalk between parallel emitting channels and improving detection quality.
  • the inventor found that when there are high reflectivity objects within the detection range of the channel, it is easy to cause crosstalk problems in other channels that emit light in parallel.
  • the emitted light intensity of the laser of the parallel emitting channel in the first sub-measurement can be the first light intensity, and the first light intensity enables detection
  • the detector can only detect echo signals from highly reflective objects whose intensity is greater than the preset first threshold.
  • the echo signal strength can reflect the surface characteristics of the obstacle, such as reflectivity. Therefore, based on the intensity of the echo signal in the first sub-measurement, high reflectivity objects within the detection range of the detector can be identified.
  • the first light intensity emitted in the first sub-measurement is relatively small, it is not greater than the intensity that enables the detector to detect high reflectivity objects greater than the preset first threshold. Therefore, if the first sub-measurement The intensity of the medium echo signal is greater than a certain threshold (for example, the first threshold Thr1), which means that in the first sub-measurement, there is a high probability of high reflectivity objects within the detection range of the channel.
  • a certain threshold for example, the first threshold Thr1
  • each channel can perform two luminous ranging measurements, that is, the first sub-measurement and the second sub-measurement. Therefore, in practical applications, the signal strength of the echo signal in the first sub-measurement can be interval, roughly determine what kind of obstacles the channel encounters in the detected direction, and then control the lighting strategy of the laser of the parallel-emitting channel in the next second sub-test based on the obstacles, so as to carry out More accurate detection.
  • the embodiment of this specification also provides another solution, because after all the channels that need to be detected at the current orientation are detected, the next detection will be carried out at the next orientation. Therefore, the first detection of the subsequent rounds can also be performed. A different lighting strategy is used in the sub-test than that used in the current orientation.
  • the above two solutions can be used together, or you can choose one of them. Both solutions adjust the subsequent detection strategy accordingly based on the detection results that have been obtained, so as to carry out more targeted detection. .
  • the intensity interval in which the echo signal intensity of the first sub-measurement is located is determined based on the relationship between the intensity of the echo signal of the first sub-measurement and the first threshold and the second threshold, and then Different adjustment methods can be used to control the laser of the corresponding channel to emit light with corresponding light intensity in the second sub-test and/or the first sub-test of subsequent rounds.
  • the inventor further studied and found that when the intensity of the echo signal of the first sub-measurement is between the first threshold and the second threshold, it is difficult to determine whether crosstalk occurs between parallel light-emitting channels.
  • the laser is controlled to use the second light in the second sub-test and/or the first sub-test in subsequent rounds. Strong light emission, wherein the second light intensity is different from the first light intensity.
  • the second light intensity may be greater than or less than the first light intensity.
  • the second light intensity in order to avoid crosstalk to other channels due to the excessive intensity of the second light intensity, in some embodiments of this specification, may be slightly greater than the first light intensity. In other aspects of this specification, In some embodiments, the second light intensity may be slightly smaller than the first light intensity. In other words, the difference between the second light intensity and the first light intensity may be less than a preset light intensity threshold, where the preset light intensity threshold may be set according to actual application scenarios and specific parameters of the lidar.
  • the laser is controlled to use a light intensity different from that of the first in the second sub-measurement and/or the first sub-measurement of subsequent rounds.
  • the second light intensity can reduce the interference to other channels and improve the overall detection quality while ensuring the detection of high reflectivity objects within the detection range.
  • the first light intensity and the second light intensity, as well as the detected echo signal of the corresponding detector can be set according to the expected distance measurement capability of the lidar and the echo energy of the high reflectivity object.
  • the threshold value allows the detector to receive echoes from objects with high reflectivity within the detection range.
  • Three light intensities emit light, wherein the third light intensity is not less than the second light intensity.
  • control its laser not to emit light in the second sub-measurement, or control its laser to emit light in the second sub-measurement. and/or subsequent rounds use a fourth light intensity to emit light, the fourth light intensity being smaller than the second light intensity and greater than the first light intensity.
  • the above-mentioned multiple solutions can be used individually or in combination.
  • the laser can be controlled to operate in the first In the second sub-measurement, no light is emitted, or the fourth light intensity is used to emit light; and for channels with a high probability that there are no high-reflectivity objects within the detection range, the laser can be controlled to use the third light intensity to emit light in the second sub-measurement.
  • the corresponding laser is controlled to emit light with a third light intensity that is not less than the second light intensity, so as to Perform normal detection of possible obstacles in the detection direction; for channels with echo signals whose intensity is not less than the second threshold within the detection range, control the laser not to emit light in the second sub-measurement, or use the fourth light Strong light emission, the fourth light intensity is smaller than the second light intensity, can suppress the interference of echoes of high reflectivity objects on each channel working in parallel, avoid crosstalk between channels, and improve the overall detection quality.
  • the ranging of all channels can be grouped and executed in turn, and channels in the same group can be executed in parallel.
  • the 128 channels can be divided into 16 groups, each group of 8 channels for parallel detection; or the 128 channels can be divided into 32 groups, each group of 4 channels for parallel detection .
  • the above-mentioned grouping of channels in lidar is only an example, and the embodiments of this specification do not limit the specific grouping results of channels.
  • the number of channels obtained by grouping can also be inconsistent.
  • they are also divided into 16 groups. Some groups can have 10 channels for parallel detection, and some groups can have 6 channels for parallel detection.
  • all channels can be grouped into a group, and all channels work in parallel in one detection.
  • the lasers of the channels in each group can emit light in parallel, and a detection of any channel in the group of channels also includes the first sub-channel. measurement and the second sub-measurement, and then based on the intensity of the echo signal of the first sub-measurement, the emitted light intensity of the channel in the second sub-measurement can be adjusted.
  • FIG. 12 a schematic diagram of the luminescence detection process of the corresponding channel of the lidar in a specific application scenario in the embodiment of this specification is shown in Figure 12.
  • two channels in the lidar for example, channel A and channel B
  • Parallel lighting as an example.
  • channels A and B can emit light according to the corresponding lighting strategy, and use corresponding detectors to detect objects within the detection range.
  • the single detection of channel A and channel B can each include a first sub-test (hereinafter represented by Loop0) and a second sub-test (hereinafter represented by Loop1), a total of two sub-detection processes.
  • Loop0 first sub-test
  • Loop1 second sub-test
  • both channel A and channel B that emit light in parallel can be controlled to emit light with a first light intensity that is smaller, where the first light intensity is The light intensity enables the detector to detect only the echo signals of highly reflective objects whose intensity is greater than the preset first threshold.
  • the emitted light intensity and corresponding detector threshold can be set based on the expected distance measurement capability of the lidar and the echo energy of high reflectivity objects. This allows the detector to receive echoes from objects with high reflectivity within the detection range.
  • the small light intensity may be the minimum light intensity that the radar laser can emit.
  • the detection signals emitted by the lasers of channel A and channel B working in parallel are both single pulse signals.
  • a multi-pulse signal can be emitted, and at least one of the following parameters of the multi-pulse can be encoded and adjusted, such as lighting time, pulse width, pulse amplitude, etc.
  • the lasers corresponding to channel A and channel B emit light at the first light intensity in parallel, and the intensity of the corresponding echo signals is detected on the detectors corresponding to channel A and channel B.
  • the intensity detected by channel A The intensity of the echo signal is greater than the first threshold Thr1 and less than the second threshold Thr2, and the echo signal detected by channel B is greater than the second threshold Thr2.
  • the detector can only detect the echo signal of a high-reflectivity object whose intensity is greater than the preset first threshold Thr1, and the echo signal intensity received by channel A and channel B is both greater than the first threshold. Thr1, it is judged that a high reflectivity object is encountered in the direction of channel B of the first sub-measurement Loop0. However, it is not entirely certain whether there is a high reflectivity object in the direction of channel A, and there may be misjudgment here. Because the echo signal received by the detector of channel A may be caused by the detection signal emitted by the laser of channel A and reflected after encountering a high reflectivity object, or it may be caused by the echo signal of channel B that emits parallel light to channel A. Crosstalk affects the detection results of channel A, thereby affecting the overall detection quality of the lidar.
  • the laser corresponding to channel A can be controlled to emit light with a second light intensity, and the laser corresponding to channel B can be controlled not to emit light (indicated by a blank in Figure 12), where the second light intensity is greater than the first light intensity ( Figure 12 The length of the arrow is used to indicate the intensity of the optical signal).
  • the intensity of its echo signal is greater than the second threshold Thr2, it can be determined that there is a high reflectivity object within the detection range of the channel, and according to the first sub-measurement The detection process of Loop0 can obtain the detection information in this direction. Therefore, in order to avoid crosstalk to the parallel emitting channel A, the laser of channel B does not need to emit light during the second sub-measurement Loop1 of a detection.
  • the intensity of the echo signal is between the first threshold Thr1 and the second threshold Thr2, and it is difficult to determine whether the echo signal is subject to crosstalk from the parallel emitting channel B.
  • the laser of control channel B does not emit light, the possible interference of channel B on channel A can be eliminated, and there is no need to worry about the interference of channel A on channel B.
  • the laser of control channel A Emitting light with a second light intensity greater than the first light intensity enables channel A to detect objects that may exist in a farther range.
  • the laser corresponding to channel A and channel B can be controlled not to emit light in the second sub-measurement Loop1, thereby improving the overall detection efficiency. If in the first sub-measurement Loop0, the intensity of the echo signals received by channel A and channel B are both less than the first threshold Thr1, it means that there is a high probability that there is no high reflectivity object within the detection range of the detector. At this time, it can be controlled
  • the corresponding laser uses a third light intensity not less than the second light intensity to emit light in the second sub-measurement Loop1 to perform normal detection of obstacles that may exist in the detection direction.
  • lidar may have more than two channels emitting light in parallel to perform detection, and the detection process can be With reference to the above embodiments, details will not be described again.
  • the illumination strategy of the laser of the parallel emitting channel in the first sub-measurement of subsequent rounds can be adjusted.
  • the illumination strategy of the parallel emitting channel can be adjusted.
  • the emission light intensity of the corresponding channel in the subsequent single round (ie, the next detection) can be adjusted. More specifically, according to the intensity interval in which the echo signal of the first sub-measurement is located, the emission intensity of the laser of the parallel emitting channel in the first sub-measurement of subsequent rounds can be adjusted accordingly.
  • the laser detects at different horizontal orientations. During this process, the following describes in detail how to control the lighting strategy of subsequent rounds in conjunction with Figure 13.
  • FIG 13 a schematic diagram of the luminescence detection process of the corresponding channel of the lidar in another specific application scenario in the embodiment of this specification is shown.
  • One detection can include at least two sub-measurement processes.
  • Figure 13 only shows the process of multiple detections.
  • the first sub-test is the process of Loop0.
  • the horizontal azimuth angle of the current round of detection is ⁇ i
  • the detected horizontal azimuth angle is ⁇ i+1 , where i is an integer greater than or equal to 1.
  • the lasers corresponding to channel A and channel B use the first light intensity (basically the minimum light intensity that the radar can emit) to improve human eye safety and avoid causing damage caused by encountering high reflectivity objects.
  • Excessive crosstalk emits light in parallel, and detects corresponding echo signals on the detectors corresponding to channel A and channel B.
  • the intensity of the echo signal received by channel A is greater than the first threshold.
  • Thr1 is smaller than the second threshold Thr2, and the echo signal received by channel B is larger than the second threshold Thr2.
  • the first sub-measurement Loop0 of the next round of detection is:
  • the laser corresponding to channel A is controlled.
  • the second light intensity is used in the first sub-detection Loop0 to achieve normal detection of possible obstacles within the detection range and improve the overall detection quality.
  • the laser corresponding to the control channel B emits light at a fourth light intensity, where the fourth light intensity is less than the second light intensity (the length of the arrow in Figure 13 is used to indicate the intensity of the optical signal). Therefore, it is possible to It can detect objects with high reflectivity within the detection range and reduce interference to other channels.
  • the intensity value of the echo signal received by the laser of the parallel emitting channel in the first sub-measurement may be in different intensity intervals.
  • the intensity value of the received echo signal may be greater than the first threshold and less than The second threshold may be greater than the second threshold, or may be less than the first threshold.
  • each specific threshold can be set according to the specific application environment and the performance requirements of the lidar.
  • the first threshold can be a value slightly larger than the environmental noise
  • the second threshold can be a value close to detector saturation.
  • the echo signal of the first sub-measurement Loop0 can also be used to simultaneously adjust the emission intensity of the laser of the parallel emitting channel in the second sub-measurement Loop1 and the first sub-measurement loop0 in subsequent rounds.
  • the emission light intensity is adjusted, which will not be described here.
  • the laser of the parallel emitting channel in addition to adjusting the subsequent emitted light intensity of the laser of the parallel emitting channel according to the echo signal of the first sub-measurement, can also be correspondingly adjusted to emit light intensity of the laser of the parallel emitting channel in the second sub-measurement. /or the relative lighting timing in the first sub-measurement of subsequent rounds can avoid interference channels from affecting other channels that emit light in parallel, thereby improving the overall detection quality of lidar.
  • the laser of each channel can be controlled to emit a multi-pulse sequence or a single pulse sequence in both the first sub-measurement and the second sub-measurement; or, the multi-pulse sequence is emitted in the first sub-measurement, and the multi-pulse sequence is emitted in the first sub-measurement.
  • the second sub-measurement transmits a single pulse sequence; or, the first sub-measurement transmits a single pulse sequence, and the second sub-measurement transmits a multi-pulse sequence.
  • the embodiments of this description do not limit the types of pulse sequences emitted by the laser in the first sub-measurement and the second sub-measurement.
  • lidar uses parallel light emission.
  • the first sub-measurement of a single detection multiple channels emit light in parallel.
  • the echo times detected by the first sub-measurement of a single detection may overlap. , so if there is an interference signal, the interference signal may be misjudged as a valid point, thus affecting the quality of detection.
  • the echoes detected in the first sub-test of a single detection can be overlapped in time
  • adjust the pulse start emission time of the laser of the channel with overlapping echo time so that the multiple channels with overlapping echo time are in the second sub-test and/or the first sub-test of the subsequent preset round.
  • the pulse start emission times are different, thereby causing the pulse light-emitting times of the multiple channels in the second sub-test or the first sub-test of the subsequent preset round to be staggered from each other, thus reducing the number of parallel channels. of crosstalk.
  • a different starting emission moment can be set for each channel.
  • the interval between the emission moments of the lasers in each channel differs by a fixed value or a preset ratio, or a random time jitter value ⁇ is applied to each channel based on the predetermined pulse starting emission time t0, and t0 is + ⁇ are respectively used as the actual starting time of the laser emission pulse of the corresponding channel.
  • the predetermined pulse start emission time of multiple channels A ⁇ H working in parallel is t0
  • the random time jitter value corresponding to each channel corresponds to The order is ⁇ A ⁇ ⁇ H . Since the time jitter values of different channels are random and can be considered to be different, the pulse starting emission times corresponding to the laser emission of multiple channels working in parallel are different and are random; on the contrary, the interference signal does not have Due to this randomness, even if noise is generated in multiple channels, the ToF values of the noise are very different and have no correlation, so they can be judged as orphan points.
  • each single detection includes two sub-tests, namely the first sub-test and the second sub-test, the pulse starting emission moments corresponding to each channel in the first sub-test and the second sub-test can all change.
  • the pulse starting emission moments corresponding to channels A ⁇ H change, in sequence becomes t0+ ⁇ A ⁇ t0+ ⁇ H .
  • the pulse starting moments corresponding to channels A ⁇ H can change randomly again.
  • the starting emission moments of the first sub-measurement N-seq0 and the second sub-measurement N-seq1 are randomly changed, so that the relative emission timing of the lasers of each parallel emitting channel is changed, thereby making The echo times of parallel channels no longer overlap, further reducing channel-to-channel crosstalk.
  • FIG. 15 for another schematic diagram of adjusting the pulse starting transmission time of multiple channels.
  • the solid arrow represents the detection signal TX0 emitted by the laser, and the dotted arrow represents the echo signal RX0.
  • Figure 15 shows the channel A and The transmission time of channel B is basically the same, and the time of the echo signals has a certain overlap, so echo interference will occur.
  • the relative pulse start emission time of the lasers of channel A and channel B can be adjusted in the next horizontal azimuth detection, for example, corresponding to the azimuth with a horizontal azimuth angle of 0.2°, for example, for channel A random disturbance value ⁇ B is added to the pulse start emission time of laser B , so that it is staggered with the pulse start emission time of laser channel A.
  • the reception time of the echo signals of the two will also be separated with a high probability. This can avoid mutual interference between different channels emitting light in parallel.
  • the feedback and adjustment based on the angles are not limited to the first sub-measurement of different rounds of detection.
  • the feedback and adjustment can be based on the first sub-measurement of the current horizontal orientation of each channel (corresponding to this detection).
  • the relationship between the echo signals of the first sub-measurement and/or the second sub-measurement, and the first sub-measurement and/or the second sub-measurement of the subsequent directions of each channel (corresponding to subsequent rounds of detection, such as the next round of detection at the next horizontal angle) Adjust the pulse start emission time of the measured laser.
  • the lidar 160 in order to generate the random jitter value as needed during the detection process, a random number generator can be built into the lidar.
  • the lidar 160 includes: a controller 161, a random number generator 162, and a driver 163, a laser 164 and a detector 165 corresponding to each channel. The following describes its working principle in detail with reference to Figure 16:
  • the controller 161 based on the detection results in the first sub-test of this detection, determines that the characteristics of the interference points (such as the corresponding ToF values and/or positions) of the multiple channels working in parallel have a relatively high correlation.
  • the random number generator 162 can be controlled to start working, and for multiple channels working in parallel, the random disturbance values of the corresponding channels are respectively generated and output to the driver 163 and fed back to the controller 161;
  • the driver 163 corresponding to each channel is superposed based on the predetermined pulse starting time and the random disturbance value of the corresponding channel to obtain the actual starting time of the pulse corresponding to each channel, and drives the laser of the corresponding channel at the actual starting time of the corresponding pulse. 164 glow;
  • the detector 165 corresponding to each channel performs echo detection within a single detection, obtains the detection results, and transmits them to the controller 161;
  • controller 161 subtracts the corresponding pulse start transmission time from the echo signal reception time according to the detection results returned by the detectors of each channel, so as to obtain a relatively accurate ToF value.
  • the random number generator 162 can be implemented through a hardware circuit, or through a software algorithm, such as a hash algorithm, or through a combination of a software algorithm and a hardware circuit.
  • a software algorithm such as a hash algorithm
  • a combination of a software algorithm and a hardware circuit The embodiments of this specification do not place any restrictions on the specific implementation forms such as software algorithms, hardware circuit structures, etc. used.
  • the channels can be grouped during detection.
  • the lasers in different groups can be controlled to detect according to the preset grouping sequence.
  • all channels are controlled to execute the first sub-test sequentially according to the preset grouping sequence, and then the second sub-test is executed in groups, that is, after completing the first sub-test of all channels, After the detection of the first sub-test, all channels are controlled according to the preset lighting timing to complete the detection of the second sub-test.
  • Figure 17 shows a schematic diagram of the detection principle of lidar in a specific application scenario in the embodiment of this specification.
  • the 128-line lidar taking the 128-line lidar as an example, it is divided into multiple groups and patrols and emits light in sequence.
  • multiple lasers are used as a group for parallel detection, and corresponding detectors are used to detect objects within the detection range.
  • Each single detection includes two sub-detection actions, Loop0 and Loop1.
  • the 128 channels are divided into 16 groups, and a group of 8-channel lasers are controlled to work in parallel each time. This group corresponds to 8 detectors to receive echo signals within a preset time window.
  • another group of 8-channel lasers work in parallel, corresponding to another group of 8 detectors to receive echo signals...
  • the detection of the first sub-measurement Loop0 of each channel is completed in sequence, and the corresponding first Echo signal strength, after all channels complete the detection of Loop0, according to the first echo signal strength of the first sub-measurement Loop0, adjust the lighting strategy of the corresponding channel of the second sub-measurement Loop1, and adjust each channel group in sequence Perform Loop1 detection to obtain the corresponding second echo signal strength.
  • the lasers of multiple channels working in parallel can be controlled to use a first light intensity with a smaller light intensity to emit light.
  • the first light intensity makes the detector Only the echo signals of high-reflectivity objects whose intensity is greater than the preset first threshold can be detected.
  • non-high-reflectivity can be referred to as non-high-reflectivity
  • the laser emits the first light intensity its corresponding detection
  • the receiver will not receive echoes of sufficient strength to pass the threshold.
  • the first light intensity can be set according to the expected distance measurement capability of the lidar, the echo energy of the high reflectivity object, and the response threshold of the corresponding detector, so that the detector can only receive high-frequency signals within the detection range.
  • the echo signal of the reflectivity object is enough.
  • channels 1-8 work in parallel.
  • the lasers of each channel send out the first pulse in parallel, and send out their second pulses respectively according to the preset time interval between pulses.
  • the detectors of channels 1-8 work in parallel at the preset time. Receive signals within the window.
  • channels 9-16 work in parallel.
  • the lasers of each channel send out the first pulse in parallel, and send out their second pulses according to the preset inter-pulse time interval.
  • the detection of channels 9-16 The detector receives the signal within the preset time window... This is performed in sequence until channels 121-128. Multiple channels working in parallel are grouped for emission and detection, so that the first sub-test of channels 1-128 can be obtained.
  • the first echo signal strength corresponding to the first sub-test Loop0 adjust the lighting strategy of the corresponding channel in the second sub-test Loop1, and use similar timing to sequentially perform the lighting of the second sub-test Loop1 for multiple channels working in parallel. , and detect the corresponding echo signal through the detector, and obtain the corresponding second echo signal strength.
  • the adjusted light-emitting strategy in the second sub-measurement Loop1, can be obtained according to the intensity threshold interval of the echo signal of the first sub-measurement Loop0, and the laser corresponding to each channel can be controlled to emit light.
  • the laser corresponding to each channel can be controlled to emit light.
  • the detector detects that there is an echo signal in channel 2 with an intensity not less than the second threshold. , then in the second sub-test Loop1, channel 2 does not emit any pulses (shown as blank in Figure 17), which can avoid the strong light signal emitted by the laser of this channel being reflected by high reflectivity objects and causing other channels working in parallel to generate signals. crosstalk.
  • control its corresponding light intensity to be the fourth light intensity, and the fourth light intensity is smaller than the second light intensity and greater than the first light intensity.
  • a single thick solid line arrow in Figure 17 indicates that the laser emits a single laser pulse, and its light intensity is greater than the second light intensity
  • the laser of control channel 8 operates with the fourth light intensity (a dotted line in Figure 17 The arrow indicates that its light intensity is lower than the second light intensity).
  • control the lasers of channel 9 and channels 11-16 in the second group of channels (i.e. channels 9-16) that work in parallel to emit light with the third light intensity (a single thick solid line arrow in Figure 17 indicates the laser emitted by its laser. is a single laser pulse, and its light intensity is greater than the second light intensity), and the laser of the control channel 10 emits light using the fourth light intensity (the dotted arrow in Figure 17 indicates that its light intensity is lower than the second light intensity).
  • the two schemes for adjusting the second sub-test luminescence strategy are combined with the same picture to illustrate.
  • the two schemes can also be implemented in combination.
  • the first sub-test Loop0 based on the first sub-test Loop0 According to the echo signal strength, it is determined that there are high reflectivity objects in channel 2, channel 8 and channel 10.
  • the second sub-measurement Loop1 according to the preset lighting timing, for channels 1-8 working in parallel, The laser of channel 2 can be controlled not to emit light, while the laser of channel 8 can be controlled to emit light at the fourth light intensity, and channels 1 and 3-7 can be controlled to emit light at the third light intensity.
  • the parallel operating channels 9-16 the lasers of channel 9 and channels 11-16 are controlled to emit light at a third light intensity, and the laser of channel 10 is controlled to emit light at a fourth light intensity.
  • its laser can be controlled to emit light with a second light intensity in the second sub-measurement Loop1, and the second light intensity is different from the The first light intensity; for a channel that does not have an echo signal with an intensity less than the first threshold within the detection range, control its laser to emit light with a third light intensity in the second sub-measurement Loop1, where the third The light intensity is not less than the second light intensity.
  • the above scheme starts the detection of the second sub-test Loop1 after the detection of the first sub-test Loop0 of all channels is completed.
  • the first sub-test Loop0 may last for a long time, and the same channel may not detect the second sub-test Loop1.
  • Loop1 detection a certain angle has been rotated relative to the Loop0 stage of the first sub-measurement, so there is an angular deviation in the fields of view of the two sub-measurements.
  • the channels of the preset group can be controlled to sequentially and continuously execute the first sub-test and the second sub-test according to the preset grouping timing. More specifically, in any single detection of all channels, the lasers of one or more groups of channels can be controlled to emit light in sequence according to the first sub-measurement and the second sub-measurement grouping. That is to say, for a single detection of all channels, one or more groups of channels can complete their own first sub-test and second sub-test, and then proceed to the first sub-test and sum of the next group or groups of channels. Second subtest until completion of the first and second subtests for all channels.
  • FIG 18 a schematic diagram of the detection principle of lidar in a specific application scenario in the embodiment of this specification is shown.
  • the difference between it and the detection principle of lidar in Figure 17 is that for all channels, after executing the After the first sub-test and the second sub-test of each channel, a single detection of other groups is performed according to the preset grouping timing.
  • channels 1-8 of the first group emit light in parallel
  • each channel emits the first pulse in parallel in the first sub-measurement Loop0, and emits its own pulse according to the preset inter-pulse time interval.
  • the detectors of channels 1-8 receive the first echo signal within the preset time window.
  • the third pulse is sent in parallel in the second sub-measurement Loop1.
  • the detectors of channels 1-8 receive the first echo signal in the preset time window. Receive the second echo signal within the set time window.
  • channels 9-16 of the second group work in parallel.
  • Each channel sends out the first pulse in parallel in the first sub-test Loop0, and sends out its own pulse according to the preset inter-pulse time interval.
  • the second pulse after that, the third pulse is sent in parallel in the second sub-detection Loop1, and the detectors of channels 9-16 respectively receive the second echo signal within the preset time window... This is performed in sequence until Channels 121-128 in the 16th group respectively receive the second echo signal within the preset time window, so that the first echo signal strength and the second echo signal strength of each channel in each group in the first sub-measurement Loop0 can be obtained.
  • the corresponding laser in the second sub-measurement Loop1, for a channel that does not have a second echo signal with an intensity greater than the preset first threshold, can be controlled to use the second light that meets the normal ranging capability of the radar. Strong glow.
  • the predetermined measuring distance of the radar is 150m
  • the second light intensity can be set so that the detector can receive the echo signal from an object with a reflectivity of 10% at 150m.
  • the adjusted light-emitting strategy can be obtained according to the intensity threshold interval where the echo signal of the first sub-measurement Loop0 is located, and the corresponding laser can be controlled to emit light.
  • the detector detects the channel 2 If there is a high reflectivity object, in the corresponding second sub-measurement Loop1, channel 2 does not emit any pulses (shown as blank in Figure 18), which can avoid the strong light signal emitted by the laser in this channel being reflected by the high reflectivity object. This causes signal crosstalk in other channels working in parallel.
  • control its corresponding light intensity to be the fourth light intensity, and the fourth light intensity is smaller than the second light intensity.
  • the lasers of channels 11-16 use the third light intensity to emit light (a single thick solid line arrow in Figure 18 indicates that the laser emits a single laser pulse, and its light intensity is greater than the second light intensity), and control
  • the laser of channel 10 operates with the fourth light intensity (the dotted arrow in Figure 18 indicates its light intensity, which is lower than the second light intensity).
  • its laser can be controlled to emit light with a second light intensity in the second sub-measurement Loop1, and the second light intensity is different from the The first light intensity; for a channel that does not have an echo signal with an intensity less than the first threshold within the detection range, control its laser to emit light with a third light intensity in the second sub-measurement Loop1, where the third The light intensity is not less than the second light intensity.
  • the echo signal of the first sub-measurement and/or the second sub-measurement can be obtained. Based on the echo signal of the first sub-measurement and/or the second sub-measurement, we obtain The detection result of a single detection.
  • the detection result within the detection range in the single detection can be obtained based only on the echo signal of the first sub-measurement, or the detection result within the detection range can be obtained based only on the echo signal of the second sub-measurement.
  • the specific solution adopted can be determined based on the specific situation of the echo signal of the first sub-measurement and the lighting strategy of the second sub-measurement.
  • different channels can also be used. different way. The following is an example description combined with some specific application scenarios.
  • the detection result within the detection range can be obtained based only on the echo signal of the second sub-measurement, For example, the echo signal of the second sub-measurement is directly used as the detection result within the detection range in the single detection.
  • different processing methods can be used according to the lighting strategy of the laser in the second sub-measurement. Specifically, Take the following example:
  • the detection within the detection range can be obtained based only on the echo signal of the first sub-detection.
  • the detection result within the detection range of a channel with an echo signal whose intensity is not less than the second threshold can be obtained.
  • a channel with an echo signal whose intensity is greater than the first threshold and less than the second threshold it may be based only on the echo signal of the second sub-measurement, or it may also be based on the echo signal of the first sub-measurement and The echo signal of the second sub-measurement is used to obtain the detection result of the corresponding channel within the detection range.
  • the first sub-measurement can be directly The echo signal of the first sub-measurement and the echo signal of the second sub-measurement are superimposed as the detection data of each corresponding channel, and based on the detection data of each corresponding channel, the detection result within the detection range is obtained. In this way, only the echo signal obtained by the first sub-measurement and the echo signal obtained by the second sub-measurement need to be sampled once after superimposition, which can simplify the system operation and processing process.
  • the above specific examples are not used to limit the specific implementation of the detection results.
  • the following specific example methods can be expanded, deformed or optimized according to the specific circumstances, or other methods based on a single detection can be used.
  • the echo signal of the first sub-measurement and the echo signal of the second sub-measurement are used to obtain the detection result within the detection range in the detection period.
  • the detection points of any channel in the second detection data can be used as the points to be determined, and the points to be determined and the detection points in the neighborhood can be judged
  • the detection points that do not meet the correlation threshold are deleted from the detection results.
  • the lidar may include: a controller, multiple lasers, and multiple detectors, and the multiple lasers and multiple detectors form multiple channels, where:
  • the laser emits an optical signal
  • the detector receives the echo signal reflected by the obstacle, and the laser located in the same channel overlaps at least part of the field of view of the detector;
  • the controller is adapted to control all channels and perform detection in groups, including: controlling the lasers of each group to emit light in parallel, and for a single detection of each channel, including: a first sub-test and a second sub-test; according to the third According to the echo signal of a sub-test, the lighting strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent round is accordingly adjusted.
  • the lidar 110 includes: a transmitting module TX0, including a plurality of lasers 111, configured to transmit an optical signal L;
  • the receiving module RX0 includes a plurality of detectors 112, configured to receive the echo signal L' reflected by the optical signal through the obstacle; wherein at least one laser and at least one detector constitute a detection channel, and all the plurality of lasers and the plurality of The detector constitutes multiple detection channels, and the laser in the same detection channel overlaps at least part of the field of view of the detector; and
  • the controller C0 is suitable for controlling all channels, performing detection in groups, including: controlling the lasers of each group to emit light in parallel, and for a single detection of each channel, including: a first sub-test and a second sub-test; according to According to the echo signal of the first sub-test, the illumination strategy of the laser of the parallel emitting channel in the second sub-test and/or the first sub-test of the subsequent rounds is accordingly adjusted, and can be based on the said of each detection channel.
  • the echo signals generate point cloud data.
  • the multiple lasers 111 in the transmitting module TX0 can be arranged into multiple columns, all of which are attached to the plane board. Specifically, they can be vertical cavity surface lasers (Vertical Cavity Surface Emitting Laser, VCSEL). As shown in Figure 19b, the light emitted by the laser 111 is emitted perpendicularly to the plane plate. After being shaped by the emission lens group (not shown), it is emitted from the lidar 110 in different directions to cover the vertical field of view (FOV) of the lidar. , Field of View).
  • FOV vertical field of view
  • one or more detection units 112 in the receiving module RX0 can be SPAD or SiPM, or they can be attached to a flat plate and laid out in multiple columns, similar to the arrangement of the laser 111 Correspondingly, multiple detection channels are formed with the laser 111 in the transmitting module TX0.
  • Each detection channel may include one laser and one or more detectors, or may be composed of one or more lasers and one detector.
  • the laser and detector of each detection channel have the same vertical sub-FOV, that is, the optical signal emitted by the laser in the same detection channel can be detected by the laser in the same detection channel after encountering obstacles and being reflected back to the radar. receiver received.
  • the sub-fields of view of all detection channels together constitute the vertical FOV scan of the entire lidar.
  • the entire lidar can be driven by a motor or other equipment to rotate as a whole, or the light emitted by the laser passes through a rotating mirror or Micro Electromechanical System (MEMS). ), liquid crystal and other micro-moving devices, thereby realizing radar scanning in the horizontal FOV to form a scanning point cloud with a certain horizontal FOV and vertical FOV.
  • MEMS Micro Electromechanical System
  • a detector in a detection channel it can be started under the control of the controller to receive the echo signal returned to the laser radar after the optical signal emitted by the corresponding laser in the detection channel is reflected by external obstacles.
  • a detector in a detection channel it can also be in a state that can receive optical signals under the control of the controller, and then only the signals received within the flight window of the detection channel are used as echo signals.
  • the readout is further processed to generate point cloud data.
  • the controller is adapted to correspondingly adjust the laser of the parallel emitting channel in the second sub-test or the first sub-test of the subsequent round according to the intensity of the echo signal of the first sub-test.
  • the measured emitted light intensity is adapted to correspondingly adjust the laser of the parallel emitting channel in the second sub-test or the first sub-test of the subsequent round according to the intensity of the echo signal of the first sub-test.
  • the controller may specifically be a microcontroller, a field programmable gate array (Field Programmable Gate Array, FPGA), a single-core or multi-core processor, or any other chip, device or equipment with data processing capabilities.
  • FPGA Field Programmable Gate Array
  • the specific hardware structure is not limited.
  • lidar detection method for other specific implementations of lidar, please refer to the foregoing specific embodiments of the lidar detection method, which will not be described again here.
  • Embodiments of this specification also provide a computer-readable storage medium on which computer instructions are stored. When the computer instructions are run, the steps of the methods of any of the above embodiments of this specification can be executed. The instructions stored on the computer-readable storage medium execute the method described in any of the above embodiments. For details, reference may be made to the above embodiments, which will not be described again.
  • the computer-readable storage medium may include, for example, any suitable type of memory unit, memory device, memory item, memory medium, storage device, storage item, storage medium and/or storage unit, such as a memory, removable or non-removable Removable media, erasable or non-erasable media, writable or rewritable media, digital or analog media, hard disk, floppy disk, compact disc read-only memory (CD-ROM), recordable compact disc (CD-R), Compact disc rewritable (CD-RW), optical disc, magnetic media, magneto-optical media, removable memory cards or disks, various types of digital versatile discs (DVD), tapes, cassettes, etc.
  • any suitable type of memory unit such as a memory, removable or non-removable Removable media, erasable or non-erasable media, writable or rewritable media, digital or analog media, hard disk, floppy disk, compact disc read-only memory (CD-ROM), recordable compact disc (CD
  • Computer instructions may include any suitable type of code, e.g., source code, compiled code, interpreted code, interpretable code, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language. Execution code, static code, dynamic code, encrypted code, etc.

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Abstract

提供了一种激光雷达及其探测方法、计算机可读存储介质，激光雷达包括多个激光器与多个探测器，构成多个通道，探测方法包括：对于所有的通道，分组次执行探测；其中，探测包括：激光器发射光信号，探测器接收经障碍物反射的回波信号，并根据回波信号得到对障碍物的探测信息；每组的激光器并行发光；对于每个通道的单次探测，包括：第一子测和第二子测；根据第一子测的回波信号，相应调整并行发光的通道的激光器在第二子测和/或后续轮次的第一子测中的发光策略。由此能够减小并行发光的通道间的串扰，提高探测质量。

Description

激光雷达及其探测方法、可读存储介质 技术领域
本说明书实施例涉及雷达技术领域，尤其涉及一种激光雷达及其探测方法、可读存储介质。
背景技术
随着激光雷达通道(线束)的增多，为提升点云的分辨率或者点云频率，可以增加并行发光的通道的数量。当激光雷达的多个通道的激光器并行发光时，每个通道的探测器可能都会接收到来自于其他通道障碍物的反射光，且激光雷达与目标物体的距离越近、目标物体的反射率越高，反射光的强度越高。当强度达到一定程度时，会在探测器上产生串扰。
一种解决并行工作的多个通道间串扰问题的方案是激光脉冲的编码，比如发射双脉冲时，并行工作的多个通道采用不同的脉冲间隔，通过对回波信号解码判断是否为本通道回波。
然而，当视场内有高反射率物体(可以简称高反物体)时，回波信号非常强，并行工作的其他通道很可能会收到严重的干扰信号(来自其它并行的通道的回波)，使其无法有效地解码，可能将干扰信号误判为本通道的回波，对原本没有物体的位置或角度生成点云信息，产生“鬼影”。
并且，视场中存在高反射率物体是无人驾驶场景中较常遇到的情况。例如，道路指示牌是典型的高反射率物体，而路牌是激光雷达应用于自动驾驶时经常遇到的目标识别对象，因此，激光雷达通道间串扰问题亟待解决。
背景技术部分的内容仅仅是公开人所知晓的技术，并不当然代表本领域的现有技术。
发明内容
有鉴于此，本说明书实施例的一个方面，提供一种激光雷达及其探测方法、可读存储介质，能够减小高反射率物体引起的同时发光的通道间的串扰，提高探测质量。
有鉴于此，本说明书实施例的另一个方面，提供一种激光雷达及其探测方法、可读存储介质，能够减小并行发光的通道间的串扰，提高探测质量。
首先，本说明书实施例提供了一种激光雷达的探测方法，所述激光雷达包括多个激光器和多个探测器，构成多个通道，所述探测方法包括：
在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测均包括第一子测和第二子测，其中，对于并行探测的多个通道：
在所述第一子测，控制其对应的激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据，其中，所述第一光强适于使其对应的探测器仅能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波；
在所述第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过其对应的探测器探测得到第二探测数据；
基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
可选地，所述在所述第二子测，根据所述第一探测结果，调整所述多个通道的激光器的发光策略，包括：
在所述第二子测，基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；
对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强。
可选地，所述基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体，包括：
采集所述第一探测数据的特征值；
确定所述第一探测数据的特征值是否超过预设的第一探测阈值，以判断所述多个通道的探测范围内是否存在反射率大于预设第一反射率的高反射率物体。
可选地，所述对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强，包括以下至少一种：
对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光；
对于探测范围内存在高反射物体率的通道，控制其对应的激光器的光强为第三光强，所述第三光强小于所述第二光强。
可选地，所述第三光强不超过所述第一光强。
可选地，所述基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果，包括：
对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光时，基于所述第一探测数据，获得所述多个通道单次探测的探测结果；
对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强为第三光强时，基于所述第二探测数据，或基于所述第一探测数据和第二探测数据，获得所述多个通道单次探测的探测结果。
可选地，所述基于所述第一探测数据和第二探测数据，获得所述多个通道单次探测的探测结果，包括：
将第一子测的回波信号和所述第二子测的回波信号进行叠加，作为各对应通道的探测数据；
基于各对应通道的探测数据，获得各对应通道单次探测的探测结果。
可选地，所述对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，包括：
对于探测范围内不存在高反射率物体的通道，控制其对应的激光器发射单个激光脉冲或多脉冲序列。
可选地，所述在所述第一子测，控制其对应的激光器采用第一光强发光，还包括：
控制所述多个通道的激光器发射单个激光脉冲或多脉冲序列。
可选地，所述多个通道中不同通道的激光器发射的单个激光脉冲或多脉冲序列具有不同的编码信息，所述编码信息包括：脉冲数目、脉冲起始发射时刻、多脉冲间时间间隔、脉冲强度比例、脉冲宽度比例中的至少一个。
可选地，所述方法还包括：
基于并行探测的多个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息。
可选地，所述基于并行探测的多个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息，包括：
对于并行探测的多个通道，在上一水平方位角的第一子测探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在当前探测轮次的脉冲起始发射时刻不同。
可选地，所述在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，包括：
在单个探测轮次中，控制所有通道的激光器按照所述第一子测和所有通道的所述第二子测依次进行发光。
所述在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，包括：
在单个探测轮次中，控制一组或多组通道的激光器按照所述第一子测和所述第二子测分组依次进行发光。
本说明书实施例还提供了另一种激光雷达的探测方法，所述激光雷达包括多个激光器与多个探测器，构成多个通道，所述探测方法包括：
对于所有的通道，分组次执行探测；
其中，所述探测包括：激光器发射光信号，探测器接收经障碍物反射的回波信号，并根据所述回波信号得到对所述障碍物的探测信息；
每组的激光器并行发光；
对于每个通道的单次探测，包括：第一子测和第二子测；
根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略。
可选地，所述根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测或后续轮次的第一子测中的发光策略，包括：
根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强。
可选地，所述并行发光的通道的激光器在第一子测中的发射光强为第一光强，所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号。
可选地，所述根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，包括：
对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第二光强发光，所述第二光强不同于所述第一光强。
可选地，所述根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，还包括 以下至少一种：
对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第三光强发光，其中，所述第三光强不小于所述第二光强；
对于探测范围内存在强度不小于第二阈值的回波信号的通道，控制其激光器在所述第二子测中不发光，或控制其激光器在所述第二子测和/或后续轮次采用第四光强发光，所述第四光强小于所述第二光强且大于所述第一光强。
可选地，所述根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略，包括：
根据所述第一子测的回波信号所处的强度区间，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序。
可选地，所述探测方法还包括：控制每个通道的激光器在所述第一子测和/或所述第二子测中发射单个激光脉冲或多脉冲序列。
可选地，所述根据所述第一子测的回波信号所处的强度区间，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序，包括：
在单次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在所述第二子测和/或后续预设轮次的第一子测中的脉冲起始发射时刻不同。
可选地，所述在单次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在后续预设轮次的第一子测中的脉冲起始发射时刻不同，包括：
在当前水平角度对应的本次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在下一水平角度对应的下一次探测中的脉冲起始发射时刻不同。
可选地，所述探测方法还包括：按照预设分组时序控制所有的通道依序执行所述第一子测后再分组执行所述第二子测。
可选地，所述探测方法还包括：按照预设分组时序控制预设组别的通道依次连续执行所述第一子测和所述第二子测。
可选地，所述探测方法还包括：基于所述第一子测和/或所述第二子测的回波信号，得到所述单次探测的探测结果。
相应地，本说明书实施例还提供了一种激光雷达，包括：
光发射模块，包括多个激光器；
光探测模块，包括多个探测器，分别与所述多个激光器对应设置，构成多个通道，所述多个探测器适于采集对应通道的激光器发光后照射到物体后的回波；
数据处理装置，适于单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测均包括第一子测和第二子测，其中，对于并行探测的多个通道：在所述第一子测，控制其激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据，其中，所述第一光强适于使其对应的探测器能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波；在所述第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过其对应的探测器探测得到第二探测数据；以及，基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
可选地，所述数据处理装置，在所述第二子测，适于基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；以及，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第一光强。
相应地，本说明书实施例还提供了另一种激光雷达，所述激光雷达包括：
多个激光器与多个探测器，构成多个通道，其中：所述激光器发射光信号，所述探测器接收经障碍物反射的回波信号，位于同一通道的激光器与探测器至少部分视场重叠；
控制器，适于控制所有的通道，分组次执行探测，包括：控制每组的激光器并行发光，对于每个通道的单次探测，包括：第一子测和第二子测；根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略。
相应地，本说明书实施例还提供了一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令运行时执行前述任一实施例所述方法的步骤。
采用本说明书中实施例中的激光雷达及其探测方法，在单个探测轮次中， 分组次按照预设的探测时序执行探测，每组通道并行探测，且每个通道的单次探测包括两个探测阶段，即第一子测和第二子测，其中，对于并行探测的多个通道，在第一子测，控制其对应的激光器采用第一光强发光，由于所述第一光强适于使其对应的探测器仅能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波，从而可以在第一子测识别出探测范围内反射率大于第一反射率阈值的高反射率物体，进而在第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，且通过探测器探测得到第二探测数据，并最终基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果，由上述探测过程可知，通过第一子测可以识别出高反射率物体，进而可以在第二子测调整所述并行发光的多个通道的激光器的发光策略，来降低高反射率物体的回波对并行探测的多个通道的影响，因而可以减小高反射率物体引起的并行探测的多个通道的串扰问题，提高探测质量。
此外，在所述第二子测，基于所述第一探测数据，可以判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体，进而，一方面，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，且所述第二光强大于所述第一光强，另一方面，对于探测范围内存在高反射率物体的通道，进一步控制其对应的激光器的光强小于所述第二光强。由上述所述多个通道在第二子测的发光策略可知，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用大于所述第一光强的第二光强发光，可以对探测范围内的物体进行正常探测，而对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强，因此可以在保障探测到探测范围内的高反射率物体的情况下减小对其他通道的干扰，提高整体探测质量。
进一步地，对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光或者控制其对应的激光器的光强为小于所述第二光强的第三光强，可以抑制高反射率物体的回波对并行探测的各个通道的干扰，避免通道间串扰。
此外，虽然第一子测的第一光强为适于使探测器仅能够接收到探测范围内反射率大于预设第一反射率阈值的高反射率物体的回波，但是在任一通道的视场内，若存在常规漫反射物体，其回波信号也可能被探测器接收到，尤其是漫反射物体距离比较近的情况，针对这一情况，本说明书一些实施例中，通过将第一子测的回波信号和所述第二子测的回波信号进行叠加，作为各对应通道的 探测数据，进而基于各对应通道的探测数据，获得各对应通道单次探测的探测结果，这一探测过程，既可以探测到探测范围内的高反射率物体，也可以探测到探测范围(包括距离比较近的近处)内的常规漫反射物体，从而可以提高探测能力。
进一步地，由于所述多个通道中不同通道的激光器发射的单个激光脉冲或多脉冲序列具有不同的编码信息，从而可以进一步降低通道间串扰和其他雷达的干扰，进一步提高探测质量。此外，通过基于并行工作的各个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息，从而可以通过调整并行工作的各个通道的编码信息，避免各个并行工作的通道之间产生串扰，进一步提高探测质量。
进一步地，对于并行探测的多个通道，在上一水平方位角的第一子测探测得到的回波时间重叠时，说明这几个通道可能发生串扰，则对对回波时间重叠的通道的激光器的脉冲起始发射时刻进行调整，使得所述回波时间重叠的多个通道在当前探测轮次的脉冲起始发射时刻不同，进而使得这几个通道的回波时间不再重叠，即通过上一水平方位角的第一子测的探测数据，对当前探测轮次的编码信息进行调整，从而可以避免通道间的串扰。
进一步地，在一个探测轮次中，控制一组或多组通道的激光器按照所述第一子测和所述第二子测分组依次进行发光，则可以降低同一个通道在第一子测和第二子测的两次探测对应视场的角度偏差，从而可以进一步提高探测精度。
采用本说明书实施例中的激光雷达及其探测方法，当采用激光雷达进行探测时，对于所有的通道，分组次执行探测，其中，每个通道的单次探测，包括第一子测和第二子测，并且，根据所述第一子测的回波信号，可以相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略，由于并行发光的各个通道的第一子测的回波信号可以反映相应通道在探测范围内的障碍物的特征以及可能存在的各并行通道之间的串扰，因此，对于每个通道，根据其对应的第一子测的回波信号，对并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略进行相应调整后，并行发光的多个通道在第二子测或/后续轮次的第一子测过程中回波信号之间的串扰能够降低，从而能够更加准确地反映相应通道在探测范围内的障碍物的特征，因而整体上能够减小并行发光的通道间的串扰，提高探测质量。
进一步地，由于回波信号能够反映障碍物的特征，例如距离、反射率等特 征，因此，根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，使得并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强发生变化，从而可以减小并行发光的通道间的串扰，提高探测质量。
进一步地，通过控制并行发光的通道的激光器在第一子测中的发射光强为第一光强，且所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号，从而可以根据第一子测中探测器接收到的回波信号的强度，识别出探测范围内的高反射率物体，进而为后续并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略的调整提供准确依据。
进一步地，对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，可能无法判断其是否受到并行发光的通道的影响，为此，通过控制该通道的激光器在所述第二子测或后续轮次的第一子测中采用不同于所述第一光强的第二光强发光，从而可以减小并行发光的其他通道的干扰，提高整体探测质量。
进一步地，对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，控制其对应的激光器在所述第二子测和/或后续轮次的第一子测中采用大于所述第二光强的第三光强发光，可以对探测范围内的物体进行正常探测；而对于探测范围内回波信号的强度不小于第二阈值的通道，控制其激光器在所述第二子测中不发光，或控制其激光器在所述第二子测和/或后续轮次采用第四光强发光，由于所述第四光强小于所述第二光强且大于所述第一光强，因此可以抑制高反射率物体的回波对并行工作的各个通道的干扰，避免通道间串扰，提高整体探测质量。
进一步地，在一个单次探测中，根据所述第一子测的回波信号所处的强度区间，通过调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序，从而实现并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光时序的散列分布，因此，可以避免具有干扰的通道对并行发光的其他通道产生影响，故可以进一步提高探测精度。
进一步地，对于并行工作的多个通道，在单次探测的第一子测中探测得到的回波时间重叠时，这几个通道容易发生串扰，为避免这一问题，对回波时间重叠的通道的激光器的脉冲起始发射时刻进行调整，使得所述回波时间重叠的多个通道在所述第二子测和/或后续预设轮次的第一子测中的脉冲起始发射时 刻不同，进而使得这几个通道的回波时间不再重叠，即通过第一子测的探测数据，对第二子测和/或后续预设轮次的第一子测的编码信息进行调整，从而可以避免通道间的串扰，提高整体探测质量。
进一步地，对于并行工作的多个通道，在当前水平角度对应的本次探测的第一子测中探测得到的回波时间重叠时，这几个通道容易发生串扰，为此，对回波时间重叠的通道的光源的脉冲起始发射时刻进行调整，使得所述回波时间重叠的多个通道在下一水平角度对应的下一次探测中的脉冲起始发射时刻不同，进而使得这几个并行通道在下一次探测中的回波时间不再重叠，即通过当前水平角度的第一子测的探测数据，对下一水平角度对应的下一次探测中的脉冲的编码信息进行调整，从而可以避免通道间的串扰，提高整体探测质量。
进一步地，由于一次探测包括第一子测和第二子测两次测量过程，且可以根据第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测中的发光策略，进而能够减小并行发光的通道间的串扰，那么，基于所述第一子测和所述第二子测的回波信号，得到单次探测的探测结果，则会更加准确。
附图说明
为了更清楚地说明本说明书实施例的技术方案，下面将对本说明书实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本说明书的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了一种激光雷达的内部结构及基本光路的俯视图；
图2示出了一种光发射模块的平面结构示意图；
图3示出了本说明书实施例中一种激光雷达的探测方法的流程图；
图4示出了本说明书实施例中一种具体应用场景中激光雷达的探测原理示意图；
图5示出了本发明实施例中一种探测时序控制方式示意图；
图6示出了本说明书实施例中一种调整多通道的脉冲起始发射时刻的原理示意图；
图7示出了本说明书实施例中另一种调整多通道的脉冲起始发射时刻的原理示意图；
图8示出了本说明书实施例中一种激光雷达的控制系统的结构示意图；
图9示出了本说明书实施例中一种激光雷达的框架结构示意图；
图10a示出了一种光发射器件的平面结构示意图；
图10b示出了一种激光雷达的扫描视场图；
图11示出了一种激光雷达通道间串扰的具体场景示意图；
图12示出了本说明书实施例中一种具体应用场景中激光雷达相应通道的发光探测过程示意图；
图13示出了本说明书实施例另一种具体应用场景中激光雷达相应通道的发光探测过程示意图；
图14示出了本说明书实施例中一种调整多通道的脉冲起始发射时刻的原理示意图；
图15示出了本说明书实施例中另一种调整多通道的脉冲起始发射时刻的示意图；
图16示出了本说明书实施例中一种激光雷达的结构示意图；
图17示出了本说明书实施例中一种具体应用场景中激光雷达的探测原理示意图；
图18示出了本说明书实施例中另一种具体应用场景中激光雷达的探测原理示意图；
图19a示出了本说明书实施例中一种激光雷达的框架结构示意图；
图19b示出了本说明书实施例中一种激光雷达内部的布局结构示意图。
具体实施方式
为使本领域技术人员更好地理解现有技术中存在的问题，以下首先结合一种激光雷达的具体结构对激光雷达的探测原理进行简要介绍。
如背景技术部分介绍，激光雷达在探测过程中，当视场(即探测范围)内有反射率大于一定阈值的高反射率物体时，回波信号非常强，并行工作的其他通道可能会收到严重的干扰信号(非本通道的回波)，使其无法有效的解码，可能将干扰信号误判为本通道的回波，在原本没有物体的位置或角度测到虚假的物体，产生“鬼影”。
参照图1所示的一种激光雷达的内部结构及基本光路的俯视图，激光雷达10中，光发射器件11发出的探测光束经过第一透镜(组件)12整形后，由反射镜13将其反射至转镜14，通过转镜14反射的光束经由光罩15透射至外部 环境中，透射至外部的光束遇到障碍物后，会发生光的反射，其中部分反射光束会透过所述光罩15传输至转镜14，被转镜14反射的光束从反射镜13旁侧的空隙通过，并经第二透镜(组件)16汇聚后，被光探测器件17探测到。其中，收发光路通过所述反射镜13实现分离。
可以理解的是，上述激光雷达的结构仅用于介绍基本探测原理。在实际应用中，反射镜13可以设置为不同的样式，且光发射器件11及光探测器件17的相对位置可以进行调整。例如，反射镜13可以包括环形的反射面，探测光束从环形反射面之间的空隙通过，照射到转镜14上，被转镜14反射后经由光罩15透射至外部环境中，反射光束被转镜14反射后，被反射镜13的环形反射面反射至第二透镜(组件)16，进而被聚焦到光电探测器件17。
在具体实施中，光发射器件和光探测器件通常对应设置，且采用类似的布局结构形式。以下示出一种光发射器件的平面结构布局，在激光雷达中对应位置的光探测器件可以采用同样的布局方式。
接着参照图2所示的一种光发射器件的平面结构示意图，作为一具体示例，光发射器件11包括：发射电路板PB0及设置于所述发射电路板PB0上的多个光发射线列Bk1～Bk4，其中，每个光发射线列包括多个光发射单元，例如图2所示，每个光发射线列包括8个激光器。对应的，光探测器件可以包括多个光探测单元(例如探测器)的光探测线列。
多线激光雷达的“线”即为扫描线束。扫描线束的数量，简称扫描线数，也就是激光收发的通道数，或者说是最小可寻址通道的数目。通常激光器和探测器是1:1配置，一个激光器发射的探测光被障碍物反射的回波被激光雷达的一个探测器接收，得到一个对应于该障碍物的数据点，即一线的数据；此时，扫描线束的数量即等于激光器或者探测器的数目，也等于发射通道或者接收通道的个数。同时，也存在多个探测器共享一个激光器的情况，或者反之，或者甚至可能有交错的情况，此时可以通过分辨最小可寻址可选通的通道的数目，确定扫描线数。
图1示意的是混合固态激光雷达，通过光发射器件和光探测器件在垂直方向的排列实现一定的垂直视场的扫描，转镜绕垂直轴线旋转，将探测光束在水平方向上偏转到不同的方位，从而实现一定范围的水平视场的扫描。转镜还可以为振镜、摆镜等扫描镜。在一些激光雷达的实施例中，所述激光雷达为机械旋转式激光雷达，光发射器件和光探测器件设置在转子上，随转子旋转，实现 水平方向360°的扫描。在另一些激光雷达的实施例中，所述激光雷达为固态激光雷达，即激光雷达中不含有任何机械旋转部件，光发射器件和光探测器件二维排列，通过光发射器件和光探测器件的数量及间隔设置即可实现一定水平角度和垂直角度的二维扫描。
在现有技术中，为了避免信号串扰，并行探测的多个通道通常选择距离较远的通道，例如，接着参照图2，在发射端，对于光发射器件11，分别选取光发射线列Bk1～Bk4中纵向首个激光器并行发光，并通过对并行发光的多个通道采用不同的脉冲编码，通过对回波信号进行解码判断是否为本通道回波。
然而，如背景技术部分介绍，激光雷达在探测过程中，当视场内有反射率大于一定阈值的高反射率物体时，回波信号非常强，并行工作的其他通道都会收到严重的干扰信号，使其无法有效的解码，可能将干扰信号误判为本通道的回波，在原本没有物体的位置或方位测到虚假的物体，产生“鬼影”。
并且，视场中存在高反射率物体是经常遇到的情况。例如，道路指示牌是典型的高反射率物体，其表面由多个微小的角反射体组成，可将几乎所有入射到表面的光按原路径折返，回波能量极强，通道间的独立编码也不能有效地解决通道间的串扰问题。而路牌是激光雷达应用于自动驾驶时经常遇到的目标识别对象，因此，高反射率物体引起的激光雷达通道间串扰问题亟待解决。
针对上述问题，本说明书实施例提供一种激光雷达及其探测方案，其中，在单个探测轮次中，包括至少两个探测阶段，即第一子测和第二子测阶段，其中，在第一子测，控制并行探测的多个通道的激光器采用第一光强发光，以能够使其对应的探测器识别出探测范围内来自高反射率物体的回波，得到第一探测数据，进而在第二子测，根据所述第一子测的第一探测数据，调整所述多个通道的激光器的发光策略，并得到第二探测数据，之后，可以基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
在单探测轮次内，激光雷达的所有通道完成探测光的发射和回波的接收，也即激光雷达的全部通道完成一次障碍物探测，每个通道获得一个数据点。激光雷达发射的探测光，随着传播距离的增加而不断衰减，被障碍物表面反射后，部分反射光可被激光雷达再次接收，形成回波。因此，障碍物距离激光雷达越近、障碍物表面对光的反射率越高，激光雷达能接收到的回波强度也就越高。在本发明实施例中，第一光强可以根据激光雷达的最大探测距离及高反射率物体的反射率确定，使探测器仅能接收到其通道对应的方位和最大探测距离以内 存在的高反射率物体的反射回波；而反射率不足以引起通道间串扰的低反射率物体的反射回波，或者是高反射率物体的反射回波对于并行探测的其他通道引起的串扰回波，强度比较低，因此可以与高反射率物体的反射回波区分开。
在具体实施中，根据第一探测阈值，如脉冲峰值强度、脉冲前沿斜率、脉冲后沿斜率、脉冲阈值脉宽、脉冲覆盖面积等其中至少一种，可以在上述三类回波中识别出高反射率物体的反射回波。
简言之，采用本发明实施例中的探测方案，在单个探测轮次内进行二次扫描，即，通过第一子测可以识别出存在高反射率物体的方位角，进而可以在第二子测调整所述多个通道的激光器的发光策略，来降低高反射率物体的回波对并行工作的多个通道的影响，因而可以减小高反射率物体引起的并行工作的多个通道的串扰问题，提高探测质量。
在本发明实施例中，激光雷达可以包括多个激光器和多个探测器，构成多个通道，在一个探测轮次中，对于所有通道，可以分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测，可以包括第一子测和第二子测两个探测阶段。
其中，单次探测，是指得到该通道所设定的探测方位上的障碍物的如距离或者障碍物信息的探测过程。组次是当前方位上待探测通道被分组的概念，轮次是当前方位上待探测的所有通道完成探测后，进行下一个方位上待测通道的探测。
为使本领域技术人员对本发明实施例所包含的技术构思、技术原理、优点等有更加清楚的了解，以下参照附图，通过具体实施例，并结合具体应用场景等进行详细介绍。
参照图3所示的激光雷达的探测方法的流程图，对于并行探测的多个通道，具体可以执行如下的探测步骤：
S11，在第一子测，控制其对应的激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据。
其中，所述第一光强适于使其对应的探测器仅能够接收到探测范围内反射率大于预设第一反射率阈值的高反射率物体的回波。
在激光雷达的实际应用中，障碍物大部分为朗伯体或近似朗伯体，即入射能量以入射点为中心，在整个半球空间内向四周各向同性地反射能量，也称为漫反射。根据朗伯体的反射率确定激光雷达的最远探测距离，如位于最远探测 距离处、反射率为10％的朗伯体反射的回波能够被探测器接收并响应，获得距离信息，而距离更远或反射率更低的物体，由于回波强度降低，探测器可能无法响应，也就不能探测到。而自动驾驶场景中普遍存在的道路指示牌等高反射率物体，其具有角反射体表面，按照朗伯体计算的等效反射率超过10000％，必须关注某些通道的方位角内存在的高反射率物体产生的高强度回波对其他通道造成的串扰问题。
在一具体实施例中，第一反射率阈值根据激光雷达的串扰水平确定。
在具体实施中，第一反射率阈值可以略高于串扰回波所对应的反射率，使所述第一光强适于使其对应的探测器仅能够接收到探测范围内高反射率物体的回波，且接收不到串扰回波。在一具体实施例中，第一探测阈值为朗伯体等效反射率50％。
在具体实施中，在第一子测，可以控制所述多个通道的激光器发射单个激光脉冲或多脉冲序列。
S12，在第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过探测器探测得到第二探测数据。
在一个探测轮次中，每个通道的探测分别包括第一子测和第二子测，在可选示例中，一个时序的通道完成第一子测和第二子测后，进行下一时序的通道的第一子测和第二子测；在其他可选示例中，多个时序的通道依次完成第一子测后，再依次进行多个时序通道的第二子测。
作为可选示例，在所述第二子测，可以基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；对于探测范围内不存在高反射率物体的通道，则可以控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强。
在具体实施中，在所述第二子测，可以控制各通道对应的激光器采用满足雷达正常测距能力的第二光强发光。作为一具体示例，雷达预定最远探测距离为150m，可以设置第二光强需满足探测器能够接收到来自150m处10％反射率的物体的回波信号。
在具体实施中，在第二子测，对于根据调整后的发光策略发光的通道，可以控制其对应的激光器发射单个激光脉冲，也可以发射多脉冲序列。作为一可选示例，对于探测范围内不存在高反射率物体的通道，可以控制其对应的激光 器发射单个激光脉冲或多脉冲序列。
在具体实施中，探测器对于探测到的回波信号，通过数据采样，可以得到探测数据。例如，所述第一探测数据可能包括回波的脉冲峰值强度、脉冲前沿斜率、脉冲后沿斜率、脉冲阈值脉宽、脉冲覆盖面积等其中至少一种特征值。
在第一子测，设定第一探测阈值，根据所述第一探测数据的特征值是否超过所述第一探测阈值，判断探测范围内是否存在高反射率物体。在具体实施中，所述第一探测阈值由脉冲峰值强度、脉冲前沿斜率、脉冲后沿斜率、脉冲阈值脉宽、脉冲覆盖面积等其中至少一种表征。当所述第一探测数据的特征值超过所述第一探测阈值时，确定探测范围内存在高反射率物体。
为便于减小数据运算量，作为一种可选方式，可以采集所述第一探测数据中的脉冲峰值强度作为特征值，第一探测阈值为峰值阈值，进而确定所述第一探测数据中的脉冲峰值强度是否超过预设的峰值阈值，以判断所述多个通道的探测范围内是否存在反射率大于预设第一反射率阈值的高反射率物体。
在每个通道的最大探测距离相同的情况下，每个通道可设定相同的峰值阈值；若多个通道的最大探测距离不同，多个通道的峰值阈值可以不同。在一具体实施例中，对于最大探测距离较近的通道，其峰值阈值小于最大探测距离较远的通道的峰值阈值，如最大探测距离为50m的通道的峰值阈值，可以是最大探测距离为100m的通道峰值阈值的1/2。
而对于探测范围内存在高反射率物体的通道，如何控制其对应的激光器的光强小于所述第二光强，在具体实施中，也可以有不同的实现方式。以下示出两个可选示例。
一种是，对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光；另一种是，对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强为第三光强，所述第三光强小于所述第二光强。
在具体实施中，上述两种方案可以分别单独使用，也可以结合使用，例如对于探测范围内一部分存在高反射率物体的通道，可以控制其对应的激光器不发光；而对于探测范围内另一部分存在高反射率物体的通道，则可以控制其对应的激光器的光强为第三光强。
对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光或者控制其对应的激光器的光强为小于所述第二光强的第三光强，从而可以抑制高反射率物体的回波对并行工作的各个通道的干扰，避免通道间串扰。
在具体实施中，考虑到光反射物体的回波信号较强，激光器采用非常微弱的光强即可探测得到，因此为了进一步降低功耗，可以设置所述第三光强不超过所述第一光强。在一可选示例中，第三光强等于第一光强。
S13，基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
在具体实施中，可以仅基于所述第一探测数据，得到所述多个通道单次探测的探测结果，或者仅基于所述第二探测数据，得到所述多个通道单次探测的探测结果，或者基于所述第一探测数据和所述第二探测数据，得到所述多个通道单次探测的探测结果。具体采用的方案，可以基于所述第一探测数据的具体情况，以及所述多个通道在第二子测的发光策略进行确定，此外，对于并行探测的多个通道，不同的通道也可以采用不同的方式。以下结合一些具体应用场景进行示例性说明。
在本说明书一些示例中，对于探测范围内不存在高反射率物体的通道，则可以仅基于所述第二探测数据，获得所述探测范围内的探测结果，例如，直接将所述第二探测数据作为所述探测轮次中所述探测范围内的探测结果。而对于探测范围内存在高反射率物体的通道，则可以根据其在所述第二子测中其激光器的发光策略，而有不同的处理方式，具体而言，可以采用以下示例：
若在步骤S12中，对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光时，则在步骤S13中，对于探测范围内存在高反射率物体的通道，可以仅基于所述第一探测数据，获得所述探测通道单次探测的探测结果；
若在步骤S12中，对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强为第三光强时，则在步骤S13中，对于探测范围内存在高反射率物体的通道，可以仅基于所述第二探测数据，或者也可以基于所述第一探测数据和第二探测数据，获得所述通道单次探测的探测结果。
在具体实施中，若基于所述第一探测数据和第二探测数据，获得所述多个通道单次探测的探测结果，作为一种可选方式，可以直接将第一子测的回波信号和所述第二子测的回波信号进行叠加，作为各对应通道的探测数据，并基于各对应通道的探测数据，获得各对应通道单次探测的探测结果。采用这种方式，仅需要对第一子测获得的回波信号和第二子测获得的回波信号在叠加后进行一次采样处理，可以简化系统运算处理过程。
可以理解的是，以上具体示例并不用于限定步骤S13的具体实现，在具体 应用过程中，可以根据具体情况，对以下具体示例方式进行扩展、变形或优化，或者采用其他的基于这两个探测阶段的第一探测数据和第二探测数据，得到所述多个通道单次探测的探测结果的方式。
由上述探测过程可知，采用上述实施例的探测方法，对于并行探测的多个通道，通过第一子测可以识别出高反射率物体，进而可以在第二子测调整所述多个通道的激光器的发光策略，来降低高反射率物体的回波对同时探测的多个通道的影响，因而可以减小高反射率物体引起的并行工作的多个通道的串扰问题，提高探测质量。
此外，在所述第二子测，基于所述第一探测数据，可以判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体，进而，一方面，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，且所述第二光强大于所述第一光强；另一方面，对于探测范围内存在高反射率物体的通道，进一步控制其对应的激光器的光强小于所述第一光强。
由上述第二子测所述多个通道的发光策略可知，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用大于所述第一光强的第二光强发光，可以对探测范围内的物体进行正常探测，而对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强，因此可以在保障探测到探测范围内的高反射率物体的情况下减小对其他通道的干扰，提高整体探测质量。
此外，虽然第一子测的第一光强为适于使其对应的探测器能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波，但是在任一通道的视场内，若存在常规漫反射物体，其回波信号也可能被探测器接收到，尤其是漫反射物体距离比较近的情况，针对这一情况，通过将第一子测的回波信号和所述第二子测的回波信号进行叠加，作为各对应通道的探测数据，进而基于各对应通道的探测数据，获得各对应通道单次探测的探测结果，这一探测过程，既可以探测到探测范围内的高反射率物体，也可以探测到探测范围(包括距离比较近的近处)内的常规漫反射物体，从而可以提高探测能力。
如前实施例所述，在具体实施中，在第一子测和/或所述第二子测，对于并行探测的各个通道，可以控制其对应的激光器发射单个激光脉冲或多脉冲序列。
对于所发射的单个激光脉冲或多脉冲序列，为了进一步提高抗干扰性能， 在具体实施中，可以对并行探测的多个通道中的激光器发射的单个激光脉冲或多脉冲序列进行编码，不同通道的激光器发射的单个激光脉冲或多脉冲序列具有不同的编码信息。本说明书实施例中，并不限制编码信息的具体类型和可能维度，作为可选示例，所述编码信息可以包括：脉冲数目、脉冲起始发射时刻、多脉冲间时间间隔、脉冲强度比例、脉冲宽度比例中的一个或多个。
为使本领域技术人员更好地理解和实施，以下通过一具体应用场景中激光雷达的探测过程进行详细描述。
参照图4，以32线激光雷达为例，在单个探测轮次中，可以按照预设的探测时序控制这32个通道的激光器依序轮巡发光，以及，采用对应的探测器对探测范围内的物体进行探测，一个视场，一个探测轮次包括第一子测Loop0和第二子测Loop1两个探测阶段。
在具体实施中，可以分组并行探测。作为具体示例，将32个通道共分为4组，每次控制8个通道的激光器并行工作，对应8个探测器在预设的时间窗口内接收回波信号，时间窗口结束后，另外8个通道的激光器并行工作，对应另外8个探测器接收回波信号……如此依次完成各通道的第一子测Loop0的探测，得到第一探测数据，待所有通道完成第一子测Loop0的探测后，根据第一探测数据，对第二子测Loop1相应通道激光器的发光策略进行调整，并对各通道组依次进行第二子测Loop1的探测，得到第二探测数据。
其中，在第一子测Loop0，为了避免高反射率物体引起的串扰，可以控制并行探测的多个通道的激光器采用光强较小的第一光强发光，其中，所述第一光强适于使对应的探测器仅能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波。在具体实施中，可以根据激光雷达预期的测远能力、高反射率物体的回波能量、通道间的串扰程度，设定所述第一光强，以及相应探测器的第一响应阈值，使得探测器能够接收到探测范围内高反射率物体的回波即可。作为示例，设激光雷达的最远探测距离为100m，高反射率物体的朗伯体等效反射率为50％，根据探测器的参数确定其能够响应的最低光强度，即第一响应阈值。使激光器发出的第一光强的探测光，经过200m传播衰减、高反射率物体表面反射衰减后，到达探测器的回波光强度不低于第一响应阈值。
另作为示例，如图4所示，这里在第一子测Loop0，并行工作的多个通道均发射双脉冲，其中，为了避免通道间干扰其其他雷达的干扰，各通道的激光器的双脉冲通过脉冲间时间间隔进行独立编码。
参照图4，在第一子测Loop0：
首先通道1-8并行工作，各通道并行发出第一个脉冲，并按照预设的脉冲间时间间隔，分别发出各自的第二个脉冲，通道1-8的探测器在预设的时间窗口内接收信号；所述时间窗口结束后，通道9-16并行工作，各通道并行发出第一个脉冲，并按照预设的脉冲间时间间隔，分别发出各自的第二个脉冲，通道9-16的探测器分别在预设的时间窗口内接收信号；……直至通道25-32，各并行工作的多个通道，分组进行发光及探测，从而可以得到第一子测Loop0中通道1-32对应的第一探测数据。
由于在第一子测Loop0，并行工作的多个通道采用小光强发光，高反射率物体的反射回波仅能达到探测器的响应阈值，因此，即使是高反射率物体的回波也不会太强，因此可以避免造成并行工作的其他通道的回波严重变形，使得各个通道都能通过解码识别出有效信号。
继续参照图4，在第二子测Loop1：
根据第一子测Loop0的探测数据，调整相应通道在第二子测Loop1的发光策略。并采用类似的时序分别对并行工作的多个通道依次进行第二子测的发光，并通过探测器探测到相应的回波信号，获得第二探测数据。
在具体实施中，在所述第二子测Loop1，可以控制各通道对应的激光器采用满足雷达正常测距能力的第二光强发光。作为一具体示例，雷达预定测远距离为150m，可以设置第二光强需满足探测器能够接收到来自150m处10％反射率的物体的回波信号。
而若在第一子测Loop0，对于接收到反射率大于预设第一反射率阈值的高反射率物体的回波的通道，即对于探测范围内存在高反射率物体的通道，则可以调整其在第二子测Loop1的发光策略。以下结合图4示出两种可选的方案：
1)在第二子测Loop1，控制其对应的激光器不发光。
参照图4，若在某一探测轮次，基于第一探测数据，确定在第一子测Loop0，探测器探测到通道2的方位角内存在高反射率物体，则在第二子测Loop1，通道2不发射任何脉冲(图4中用空白表示)，则可以避免该通道的激光器发射强光信号被高反射率物体反射而造成并行工作的其他通道产生信号串扰。
2)在第二子测Loop1，控制其对应的光强为第三光强，所述第三光强小于所述第二光强。
如图4所示，若在某一探测轮次，基于第一子测Loop0的第一探测数据， 在第一子测Loop0，确定通道8及通道10存在高反射率物体，则在第二子测Loop1，按照发光时序，首先控制并行工作的通道1-8中的1-7的激光器采用第二光强发光(图4中用单个粗实线箭头表示其激光器发射的为单个激光脉冲，且其光强大于第一光强)，以及控制通道8的激光器采用第三光强工作(图4中用虚线箭头表示其光强低于第一光强)；接着控制并行工作的通道9-16中的通道9、通道11-16的激光器采用第二光强发光(图4中用单个粗实线箭头表示其激光器发射的为单个激光脉冲，且其光强大于第一光强)，以及控制通道10的激光器采用第三光强工作(图4中用虚线箭头表示其光强低于第一光强)。
以上为描述简便，将两种调整第二子测发光策略的方案结合同一幅图进行了说明，在具体实施中，两种方案也可以结合执行，例如若在第一子测Loop0，基于第一探测数据，确定通道2、通道8和通道10存在高反射率物体，则在一具体实施例中，在第二子测Loop1，按照预设探测时序，对于并行工作的通道1-8，可以控制其中的通道2的激光器不发光，而控制通道8的激光器采用第三光强发光，通道1、通道3-7则采用第二光强发光；接着，对于并行工作的通道9-16，控制其中通道9、通道11-16的激光器采用第二光强发光，以及控制通道10的激光器采用第三光强工作。
采用上述方案，对于在第一子测Loop0探测到存在高反射率物体的通道的激光器，由于在第二子测Loop1，控制其光强为第三光强，小于所述第二光强，使其被高反射率物体反射后能够被对应的探测器接收到，同时不会影响其他通道的回波信号的波形特征，因此可以降低并行工作的通道间的串扰，提高探测质量。
另外，单个探测轮次内包含上述两个探测阶段的探测过程，其中由于在第二子测Loop1中视场(即探测范围)内可能存在高反射率物体的通道不发光或者发光光强(对应发光功率)降低，则在第二子测Loop1内正常探测的通道接收到的回波信号不会特别强，因而串扰较小，可以采用单脉冲探测(即相应通道的激光器发射单个激光脉冲)，降低系统功耗。
在单个探测轮次中，控制多个通道的激光器如何按照预设的发光时序发光，也可以有不同的实现方式。
一种是，在一个探测轮次中，控制所有通道的激光器按照所述第一子测和所有通道的所述第二子测依次进行发光，即在完成所有通道的第一子测的探测后，再按照预设的探测时序控制所有通道完成第二子测的探测。
在具体实施中，可以控制所有通道在第一子测并行探测，接着再控制所有通道在第二子测并行探测。或者，可以将激光雷达的所有通道按照探测时序分为多组通道，每组通道包括并行探测的多个通道，则可以先控制所有通道的激光器在第一子测分组依次发光，之后再控制所有通道的激光器在第二子测分组依次发光，如图4所示应用场景。
上述方案在第一子测的探测结束后，再开启第二子测的探测，在具体应用过程中，可能存在第一子测持续时间较长，同一通道在第二子测探测时，相对于第一子测已经转过了一定的角度，则两次探测的视场存在角度偏差，可能第一子测探测到的高反射率物体在同一通道的第二子测探测时已经偏离了视场，因此造成反馈存在偏差。
为解决上述问题，在单个探测轮次中，可以控制所有通道的激光器按照所述第一子测和所述第二子测分组依次发光。更具体而言，在单个探测轮次中，可以控制一组或多组通道的激光器按照所述第一子测和所述第二子测分组依次进行发光。也就是说，在一个探测轮次中，可以在一组或多组通道完成其自身的第一子测和第二子测后，接着完成下一组或多组通道的第一子测和第二子测，直至完成所有通道的第一子测和第二子测。
为便于理解，以下参照图5所示的探测时序控制方式示意图进行介绍，作为示例，仅示出24个通道的发探测控制时序，这里将24个通道分为三组，一组有8个通道可以并行工作，按照预设的探测时序，在一个探测轮次中，则先完成通道1-8在第一子测和第二子测的探测，接着进行通道9-16第一子测和第二子测的探测，最后执行通道17-24在第一子测和第二子测的探测。可以看出，上述方案中不同组别/群组的第一子测和第二子测是交错进行的，这样就可以降低同一个通道在两个探测阶段探测的角度偏差，从而可以提高第一子测探测得到的第一探测数据作为反馈数据的精准性，用于对第二子测探测调整。
如前所述，对于并行探测的多个通道，为了进一步提高其抗串扰的性能，在第二子测，对于根据调整后的发光策略确定发光的通道，可以控制各通道对应的激光器发射多脉冲序列(例如双脉冲)，并对并行探测的多通道激光器的多脉冲序列设置不同的编码信息，例如，所述编码信息可以包括：脉冲数目、脉冲起始发射时刻、多脉冲间时间间隔、脉冲强度比例、脉冲宽度比例中的至少一个。
具体的，对于并行探测的多个通道，在第二子测，为了实现其脉冲起始发 射时刻的调整，可以每个通道设置一个不同的起始发射时刻。例如，各个通道的激光器的发射时刻之间的间隔相差固定值或者呈预设比例，或者为每个通道在预定的脉冲起始发射时刻t0基础上，施加一个随机的时间抖动值τ，将t0+τ作为各通道的激光器发射脉冲的实际起始时刻。
在具体实施中，为了进一步提高其抗干扰性能，可以基于并行工探测的多个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息。以下给出一可选示例具体说明如何调整。
若按照原始(初始设置或者当前探测过程中所采用的)的发光策略，每个时序(Sequence)多个通道的激光器并行发光(并行工作)，且脉冲起始发射时刻相同，则下一个Sequence这并行探测的多个通道的激光器也是在预定的同一时刻开始发光，且具有相同的脉冲起始发射时刻。在这种情况下，如果存在干扰信号，则这多个通道的干扰点所对应的飞行时间(Time of Flight，ToF)值和/或位置具有较高的相关性，从而可能被误判为有效数据点。针对这一问题，可以采用如下的扩展方案。
在具体实施中，调整激光器脉冲起始发射时刻的方式有多种，例如，对于并行探测的多个通道，每个通道的激光器可以设置一个不同的起始发射时刻。
例如，各个通道的激光器的发射时刻之间的间隔相差固定值，或者呈预设比例。
又例如，为每个通道在预定的脉冲起始发射时刻t0基础上，施加一个随机的时间抖动值τ，将t0+τ作为各通道的激光器发射脉冲的实际起始时刻。
参照图6所示的一种调整多通道的脉冲起始发射时刻的原理示意图，并行工作的多个通道A～H预定的脉冲起始发射时刻为t0，每个通道对应的随机时间抖动值对应依次为τ A～τ H。由于不同通道的时间抖动值均为随机的，可以认为各不相同，则并行工作的多个通道的激光器发光所对应的脉冲起始发射时刻不同，而干扰信号不具有该随机性，因此，即使多个通道都产生了噪点，噪点的ToF值也相差较大，不具有相关性，进而可以结合前述实施例所示的点云滤噪方法将其判定为孤点而滤除。
采用上述对脉冲起始发射时刻通过随机抖动进行调整的方式对探测过程进行改进，功耗较低，并且能够有效地减少噪点。
由于每一探测轮次T均包含两个探测阶段，因此在第一子测和第二子测中各通道对应的脉冲起始发射时刻均发生变化，依次变为：t0+τ A～t0+τ H。
对于并行工作的多个通道，在上一水平方位角的第一子测探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在当前探测轮次中的第一子测的脉冲起始发射时刻不同。
参照图7所示的另一种调整多通道的脉冲起始发射时刻的示意图。其中用实线箭头表示激光器发射的探测信号S0，用点划线箭头表示回波信号R0，图7示出了在水平方位角为0°(上一水平方位角的第一子测)时，通道A和通道B的回波信号的时间重叠，二者起始时刻相同，发生回波干扰，针对这种情况，可以在接下来的当前探测轮次中的第一子测，例如，对应水平方位角为0.2°，对通道A和通道B的激光器的脉冲起始发射时刻进行调整，例如对于通道B的激光器的脉冲起始发射时刻增加一随机扰动值τ B，使其与通道A的激光器的脉冲起始发射时刻错开，相应地，二者的回波信号的时间也分开了，从而可以避免不同通道之间的相互干扰。
可以理解的是，以上仅为示例性说明。在具体实施中，基于角度间的反馈及调整并不限于不同探测轮次的第一子测，在具体实施中，可以基于反馈的各通道的上一水平方位角(对应上一探测轮次)的第一子测和/或第二子测的回波信号的关系，对各通道当前方位角(对应当前探测轮次)的第一子测和/或第二子测的激光器的脉冲起始发射时刻等进行调整。
在具体实施中，为了能在探测过程中根据需要生成所述随机抖动值，可以在激光雷达中内置随机数发生器。参照图8所示的一种激光雷达的控制系统的结构示意图，激光雷达80包括：控制器81、随机数发生器82，以及分别与各通道对应的驱动器83、激光器84和探测器85。以下结合图8详细介绍其工作原理：
控制器81，在根据在上一探测轮次的探测结果，确定并行探测的多个通道的干扰点的特征(例如所对应的ToF值，和/或位置)具有比较高的相关性时，可以控制所述随机数发生器82启动工作，对于并行工作的多个通道，分别生成相应通道的随机扰动值，并输出至所述驱动器83及反馈至所述控制器81；
各通道对应的驱动器83，分别基于预定的脉冲起始时刻和相应通道的随机扰动值进行叠加，得到各通道对应的脉冲实际起始时刻，并在相应的脉冲实际起始时刻驱动相应通道的激光器84发光；
各通道对应的探测器85，在探测轮次内，进行回波探测，得到探测结果， 并传输至所述控制器81；
进而，所述控制器81，根据各通道的探测器返回的探测结果，将回波信号接收时间减去对应的脉冲起始发射时刻，可以获得比较准确的ToF值。
在具体实施中，所述随机数发生器82可以为硬件实现，也可以通过软件算法实现，例如通过哈希算法实现。本说明书实施例对其具体实现形式不做任何限定。
本说明书实施例还提供了能够实现上述探测方法的激光雷达，为使本领域技术人员更好地理解和实施，以下结合附图，进行对应介绍。
参照图9所示的激光雷达的结构示意图，在本说明书一些实施例中，如图9所示，激光雷达LA0包括：光发射模块TX、光探测模块RX和数据处理装置C0，其中：
光发射模块TX，包括多个激光器；
光探测模块RX，包括多个探测器，分别与所述多个激光器对应设置，构成多个通道，所述多个探测器适于采集对应通道的激光器发光后照射到物体O后的回波；
数据处理装置C0，适于在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测均包括第一子测和第二子测，其中，对于并行探测的多个通道：在所述第一子测，控制其激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据，其中，所述第一光强适于使其对应的探测器能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波；在所述第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过其对应的探测器探测得到第二探测数据；以及，基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
在具体实施中，所述数据处理装置，在所述第二子测，适于基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；以及，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第一光强。
所述数据处理装置具体可以是单片机、或者是现场可编程门阵列(Field  Programmable Gate Array，FPGA)、单核或多核处理器等任意具有数据处理能力的芯片、装置或设备，本说明书实施例中并不限定其具体的硬件结构。
可以理解的是，图9仅为激光雷达相应功能模块之间关系的示意性说明，并不用于表面激光雷达实际的机械结构或位置、布局关系。
上述激光雷达的具体实施方式、原理、应用场景及优点等均可以参见前述探测方法实施例中的对应描述，此处不再赘述。
参照图10a所示的一种光发射器件的平面结构示意图以及图10b示出的激光雷达扫描视场图，作为另一具体示例，光发射器件11包括：发射电路板PB1及设置于所述发射电路板PB1上的多个光发射线列Bk1～Bk16，其中，每个光发射线列包括多个光发射单元，例如图10a所示，每个光发射线列包括8个激光器。对应的，光探测器件可以包括由多个光探测单元(例如探测器)组成的光探测线列。雷达的激光器发光，经过发射透镜(组)对所发出的光进行偏折，从雷达出射的时候，打向不同的方向。在一个激光器和一个探测器构成一个探测通道的雷达中，每个通道负责一个垂直角度(一般是平行于雷达的转轴的方向，而水平角度一般是垂直于雷达转轴的方向)方向的探测，所有的通道构成雷达的垂直视场。图10b示出了n个通道/线束，n可以为16、32、40或者64或者128或者其它的数字，垂直视场(Field Of View，FOV)为(-16°～7°)，由所有激光器的垂直探测角度共同构成。其中，最上面的激光器的垂直方向角为7°，也即负责7°方位的距离探测，最下面的激光器的垂直方向角为-16°，也即负责-16°方位的距离探测。
需要说明的是，对多线激光雷达而言，扫描线束的数量，简称扫描线数，也就是激光收发的通道数，或者说是最小可寻址通道的数目。通常激光器和探测器可以1:1配置，扫描线束的数量即等于激光器或者探测器的数目，也等于发射通道或者接收通道的个数。同时，也存在多个探测器共享一个激光器的情况，或者反之，多个激光器共享一个探测器，或者甚至可能有交错的情况，此时可以通过分辨最小可寻址可选通的通道的数目，确定扫描线数。
参照图11所示的一种激光雷达通道间串扰的具体场景示意图，如图11所示，激光雷达包括多个通道(例如Channel1～Channeln，其中，n为大于1的整数)的激光器。
在某一次探测中，Channel1和Channel3对应的激光器并行发光，发射的探测光束经光学组件3C出射至外部环境中，其中，Channel3对应的探测方位 上存在障碍物3A，而Channel1对应的方位上不存在任何物体。
然而，由于障碍物3A为高反射率物体，其收到的来自Channel3的激光器所发的光束后反射的回波不仅经光学组件32传输至Channel3对应的探测器(为便于理解，将Channel3发射的探测光束和该光束经障碍物3A反射的回波绘制在同一光路上，在实际探测过程中，二者光路可以不一致)，还可能传输至并行发光的其他通道，例如Channel1中的探测器，障碍物3A反射的光束经光学组件32传输至Channel1中的探测器，使得Channel31的探测器在原本没有物体的位置或者角度，探测到虚假的物体3B，进而构建出非反映真实障碍物信息的点云，俗称“鬼影”。
视场中存在高反射率物体是无人驾驶场景较常遇到的情况。例如，道路指示牌是典型的高反射率物体，而路牌是激光雷达应用于自动驾驶时经常遇到的目标识别对象，因此，激光雷达通道间串扰问题亟待解决。
针对激光雷达并行发光的多个通道之间的信号串扰问题，本说明书实施例提供了相应的激光雷达及其探测方案，当采用激光雷达进行探测时，对于待探测的所有的通道，分组次轮流执行探测，直到完成需要被探测的所有通道，然后再进行下一个轮次的探测。同组探测的所有通道并行发光，其中，每个通道的单次探测，包括两个探测的动作，分别称为第一子测和第二子测，并且，根据所述第一子测的回波信号，可以相应调整并行发光的通道的激光器在其第二子测的发光策略，或调整后续轮次进行探测的通道的第一子测中的发光策略。
由于并行发光的各个通道的第一子测的回波信号可以反映相应通道在探测范围内的障碍物的特征以及可能存在的各并行通道之间的串扰，因此，对于每个通道，根据其对应的第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略后，并行发光的多个通道在第二子测或/后续轮次的第一子测过程中回波信号之间的串扰能够降低，因而整体上能够减小并行发光的通道间的串扰，提高探测质量。
需要说明的是，对于雷达而言，可以设置平行于旋转轴的方向为垂直方向，垂直于旋转轴的方向为水平方向。单次探测，是指得到该通道所设定的探测方位上的障碍物的如距离或者障碍物信息的探测过程。组次是当前方位上待探测通道被分组的概念，轮次是当前方位上待探测的所有通道完成探测后，进行下一个方位上待测通道的探测。比如在当前的水平方位角0°方向，需要进行128个通道的探测，8个为1组并行发光，共分为16组进行，第一组次可以控制激 光器1、3、5、7、9、11、13、15发光，接着第二组次控制激光器2、4….发光，第十六组次控制剩余的8个激光器发光，相应的探测器进行接收回波，完成该方位上所有通道的探测后，开始下一轮次的探测，即在下一个水平方位角比如0.2°上进行探测，比如待测通道为32个，可以四个为一组并行发光，分为8组进行。
为使本领域技术人员对本发明实施例所包含的技术构思、技术原理、优点等有更加清楚的了解，以下参照附图，通过具体实施例，并结合具体应用场景等进行详细介绍。
在本说明书实施例中，激光雷达可以包括多个激光器与多个探测器，激光器和探测器构成对应的通道。在具体实施中，根据激光雷达的设计要求以及实际应用场景，在由激光器和探测器构成的通道中，1个通道可以由1个激光器和1个探测器构成，也可以由1个激光器和对应的多个探测器构成，还可以由1个探测器和对应的多个激光器构成。本说明书实施例不限制激光雷达通道的具体结构，只要通道能够完成障碍物探测即可。
为了理解多通道激光雷达的基本探测原理，对多通道激光雷达的探测方法进行简要介绍。
首先，对于所有的通道，可以分组次执行探测。其中，所述探测包括：激光器发射光信号，探测器接收经障碍物反射的回波信号，并根据所述回波信号得到所述障碍物的包括如距离及反射率的探测信息。
每组探测的激光器可以并行发光。需要说明的是，所述“并行发光”指多个通道在一个时间窗口内，完成信号发射和接收回波，这些通道彼此之间的发光时间可以有重叠，但不必然需要同时发光或者收光。为完成对障碍物与雷达之间的距离进行的一次探测，激光器可以在t1时刻发光，遇到预设的该雷达可以探测到的最远dmax处的障碍物之后返回，回波于t2时刻被探测器接收到，时间窗口△t≈dmax/2C(C为光速)≈t2-t1。作为具体示例，可以是每组的各激光器在同一时刻开始发光，也可以是指每组中的所有激光器在探测过程中的某一时刻全部处于发光状态，或者在同一探测时段内，每组的激光器依序发光。为了避免信号串扰，并行工作的多个通道可以选择间隔相对较远的通道，例如，接着参照图2，在发射端，对于光发射器件11，可以分别选取光发射线列Bk1～Bk8中纵向从上之下而言首个激光器并行发光。
为了解决并行发光的通道间的串扰问题，激光雷达可以按照如下探测方法， 得到障碍物的探测信息：
对于每个通道的单次探测，所述单次探测可以包括第一子测和第二子测，其中，可以根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略。
在具体实施中，由于回波信号强度能够准确地反映障碍物的特征，例如距离、反射率等特征，因此，可以根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，使得并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强发生变化，从而可以减小并行发光的通道间的串扰，提高探测质量。
在具体应用过程中，发明人发现，在通道的探测范围内存在高反射率物体时，容易导致并行发光的其他通道产生串扰问题。为了识别出具有高反射率物体的通道，在本说明书一些实施例中，并行发光的通道的激光器在第一子测中的发射光强可以为第一光强，所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号。
在探测距离及发射信号强度确定的情况下，由于回波信号强度能够反映障碍物的表面特征，例如反射率。因此，根据第一子测中回波信号的强度，可以识别出探测器探测范围内的高反射率物体。
具体而言，由于第一子测中发射的第一光强相对比较小，是不大于使探测器能够探测到大于预设第一阈值的高反射率物体的强度，因此，若第一子测中回波信号的强度大于一定阈值(例如第一阈值Thr1)，说明在第一子测中，通道的探测范围内，大概率存在高反射率物体。
为完成一次探测，每个通道均可以进行两次发光测距，也即第一子测和第二子测，因此在实际应用中，可以根据第一子测中回波信号所处的信号强度区间，大概判断该通道在所探测方位上大概遇到了什么样的障碍物，进而根据障碍物的情况，控制并行发光的通道的激光器在接下来要进行的第二子测的发光策略，以便进行更精准的探测。
本说明书实施例还提供了另外一种方案，因为在当前方位上所有需要进行探测的通道都完成探测后，会在下一个方位上进行下一次的探测，因此，也可以在后续轮次的第一子测中采用与当前方位上所采用的不同的发光策略。
在具体实施中，以上两种方案可以一并结合使用，也可以择其一，两种方 案均是根据已经得到的探测结果，相应调整后续探测的策略，进而有针对性的进行更精准的探测。
在本说明书一些实施例中，根据第一子测的回波信号的强度与第一阈值、第二阈值之间的大小关系，确定第一子测的回波信号强度所处于的强度区间，进而可以采用不同的调整方式，控制对应通道的激光器在第二子测和/或后续轮次的第一子测中采用相应的光强发光。
在具体应用过程中，发明人进一步研究发现，当第一子测的回波信号的强度处于第一阈值和第二阈值之间时，难以判断并行发光的通道间是否发生串扰问题。针对这一问题，对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第二光强发光，其中，所述第二光强不同于所述第一光强。
作为可选示例，所述第二光强可以大于或小于所述第一光强。在具体实施中，为避免因第二光强的强度过大，串扰到其他通道，在本说明书一些实施例中，所述第二光强可以略大于所述第一光强，在本说明书另一些实施例中，所述第二光强可以略小于所述第一光强。换言之，所述第二光强和所述第一光强间的差值可以小于预设光强阈值，其中，所述预设光强阈值可以根据实际应用场景以及激光雷达的具体参数设定。
对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，通过控制激光器在所述第二子测和/或后续轮次的第一子测中采用不同于所述第一光强的第二光强发光，可以在保障探测到探测范围内的高反射率物体的情况下，减小对其他通道的干扰，提高整体探测质量。
在具体实施中，可以根据激光雷达预期的测远能力、高反射率物体的回波能量，设定所述第一光强和第二光强，以及相应探测器的探测到的回波信号的阈值，使得探测器能够接收到探测范围内高反射率物体的回波即可。
在说明书一些实施例中，还可能存在第一子测的回波信号的强度小于第一阈值或者大于第二阈值的情况，基于上述两种情况，可以采用如下发光策略：
作为一可选示例，对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第三光强发光，其中，所述第三光强不小于所述第二光强。
作为另一可选示例，对于探测范围内存在强度不小于第二阈值的回波信号的通道，控制其激光器在所述第二子测中不发光，或控制其激光器在所述第二 子测和/或后续轮次采用第四光强发光，所述第四光强小于所述第二光强且大于所述第一光强。
在具体实施中，上述多种方案可以分别单独使用，也可以结合使用，例如对于并行发光的多个通道，对于探测范围内大概率存在高反射率物体的通道，可以控制其激光器在所述第二子测中不发光，或采用第四光强发光；而对于探测范围内大概率不存在高反射率物体的通道，则可以控制激光器在所述第二子测中采用第三光强发光。
由上述通道的发光策略可知，对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，控制其对应的激光器采用不小于所述第二光强的第三光强发光，以对探测方位上可能存在的障碍物进行正常探测；对于探测范围内存在强度不小于第二阈值的回波信号的通道，控制其激光器在所述第二子测中不发光，或采用第四光强发光，所述第四光强小于所述第二光强，可以抑制高反射率物体的回波对并行工作的各个通道的干扰，避免通道间串扰，提高整体探测质量。
为使本领域技术人员更好地理解和实施，以下通过具体应用场景中激光雷达相应通道的发光探测过程进行详细描述。
在具体实施中，对于具有多通道的激光雷达，所有的通道的测距，可以分组次轮流执行，同组的通道可并行执行。作为具体示例，对于具有128个通道的激光雷达，可以将这128个通道分为16组，每组8个通道并行探测；或者将这128个通道分为32组，每组4个通道并行探测。
可以理解的是，上述激光雷达中通道的分组仅为示例说明，本说明书实施例并不限制通道的具体分组结果。例如，分组得到的通道的数量也可以不一致，比如同样分为16个组，有的组可以是10个通道并行探测，有的组可以是6个通道并行探测。又如，所有的通道可以分为一组，所有的通道在一次探测中并行工作。
在本说明书一些实施例中，对于具有多组通道的激光雷达，在执行探测时，每组中通道的激光器可以并行发光，对该组通道中的任一个通道的一次探测，又包括第一子测和第二子测，进而基于第一子测回波信号的强度，可以调整通道在第二子测的发射光强。
参照图12所述的本说明书实施例中一种具体应用场景中激光雷达相应通道的发光探测过程示意图，如图12所示，以所述激光雷达中的两个通道，(例 如通道A和通道B)并行发光为例，对于单次探测，通道A和B可以按照相应的发光策略进行发光，以及，采用相应的探测器对探测范围内的物体进行探测。且对通道A以及通道B的单次探测，均可以各自包括第一子测(以下用Loop0表示)和第二子测(以下用Loop1表示)一共两个子探测过程。
作为具体示例，在第一子测Loop0，为了避免高反射率物体引起的串扰，可以控制并行发光的通道A和通道B均采用光强较小的第一光强发光，其中，所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号。
需要说明的是，关于第一子测Loop0采用的小光强，具体可以根据激光雷达预期的测远能力、结合高反射率物体的回波能量，设定发射光强及相应的探测器阈值，使得探测器能够接收到探测范围内高反射率物体的回波即可。在具体实施中，小光强，可以就是雷达的激光器可以发出的最小光强。
另作为示例，如图12所示，这里在第一子测Loop0和第二子测Loop1，并行工作的通道A和通道B的激光器发射的探测信号均为单脉冲信号。在具体实施中，可以发射多脉冲信号，并对多脉冲的以下至少一个参数进行编码和调整，例如发光时刻、脉宽及脉冲幅度等。继续参照图12，在第一子测Loop0：
通道A和通道B对应的激光器并行采用第一光强发光，在通道A和通道B对应的探测器上探测到相应的回波信号的强度，其中，如图12所示，通道A探测到的回波信号的强度大于第一阈值Thr1且小于第二阈值Thr2，而通道B探测到的回波信号大于第二阈值Thr2。
由于采用的第一光强使探测器仅能够探测到强度大于预设第一阈值Thr1的高反射率物体的回波信号，而通道A和通道B接收到的回波信号强度均大于第一阈值Thr1，则判断在第一子测Loop0通道B的方位上遇到了高反射率物体。然而，对于通道A的方位上，是否存在高反射率物体，并不完全确定，此处可能存在误判。因为，通道A的探测器接收到的回波信号可能来自通道A的激光器发射的探测信号遇到高反射率物体后反射形成，也可能是并行发光的通道B的回波信号给通道A造成的串扰，造成通道A的探测结果受到影响，进而影响激光雷达整体的探测质量。
为减小并行发光的通道间的串扰，提高激光雷达整体的探测质量，在第二子测Loop1：
可以控制通道A对应的激光器采用第二光强发光，并控制通道B对应的激 光器不发光(图12中用空白表示)，其中，所述第二光强大于所述第一光强(图12中采用箭头的长度示意光信号的强度)。
其中，对于通道B，在一次探测中的第一子测Loop0中，其回波信号的强度大于第二阈值Thr2，可以确定该通道的探测范围内存在高反射率物体，且根据第一子测Loop0的探测过程可以获得该方位上的探测信息，因此，为了避免其对并行发光的通道A的串扰，在一次探测的第二子测Loop1过程中，通道B的激光器可以不发光。而对于通道A，在一次探测中的Loop0中，回波信号的强度处于所述第一阈值Thr1和所述第二阈值Thr2之间，难以判定该回波信号是否受到并行发光的通道B的串扰，在第二子测Loop1中，控制通道B的激光器不发光，则可以消除通道B对通道A可能的干扰，且无需担心通道A对通道B造成干扰，在此情况下，控制通道A的激光器以大于第一光强的第二光强发光，能够实现通道A对更远的范围内可能存在的物体的探测。
由上述实施例可知，通过一次探测的两次子测过程，一方面，可以提高人眼安全且实现对探测范围内物体的试探探测，另一方面，能够减小并行发光的通道间的串扰，提高激光雷达整体探测质量。
可以理解的是，在具体实施中，在第一子测Loop0中，可能存在通道A和通道B接收到的回波信号的强度均大于第二阈值Thr2，说明通道A和通道B发射的脉冲大概率均遇到了高反射率物体，此时，可以控制通道A和通道B对应激光器在第二子测Loop1均不发光，从而提高整体探测效率。若在第一子测Loop0中，通道A和通道B接收到的回波信号的强度均小于第一阈值Thr1，说明探测器的探测范围内大概率不存在高反射率物体，此时，可以控制对应的激光器在第二子测Loop1均采用不小于第二光强的第三光强发光，以对探测方位上可能存在的障碍物进行正常探测。
需要说明的是，为便于理解，上述探测过程是以激光雷达的两个通道为例进行说明的，在具体实施中，激光雷达可能有两个以上的通道并行发光，执行探测，其探测过程可以参照上述实施例，不再赘述。
在本说明书另一些实施例中，基于第一子测回波信号的强度，可以调整并行发光的通道的激光器在后续轮次的第一子测中的发光策略，例如可以调整并行发光的通道的激光器在后续轮次探测的第一子测中的发射光强。
作为可选示例，可以根据每组通道当前单次探测中第一子测回波信号的强度，调整对应的通道在后续单个轮次(即下一次探测)的发射光强。更具体地， 可以根据所述第一子测的回波信号所处的强度区间，相应调整并行发光的通道的激光器在后续轮次的第一子测中的发射光强。
在具体应用中，随着激光雷达的扫描系统的扫描，激光器在不同的水平方位上进行探测，在这一过程中，以下结合图13详细介绍如何控制后续轮次的发光策略。
参照图13所述的本说明书实施例中另一种具体应用场景中激光雷达相应通道的发光探测过程示意图，一次探测可以包括至少两个子测过程，图13中仅示出了其中多次探测中的第一子测Loop0的过程。
作为示例，如图13所示，这里示出连续的两次探测，即当前轮次探测和下一轮次探测过程，比如在当前轮次探测的水平方位角为θ i，在下一轮次探测中，探测的水平方位角为θ i+1，其中，i为大于或等于1的整数。
参照图13，在当前轮次探测的第一子测Loop0：
在水平方位角为θ i的方位上，通道A和通道B对应的激光器采用第一光强(基本是雷达可发射的最小光强，以提高人眼安全且避免遇到高反射率物体后造成过大的串扰)并行发光，并在通道A和通道B对应的探测器上探测到相应的回波信号，其中，如图13所示，通道A接收到的回波信号的强度大于第一阈值Thr1且小于第二阈值Thr2，而通道B接收到的回波信号大于第二阈值Thr2。
为减小并行发光的通道间的串扰，提高激光雷达整体的探测质量，在下一轮次探测的第一子测Loop0：
在水平方位角为θ i+1的探测方位上，基于上述在水平方位角为θ i的探测方位的第一子测Loop0中探测器接收到的回波信号的强度，控制通道A对应的激光器在第一子测Loop0采用第二光强发光，能够实现对探测范围内可能存在障碍物的正常探测，提高整体探测质量。并且，控制通道B对应的激光器采用第四光强发光，其中，所述第四光强发光小于所述第二光强(图13中采用箭头的长度示意光信号的强度)，由此，可以实现对探测范围内高反射率物体的探测，且能够减小对其他通道的干扰。
由上可知，并行发光的通道的激光器在第一子测中接收到的回波信号的强度值可能处于不同的强度区间，例如，接收到的回波信号的强度值可能大于第一阈值且小于第二阈值、或者大于第二阈值、又或者可能小于第一阈值。
可以理解的是，为了适应复杂的探测环境，在具体实施中，可以设置更多 个阈值，形成更加精准控制的阈值区间。各个具体的阈值可以根据具体应用环境及激光雷达的性能需求进行设置。比如第一阈值可以为略大于环境噪声的数值，第二阈值为接近于探测器饱和的数值。
在具体应用过程中，也可以根据第一子测Loop0的回波信号，同时对并行发光的通道的激光器在所述第二子测Loop1的发射光强以及后续轮次的第一子测loop0中的发射光强进行调整，此处不再展开描述。
在具体实施中，除了通过根据第一子测的回波信号，相应调整并行发光的通道的激光器在后续的发射光强，还可以相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序，可以避免具有干扰的通道对并行发光的其他通道产生影响，从而可以提高激光雷达整体探测质量。
作为具体示例，可以控制每个通道的激光器在所述第一子测和第二子测均发射多脉冲序列或单个脉冲序列；或者，在所述第一子测发射多脉冲序列，在所述第二子测发射单个脉冲序列；又或者，在所述第一子测发射单个脉冲序列，在所述第二子测发射多脉冲序列。本说明书实施例并不限制激光器在所述第一子测和第二子测发射的脉冲序列的类型。
如前所述，激光雷达采用并行发光的方式，在单次探测的第一子测中，多个通道并行发光，相应地，单次探测的第一子测探测得到的回波时间可能会重叠，这样如果存在干扰信号，所述干扰信号有可能被误判为有效点，从而影响探测的质量。
对于第二子测和/或后续轮次的第一子测并行工作的多个通道，为了进一步提高其抗串扰的性能，可以在单次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在所述第二子测和/或后续预设轮次的第一子测中的脉冲起始发射时刻不同，进而使得所述多个通道在所述第二子测或后续预设轮次的第一子测中的脉冲收光时刻相互错开，因而能够减小并行通道之间的串扰。
作为具体示例，对于并行工作的多个通道，可以为每个通道设置一个不同的起始发射时刻。例如，各个通道的激光器的发射时刻之间的间隔相差固定值或者呈预设比例，或者为每个通道在预定的脉冲起始发射时刻t0基础上，施加一个随机的时间抖动值τ，将t0+τ分别作为相应通道的激光器发射脉冲的实际起始时刻。
为使本领域技术人员更好地理解和实施，以下给出一可选示例具体说明如 何调整。
参照图14所示的一种调整多通道的脉冲起始发射时刻的原理示意图，并行工作的多个通道A～H预定的脉冲起始发射时刻为t0，每个通道对应的随机时间抖动值对应依次为τ A～τ H。由于不同通道的时间抖动值均为随机的，可以认为各不相同，则并行工作的多个通道的激光器发光所对应的脉冲起始发射时刻不同，具备随机性；而相反的，干扰信号不具有该随机性，因此，即使多个通道都产生了噪点，噪点的ToF值也相差较大，不具有相关性，进而可以将其判定为孤点。
采用上述对脉冲起始发射时刻通过随机抖动进行调整的方式对探测过程进行改进，功耗较低，并且能够有效地减少噪点。
由于每一单次探测均包含两个子测，即第一子测和第二子测，因此在第一子测和第二子测中各通道对应的脉冲起始发射时刻可以均发生变化。
继续参照图14，对于并行发光的通道A～H，例如在t0开始的单次探测中，在第一子测1-seq0阶段，通道A～H对应的脉冲起始发射时刻均发生变化，依次变为t0+τ A～t0+τ H，类似地，在t0时刻开始的单次探测中，在第二子测1-seq1阶段，通道A～H对应的脉冲起始时刻均可再次随机变化，在每一次的探测过程中的第一子测N-seq0和第二子测N-seq1的起始发射时刻均随机发生变化，从而使得各并行发光的通道的激光器的相对发光时序，进而使得并行通道的回波时间不再重叠，从而能够进一步减少通道间串扰。
参照图15所示的另一种调整多通道的脉冲起始发射时刻的示意图。其中用实线箭头表示激光器发射的探测信号TX0，用点划线箭头表示回波信号RX0，图15示出了在水平方位角为0°的方位上的第一子测Loop0时，通道A和通道B的发射时刻基本一致，且回波信号的时间有一定的重叠，故会发生回波干扰。针对这种情况，可以在接下来的下一水平方位的探测，例如，对应水平方位角为0.2°的方位，对通道A和通道B的激光器的相对脉冲起始发射时刻进行调整，例如对于通道B的激光器的脉冲起始发射时刻增加一随机扰动值τ B，使其与通道A的激光器的脉冲起始发射时刻错开，相应地，二者的回波信号的接收时间也会大概率分开，从而可以避免并行发光的不同通道间的相互干扰。
可以理解的是，以上仅为示例性说明。在具体实施中，基于角度间的反馈及调整并不限于不同轮次探测的第一子测，在具体实施中，可以基于反馈的各通道的当前水平方位(对应本次探测)的第一子测和/或第二子测的回波信号的 关系，对各通道后续方位(对应后续轮次探测，例如下一水平角度的下一轮次探测)的第一子测和/或第二子测的激光器的脉冲起始发射时刻等进行调整。
在具体实施中，为了能在探测过程中根据需要生成所述随机抖动值，可以在激光雷达中内置随机数发生器。参照图16所示的一种激光雷达的结构示意图，激光雷达160包括：控制器161、随机数发生器162，以及分别与各通道对应的驱动器163、激光器164和探测器165。以下结合图16详细介绍其工作原理：
控制器161，在根据在本次探测的第一子测中的探测结果，确定并行工作的多个通道的干扰点的特征(例如所对应的ToF值，和/或位置)具有比较高的相关性时，可以控制所述随机数发生器162启动工作，对于并行工作的多个通道，分别生成相应通道的随机扰动值，并输出至所述驱动器163及反馈至所述控制器161；
各通道对应的驱动器163，分别基于预定的脉冲起始时刻和相应通道的随机扰动值进行叠加，得到各通道对应的脉冲实际起始时刻，并在相应的脉冲实际起始时刻驱动相应通道的激光器164发光；
各通道对应的探测器165，在单次探测内，进行回波探测，得到探测结果，并传输至所述控制器161；
进而，所述控制器161，根据各通道的探测器返回的探测结果，将回波信号接收时刻减去对应的脉冲起始发射时刻，可以获得比较准确的ToF值。
在具体实施中，所述随机数发生器162可以通过硬件电路实现，也可以通过软件算法实现，例如通过哈希算法实现，或者通过软件算法和硬件电路相结合的方式实现。本说明书实施例对具体所采用的软件算法、硬件电路结构等实现形式均不做任何限定。
如前所述，对于具有多通道的激光雷达，在进行探测时，可以将通道进行分组，在单次探测中，控制不同分组间的激光器如何按照预设分组时序进行探测，也可以有不同的实现方式。以下给出一些可实现示例，可以理解的是，以下示例并不用于限定本发明的保护范围。
在本说明书一种实施例中，在单次探测中，按照预设分组时序控制所有的通道依序均执行第一子测后再分组执行所述第二子测，即在完成所有通道的第一子测的探测后，再按照预设的发光时序控制所有通道完成第二子测的探测。
图17示出了本说明书实施例中一种具体应用场景中激光雷达的探测原理示意图，如图17所示，以128线激光雷达为例，分为多组，依序轮巡发光，在 每一轮中，多个激光器为一组进行并行探测，以及，采用相应的探测器对探测范围内的物体进行探测，每个单次探测包括Loop0和Loop1两个子探测动作。作为一可选示例，将128个通道共分为16组，每次控制一组8个通道的激光器并行工作，该组对应8个探测器在预设的时间窗口内接收回波信号，该时间窗口结束后，另外一组的8个通道的激光器并行工作，对应另外一组的8个探测器接收回波信号……如此依次完成各通道的第一子测Loop0的探测，得到相应的第一回波信号强度，待所有通道完成Loop0的探测后，根据所述第一子测Loop0的第一回波信号强度，对第二子测Loop1相应通道的发光策略进行调整，并对各通道组依次进行Loop1的探测，得到对应的第二回波信号强度。
其中，在第一子测Loop0，为了避免高反射率物体引起的串扰，可以控制并行工作的多个通道的激光器采用光强较小的第一光强发光，所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号，换言之，对于非高反射率(可以简称非高反)的物体，如果激光器发射第一光强，其对应的探测器会收不到足够过阈的强度的回波。在具体实施中，可以根据激光雷达预期测远能力、高反射率物体的回波能量以及相应探测器的响应阈值，设定所述第一光强，使得探测器仅能够接收到探测范围内高反射率物体的回波信号即可。
另作为示例，如图17所示，这里在第一子测Loop0，并行工作的多个通道均发射双脉冲，其中，为了避免通道间干扰其他雷达的干扰，各通道的激光器的双脉冲通过采用不同的脉冲间时间间隔进行独立编码。
参照图17，在第一子测Loop0：
首先通道1-8并行工作，各通道的激光器并行发出第一个脉冲，并按照预设的脉冲间时间间隔，分别发出各自的第二个脉冲，通道1-8的探测器在预设的时间窗口内接收信号。所述时间窗口结束后，通道9-16并行工作，各通道的激光器并行发出第一个脉冲，并按照预设的脉冲间时间间隔，分别发出各自的第二个脉冲，通道9-16的探测器分别在预设的时间窗口内接收信号……如此依序执行，直至通道121-128，各并行工作的多个通道，分组进行发光及探测，从而可以得到通道1-128在第一子测Loop0中对应的第一回波信号强度。
由于在第一子测Loop0，并行工作的多个通道采用小光强发光，因此，即使是高反射率物体的回波一般也不会让探测器饱和，因此可以避免造成并行工作的其他通道的回波严重变形，使得各个通道都能通过解码识别出信号。
继续参照图17，在第二子测Loop1：
根据第一子测Loop0对应的第一回波信号强度，调整相应通道在第二子测Loop1的发光策略，并采用类似的时序分别对并行工作的多个通道依次进行第二子测Loop1的发光，以及通过探测器探测到相应的回波信号，获得对应的第二回波信号强度。
在具体实施中，在所述第二子测Loop1，可以根据第一子测Loop0的回波信号所处的强度阈值区间得到调整后的发光策略，控制各通道对应的激光器进行发光。对于接收到第一回波信号强度不小于预设第二阈值的通道，以下结合图17示出两种可选的方案：
1)在第二子测Loop1，控制其对应的激光器不发光。
参照图17，若在某次探测中，基于第一子测Loop0的第一回波信号强度，确定在第一子测Loop0，探测器探测到通道2存在强度不小于第二阈值的回波信号，则在第二子测Loop1，通道2不发射任何脉冲(图17中用空白表示)，则可以避免该通道的激光器发射强光信号被高反射率物体反射而造成并行工作的其他通道产生信号串扰。
2)在第二子测Loop1，控制其对应的光强为第四光强，所述第四光强小于所述第二光强且大于所述第一光强。
如图17所示，若在某次探测中，基于第一子测Loop0的第一回波信号强度，确定在第一子测Loop0，第一组别中的通道8及第二组别中的通道10存在高反射率物体，则在第二子测Loop1，按照发光时序，首先控制并行工作的第一组别通道(即通道1-8)中的通道1-7的激光器采用第三光强发光(图17中用单个粗实线箭头表示其激光器发射的为单个激光脉冲，且其光强大于第二光强)，以及控制通道8的激光器采用第四光强工作(图17中用虚线箭头表示其光强低于第二光强)。接着，控制并行工作的第二组别通道(即通道9-16)中的通道9以及通道11-16的激光器采用第三光强发光(图17中用单个粗实线箭头表示其激光器发射的为单个激光脉冲，且其光强大于第二光强)，以及控制通道10的激光器采用第四光强发光(图17中用虚线箭头表示其光强低于第二光强)。
以上为描述简便，将两种调整第二子测发光策略的方案结合同一幅图进行了说明，在具体实施中，两种方案也可以结合执行，例如若在第一子测Loop0，基于第一回波信号强度，确定通道2、通道8和通道10存在高反射率物体，则 在一具体实施例中，在第二子测Loop1，按照预设发光时序，对于并行工作的通道1-8，可以控制其中的通道2的激光器不发光，而控制通道8的激光器采用第四光强发光，通道1、通道3-7则采用第三光强发光。接着，对于并行工作的通道9-16，控制其中通道9、通道11-16的激光器采用第三光强发光，以及控制通道10的激光器采用第四光强发光。
类似地，对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，可以控制其激光器在所述第二子测Loop1采用第二光强发光，所述第二光强不同于所述第一光强；对于探测范围内不存在强度小于所述第一阈值的回波信号的通道，控制其激光器在所述第二子测Loop1采用第三光强发光，其中，所述第三光强不小于所述第二光强。此处不再详述。
上述方案在所有通道的第一子测Loop0的探测结束后，再开启第二子测Loop1的探测，在具体应用过程中，可能存在第一子测Loop0持续时间较长，同一通道在第二子测Loop1探测时，相对于第一子测Loop0阶段已经转过了一定的角度，则两次子测的视场存在角度偏差。
为进一步提升探测的效率及精准度，对于所有通道的任一单次探测，可以按照预设分组时序控制预设组别的通道依次连续执行所述第一子测和所述第二子测。更具体而言，在对于所有通道的任一单次探测，可以控制一组或多组通道的激光器按照所述第一子测和所述第二子测分组依次进行发光。也就是说，对于所有通道的单次探测，可以在一组或多组通道完成其自身的第一子测和第二子测后，接着进行下一组或多组通道的第一子测和第二子测，直至完成所有通道的第一子测和第二子测。
参照图18所示的本说明书实施例中一种具体应用场景中激光雷达的探测原理示意图，其与图17中的激光雷达的探测原理不同之处在于，对于所有的通道，执行完各组内各个通道的第一子测和第二子测后，按照预设的分组时序，执行其他组别的单次探测。
具体而言，参照图18，假设第一组别的通道1-8并行发光，各通道在第一子测Loop0并行发出第一个脉冲，并按照预设的脉冲间时间间隔，分别发出各自的第二个脉冲，通道1-8的探测器在预设的时间窗口内接收第一回波信号，之后，在第二子测Loop1并行发出第三个脉冲，通道1-8的探测器在预设的时间窗口内接收第二回波信号。第二子测的时间窗口结束后，第二组别的通道9-16并行工作，各通道在第一子测Loop0并行发出第一个脉冲，并按照预设的脉冲 间时间间隔，分别发出各自的第二个脉冲，之后，在第二子测Loop1并行发出第三个脉冲，通道9-16的探测器分别在预设的时间窗口内接收第二回波信号……如此依序执行，直至第16组别中的通道121-128分别在预设的时间窗口内接收第二回波信号，从而可以得到各组中各通道在第一子测Loop0中的第一回波信号强度和第二子测Loop1中对应的第二回波信号强度。
在具体实施中，在所述第二子测Loop1，对于不存在强度大于预设第一阈值的第二回波信号的通道，可以控制其对应的激光器采用满足雷达正常测距能力的第二光强发光。作为一具体示例，雷达预定测远距离为150m，可以设置第二光强需满足探测器能够接收到来自150m处10％反射率的物体的回波信号。
在具体实施中，可以根据第一子测Loop0的回波信号所处的强度阈值区间得到调整后的发光策略，控制其对应的激光器进行发光。
作为可选示例，对于接收到强度不小于预设第二阈值的回波信号的通道，以下结合图18示出两种可选的方案：
1)在第二子测Loop1，控制其对应的激光器不发光。
参照图18，若在某单次探测，在进行通道1-8的单次探测时，基于第一子测Loop0的第一回波信号强度，确定在第一子测Loop0，探测器探测到通道2存在高反射率物体，则在对应的第二子测Loop1，通道2不发射任何脉冲(图18中用空白表示)，则可以避免该通道的激光器发射强光信号被高反射率物体反射而造成并行工作的其他通道产生信号串扰。
2)在第二子测Loop1，控制其对应的光强为第四光强，所述第四光强小于所述第二光强。
如图18所示，若在某单次探测，在进行通道1-8的单次探测时，基于第一子测Loop0的第一回波信号强度，确定在第一子测Loop0，确定通道2和通道8存在高反射率物体，则在第二子测Loop1，按照发光时序，首先控制并行工作的通道1-8中的1、3-7的激光器采用第三光强发光(图18中用单个粗实线箭头表示其激光器发射的为单个激光脉冲，且其光强大于第二光强)，以及控制通道8的激光器采用第四光强发光(图18中用虚线箭头表示，且其光强低于第二光强)，并控制通道2的激光器不发光(图18中用空白表示)。
在进行通道9-16的单次探测时，基于第一子测Loop0的第一回波信号强度，确定在第一子测Loop0，通道10存在高反射率物体，控制并行工作的通道9-16中的通道9，通道11-16的激光器采用第三光强发光(图18中用单个粗实线箭 头表示其激光器发射的为单个激光脉冲，且其光强大于第二光强)，以及控制通道10的激光器采用第四光强工作(图18中用虚线箭头表示其光强，且低于第二光强)。
类似地，对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，可以控制其激光器在所述第二子测Loop1采用第二光强发光，所述第二光强不同于所述第一光强；对于探测范围内不存在强度小于所述第一阈值的回波信号的通道，控制其激光器在所述第二子测Loop1采用第三光强发光，其中，所述第三光强不小于所述第二光强。此处不再详述。
在具体实施中，根据上述探测方法，可以得到第一子测和/或第二子测的回波信号，基于所述第一子测和/或所述第二子测的回波信号，得到单次探测的探测结果。
具体的，可以仅基于所述第一子测的回波信号，得到所述单次探测中所述探测范围内的探测结果，或者仅基于所述第二子测的回波信号，得到所述单次探测中所述探测范围内的探测结果，或者基于所述第一子测的回波信号和所述第二子测的回波信号，得到所述单次探测中所述探测范围内的探测结果。
具体采用的方案，可以基于所述第一子测的回波信号的具体情况，以及所述第二子测的发光策略进行确定，此外，对于并行工作的多个通道，不同的通道也可以采用不同的方式。以下结合一些具体应用场景进行示例性说明。
在本说明书一些示例中，对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，则可以仅基于第二子测的回波信号，获得所述探测范围内的探测结果，例如，直接将所述第二子测的回波信号作为所述单次探测中所述探测范围内的探测结果。而对于探测范围内存在强度大于所述第一阈值的回波信号的通道，则可以根据其在所述第二子测中其激光器的发光策略，而有不同的处理方式，具体而言，可以采用以下示例：
若对于探测范围内存在强度不小于第二阈值的回波信号的通道，控制其对应的激光器不发光时，可以仅基于所述第一子测的回波信号，获得所述探测范围内的探测结果；
对于探测范围内存在强度不小于所述第二阈值的回波信号的通道，控制其对应的激光器的光强为第四光强时，则可以仅基于所述第二子测的回波信号，或者也可以基于所述第一子测的回波信号和第二子测的回波信号，获得存在强度不小于所述第二阈值的回波信号的通道的在探测范围内的探测结果。
又如，对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，则可以仅基于第二子测的回波信号，或者也可以基于所述第一子测的回波信号和所述第二子测的回波信号，获得相应通道在探测范围内的探测结果。
在具体实施中，若基于所述第一子测的回波信号和第二子测的回波信号，获得所述探测范围内的探测结果，作为一种可选方式，可以直接将第一子测的回波信号和第二子测的回波信号进行叠加，作为各对应通道的探测数据，并基于各对应通道的探测数据，获得所述探测范围内的探测结果。采用这种方式，仅需要对第一子测获得的回波信号和第二子测获得的回波信号在叠加后进行一次采样处理，可以简化系统运算处理过程。
可以理解的是，以上具体示例并不用于限定探测结果的具体实现，在具体应用过程中，可以根据具体情况，对以下具体示例方式进行扩展、变形或优化，或者采用其他的基于单次探测的第一子测的回波信号和第二子测的回波信号，得到所述探测周期中所述探测范围内的探测结果的方式。
在具体实施中，若在探测过程中，例如在第一子测Loop0和/或第二子测Loop1，采用单脉冲探测，则其抗干扰能力较弱，可能导致生成的点云中存在噪点。为此，可以采用一些方法对点云中的噪点进行过滤。
以下示出一种邻域滤噪方法的具体实现示例，可以理解的是，本说明书实施例中并不限定具体的噪点过滤方法。
例如，对于经第二子测生成的点云数据中的探测点，可以将所述第二探测数据中任一通道的探测点作为待判定点，判断所述待判定点与其邻域内的探测点之间的相关性，并将不满足相关性阈值的探测点从探测结果中删除。
本说明书实施例还提供了能够实现上述探测方法的激光雷达，为使本领域技术人员更好地理解和实施，以下结合附图，进行对应介绍。
在本说明书实施例中，激光雷达可以包括：控制器、多个激光器与多个探测器，且所述多个激光器与多个探测器，构成多个通道，其中：
所述激光器发射光信号，所述探测器接收经障碍物反射的回波信号，位于同一通道的激光器与探测器至少部分视场重叠；
控制器，适于控制所有的通道，分组次执行探测，包括：控制每组的激光器并行发光，对于每个通道的单次探测，包括：第一子测和第二子测；根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/ 或后续轮次的第一子测中的发光策略。
在本说明书一些实施例中，首先如图19a所示，激光雷达110包括：发射模块TX0，包括多个激光器111，配置成发射光信号L；
接收模块RX0，包括多个探测器112，配置成接收光信经障碍物所反射的回波信号L’；其中，至少一个激光器与至少一个探测器构成一个探测通道，所有的多个激光器和多个探测器构成多个探测通道，处于同一探测通道的激光器与探测器至少部分视场重叠；和
控制器C0，适于控制所有的通道，分组次执行探测，包括：控制每组的激光器并行发光，对于每个通道的单次探测，包括：第一子测和第二子测；根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略，且可以基于每个探测通道的所述回波信号生成点云数据。
接着参照图19b作为可选示例，发射模块TX0中的多个激光器111可以布局为多个列，均贴附在平面板上，具体可以为垂直腔面激光器(Vertical Cavity Surface Emitting Laser,VCSEL)，如图19b所示，激光器111所发出的光垂直于平面板出射，经过发射透镜组(未示出)整形后，从激光雷达110出射到不同的方向，以涵盖激光雷达的垂直视场(FOV，Field of View)。
作为可选示例，所述接收模块RX0中的一个或多个探测单元112，具体可以为SPAD或者SiPM，也可以均贴附在平面板上，布局为多个列，与激光器111的排布相对应，以与发射模块TX0中的激光器111构成多个探测通道。
其中每个探测通道可以包括一个激光器和一个或多个探测器，也可以由一个或多个激光器与一个探测器组成。每个探测通道的激光器和探测器具备同样的垂直子FOV，也即处于同一探测通道的激光器发出的光信号在遇到障碍物被反射且回到雷达后，可被处于该同一探测通道的探测器收到。所有的探测通道的子视场共同构成整个激光雷达的垂直FOV的扫描，整个激光雷达可以再被电机等设备带动整体旋转，或者激光器所发出光经过转镜、微机电系统(Micro Electromechanical System，MEMS)、液晶等微动设备的偏转，进而实现雷达在水平FOV的扫描，以构成具备一定的水平FOV和垂直FOV的扫描点云图。
对于处于一个探测通道的探测器，可以在控制器器的控制下开启工作，以接收所处探测通道内对应的激光器所发出的光信号被外界障碍物反射后回到激 光雷达的回波信号。
对于处于一个探测通道的探测器，也可以在控制器的控制下一直处于可接收光信号的状态，并进而只在所处探测通道的飞行窗口范围内所接收到的信号，作为回波信号被读出并被进一步处理，以生成点云数据。
作为一可选示例，所述控制器，适于根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测或后续轮次的第一子测中的发射光强。
所述控制器具体可以是单片机、或者是现场可编程门阵列(Field Programmable Gate Array，FPGA)、单核或多核处理器等任意具有数据处理能力的芯片、装置或设备，本说明书实施例中并不限定其具体的硬件结构。
激光雷达的其他具体实现可以参见前述激光雷达的探测方法的具体实施例，此处不再赘述。
本说明书实施例还提供了一种计算机可读存储介质，其上存储有计算机指令，所述计算机指令运行时可以执行本说明书上述任一实施例方法的步骤。所述计算机可读存储介质上存储的指令执行上述任一实施例所述的方法，具体可参照上述实施例，不再赘述。
所述计算机可读存储介质可以包括例如任何合适类型的存储器单元、存储器设备、存储器物品、存储器介质、存储设备、存储物品、存储介质和/或存储单元，例如，存储器、可移除的或不可移除的介质、可擦除或不可擦除介质、可写或可重写介质、数字或模拟介质、硬盘、软盘、光盘只读存储器(CD-ROM)、可刻录光盘(CD-R)、可重写光盘(CD-RW)、光盘、磁介质、磁光介质、可移动存储卡或磁盘、各种类型的数字通用光盘(DVD)、磁带、盒式磁带等。
计算机指令可以包括通过使用任何合适的高级、低级、面向对象的、可视化的、编译的和/或解释的编程语言来实现的任何合适类型的代码，例如，源代码、编译代码、解释代码、可执行代码、静态代码、动态代码、加密代码等。
虽然本说明书实施例披露如上，但本说明书并非限定于此。任何本领域技术人员，在不脱离本说明书的精神和范围内，均可作各种更动与修改，因此本说明书的保护范围应当以权利要求所限定的范围为准。

Claims (31)

  1. 一种激光雷达的探测方法，所述激光雷达包括多个激光器和多个探测器，构成多个通道，其特征在于，所述探测方法包括：
    在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测均包括第一子测和第二子测，其中，对于并行探测的多个通道：
    在所述第一子测，控制其对应的激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据，其中，所述第一光强适于使其对应的探测器仅能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波；
    在所述第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过其对应的探测器探测得到第二探测数据；
    基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果。
  2. 根据权利要求1所述的激光雷达的探测方法，其特征在于，所述在所述第二子测，根据所述第一探测结果，调整所述多个通道的激光器的发光策略，包括：
    在所述第二子测，基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；
    对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强。
  3. 根据权利要求2所述的激光雷达的探测方法，其特征在于，所述基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体，包括：
    采集所述第一探测数据的特征值；
    确定所述第一探测数据的特征值是否超过预设的第一探测阈值，以判断所述多个通道的探测范围内是否存在反射率大于预设第一反射率的高反射率物体。
  4. 根据权利要求2所述的激光雷达的探测方法，其特征在于，所述对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第二光强，包括以下至少一种：
    对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光；
    对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强为第三光强，所述第三光强小于所述第二光强。
  5. 根据权利要求4所述的激光雷达的探测方法，其特征在于，所述第三光强不超过所述第一光强。
  6. 根据权利要求4所述的激光雷达的探测方法，其特征在于，所述基于所述第一探测数据和/或所述第二探测数据，得到所述多个通道单次探测的探测结果，包括：
    对于探测范围内存在高反射率物体的通道，控制其对应的激光器不发光时，基于所述第一探测数据，获得所述多个通道单次探测的探测结果；
    对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强为第三光强时，基于所述第二探测数据，或基于所述第一探测数据和第二探测数据，获得所述多个通道单次探测的探测结果。
  7. 根据权利要求6所述的激光雷达的探测方法，其特征在于，所述基于所述第一探测数据和第二探测数据，获得所述多个通道单次探测的探测结果，包括：
    将第一子测的回波信号和所述第二子测的回波信号进行叠加，作为各对应通道的探测数据；
    基于各对应通道的探测数据，获得各对应通道单次探测的探测结果。
  8. 根据权利要求2所述的激光雷达的探测方法，其特征在于，所述对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，包括：
    对于探测范围内不存在高反射率物体的通道，控制其对应的激光器发射单个激光脉冲或多脉冲序列。
  9. 根据权利要求1所述的激光雷达的探测方法，其特征在于，所述在所述第一子测，控制其对应的激光器采用第一光强发光，还包括：
    控制所述多个通道的激光器发射单个激光脉冲或多脉冲序列。
  10. 根据权利要求8或9所述的激光雷达的探测方法，其特征在于，所述多个通道中不同通道的激光器发射的单个激光脉冲或多脉冲序列具有不同的编码信息，所述编码信息包括：脉冲数目、脉冲起始发射时刻、多脉冲间时间间隔、脉冲强度比例、脉冲宽度比例中的至少一个。
  11. 根据权利要求10所述的激光雷达的探测方法，其特征在于，还包括：
    基于并行探测的多个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息。
  12. 根据权利要求11所述的激光雷达的探测方法，其特征在于，所述基于并行探测的多个通道在上一探测轮次的探测结果，调整其在当前探测轮次的编码信息，包括：
    对于并行探测的多个通道，在上一水平方位角的第一子测探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在当前探测轮次的脉冲起始发射时刻不同。
  13. 根据权利要求1所述的激光雷达的探测方法，其特征在于，所述在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，包括：
    在单个探测轮次中，控制所有通道的激光器按照所述第一子测和所有通道的所述第二子测依次进行发光。
  14. 根据权利要求1所述的激光雷达的探测方法，其特征在于，所述在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，包括：
    在单个探测轮次中，控制一组或多组通道的激光器按照所述第一子测和所述第二子测分组依次进行发光。
  15. 一种激光雷达的探测方法，所述激光雷达包括多个激光器与多个探测器，构成多个通道，其特征在于，所述探测方法包括：
    对于所有的通道，分组次执行探测；
    其中，所述探测包括：激光器发射光信号，探测器接收经障碍物反射的回波信号，并根据所述回波信号得到对所述障碍物的探测信息；
    每组的激光器并行发光；
    对于每个通道的单次探测，包括：第一子测和第二子测；
    根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略。
  16. 根据权利要求15所述的激光雷达的探测方法，其特征在于，所述根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测或后续轮次的第一子测中的发光策略，包括：
    根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强。
  17. 根据权利要求16所述的激光雷达的探测方法，其特征在于，所述并行发光的通道的激光器在第一子测中的发射光强为第一光强，所述第一光强使探测器仅能够探测到强度大于预设第一阈值的高反射率物体的回波信号。
  18. 根据权利要求17所述的激光雷达的探测方法，其特征在于，所述根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，包括：
    对于存在强度大于第一阈值且小于第二阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第二光强发光，所述第二光强不同于所述第一光强。
  19. 根据权利要求18所述的激光雷达的探测方法，其特征在于，所述根据所述第一子测的回波信号的强度，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发射光强，还包括以下至少一种：
    对于探测范围内不存在强度大于所述第一阈值的回波信号的通道，控制其激光器在所述第二子测和/或后续轮次的第一子测中采用第三光强发光，其中，所述第三光强不小于所述第二光强；
    对于探测范围内存在强度不小于第二阈值的回波信号的通道，控制其激光器在所述第二子测中不发光，或控制其激光器在所述第二子测和/或后续轮次采用第四光强发光，所述第四光强小于所述第二光强且大于所述第一光强。
  20. 根据权利要求15所述的激光雷达的探测方法，其特征在于，所述根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略，包括：
    根据所述第一子测的回波信号所处的强度区间，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序。
  21. 根据权利要求20所述的激光雷达的探测方法，其特征在于，还包括：
    控制每个通道的激光器在所述第一子测和/或所述第二子测中发射单个激光脉冲或多脉冲序列。
  22. 根据权利要求21所述的激光雷达的探测方法，其特征在于，所述根据所述第一子测的回波信号所处的强度区间，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的相对发光时序，包括：
    在单次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在所 述第二子测和/或后续预设轮次的第一子测中的脉冲起始发射时刻不同。
  23. 根据权利要求22所述的激光雷达的探测方法，其特征在于，所述在单次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在后续预设轮次的第一子测中的脉冲起始发射时刻不同，包括：
    在当前水平角度对应的本次探测的第一子测中探测得到的回波时间重叠时，调整回波时间重叠的通道的激光器的脉冲起始发射时刻，使得所述回波时间重叠的多个通道在下一水平角度对应的下一次探测中的脉冲起始发射时刻不同。
  24. 根据权利要求15所述的激光雷达的探测方法，其特征在于，还包括：
    按照预设分组时序控制所有的通道依序执行所述第一子测后再分组执行所述第二子测。
  25. 根据权利要求15所述的激光雷达的探测方法，其特征在于，还包括：
    按照预设分组时序控制预设组别的通道依次连续执行所述第一子测和所述第二子测。
  26. 根据权利要求15-25任一项所述的激光雷达的探测方法，其特征在于，还包括：
    基于所述第一子测和/或所述第二子测的回波信号，得到所述单次探测的探测结果。
  27. 一种激光雷达，其特征在于，包括：
    光发射模块，包括多个激光器；
    光探测模块，包括多个探测器，分别与所述多个激光器对应设置，构成多个通道，所述多个探测器适于采集对应通道的激光器发光后照射到物体后的回波；
    数据处理装置，适于在单个探测轮次中，对于所有的通道，分组次按照预设的探测时序执行探测，其中，每组通道并行探测，每个通道的单次探测均包括第一子测和第二子测，其中，对于并行探测的多个通道：在所述第一子测，控制其激光器采用第一光强发光，并通过其对应的探测器探测得到第一探测数据，其中，所述第一光强适于使其对应的探测器能够接收到反射率大于预设第一反射率阈值的高反射率物体的回波；在所述第二子测，根据所述第一探测数据，调整所述多个通道的激光器的发光策略，并通过其对应的探测器探测得到第二探测数据；以及，基于所述第一探测数据和/或所述第二探测数据，得到所 述多个通道单次探测的探测结果。
  28. 根据权利要求27所述的激光雷达，其特征在于，所述数据处理装置，在所述第二子测，适于基于所述第一探测数据，判断所述多个通道的探测范围内是否存在反射率大于所述第一反射率阈值的高反射率物体；以及，对于探测范围内不存在高反射率物体的通道，控制其对应的激光器采用第二光强发光，其中，所述第二光强大于所述第一光强；对于探测范围内存在高反射率物体的通道，控制其对应的激光器的光强小于所述第一光强。
  29. 一种激光雷达，其特征在于，包括：
    多个激光器与多个探测器，构成多个通道，其中：所述激光器发射光信号，所述探测器接收经障碍物反射的回波信号，位于同一通道的激光器与探测器至少部分视场重叠；
    控制器，适于控制所有的通道，分组次执行探测，包括：控制每组的激光器并行发光，对于每个通道的单次探测，包括：第一子测和第二子测；根据所述第一子测的回波信号，相应调整并行发光的通道的激光器在所述第二子测和/或后续轮次的第一子测中的发光策略。
  30. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，所述计算机指令运行时执行权利要求1至14任一项所述方法的步骤。
  31. 一种计算机可读存储介质，其上存储有计算机指令，其特征在于，所述计算机指令运行时执行权利要求15至26任一项所述方法的步骤。
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