WO2023284318A1 - 激光雷达的探测方法、发射单元以及激光雷达 - Google Patents
激光雷达的探测方法、发射单元以及激光雷达 Download PDFInfo
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Definitions
- the present disclosure relates to the field of photoelectric detection, and in particular to a laser radar detection method, a laser radar transmitting unit and a laser radar.
- Lidar usually includes a transmitting unit, a receiving unit, and a signal processing unit.
- the transmitting unit is used to transmit a detection laser beam to the three-dimensional environment around the laser radar.
- the detection laser beam is diffusely reflected on obstacles in the three-dimensional environment, and part of the echo returns
- the laser radar is received by the receiving unit and converted into an electrical signal.
- the signal processing unit receives the electrical signal and calculates the ranging information of the obstacle, such as distance, azimuth, and reflectivity.
- the lidar usually, in the entire detection field of view of the lidar, especially in a detection cycle (which may include multiple sending and receiving detection processes), obstacles only appear in certain distance ranges and certain field of view ranges. If no obstacle is detected in a certain area of the field of view, the lidar still emits the detection laser beam for the remaining detections in the detection period, and energy will be wasted.
- the transmitting unit emits the detection laser beam, and the corresponding receiving unit is always turned on within the preset detection window range to receive the possible echo after the detection laser beam encounters obstacles.
- the receiving unit and the signal processing unit will receive and process a large number of The ambient light signal from the surroundings, the receiving unit needs to respond to the ambient light, which leads to power consumption and static power consumption, and the signal processing unit also wastes resources to read and process the detection data, which will cause great power consumption and lead to decrease in signal-to-noise ratio.
- the present invention designs a detection method of lidar, and the detection method includes:
- step S12 includes:
- S121 According to the detection data of the K detection scans, identify the field of view where obstacles exist;
- Some of the lasers are controlled to emit detection pulses.
- the detection method further includes: based on the detection data of the K detection scans and the detection data of the K+1th to Nth detection scans, determining the distance and and/or reflectivity, and calibrate the distance and/or reflectivity of the obstacle based on the detection data of the K+1th to Nth detection scans.
- step S122 further includes adjusting the intensity information and/or reflectivity information of the K detection scans in the K+1th to Nth detection scans of the detection cycle.
- the emission power of the laser corresponding to the field of view with obstacles.
- the detection method further includes: when the intensity information is greater than a threshold, reducing the emission power of the laser corresponding to the field of view with obstacles in the next detection scan; when the intensity is less than the threshold, increasing the The emission power of the laser corresponding to the field of view with obstacles in the next detection scan.
- the lidar includes a plurality of channels, each channel includes a corresponding laser and a detector for detecting a specific field of view, and the detection method further includes:
- step S11 For the laser whose field of view falls within the channel of the ROI area, in the step S11, increase the emission power of the laser.
- the detection method further includes: increasing the emission power of the laser, and decreasing the value of K.
- the lidar includes a plurality of channels, each channel includes a corresponding laser and a detector for detecting a specific field of view, and the detection method further includes:
- the detection data is stored in a first storage method or a second storage method
- the first storage method includes: storing the detected data with a first time precision and according to the weight of the time information
- the intensity information, the first time accuracy is the time interval between any two adjacent first time scales, and is M times the time resolution of the lidar detection data, where M>1, the The weight is associated with the time information and at least one time interval of the first time scale;
- the second storage method includes storing according to the time resolution of the lidar.
- the first set of detection data is stored in the first storage manner
- the second set of detection data is stored in the second storage manner.
- the weight includes a first weight and a second weight
- the first weight is associated with the time information and the time interval between one of the adjacent first time scales
- the The second weight is associated with the time interval between the time information and another adjacent first time scale
- the first storage method includes: with the first time precision, according to the first weight and the second weights, storing the strength information.
- the detection method also includes:
- the step S13 also includes:
- the present invention also designs a transmitting unit of laser radar, comprising:
- a laser configured to emit pulses
- a driving unit is coupled to the laser and configured to drive the laser to emit pulses to measure the distance and/or reflectivity of obstacles, and the driving unit is also configured to perform the following operations:
- S11 Obtain detection data of K detection scans in one detection cycle, wherein the detection data includes time information and intensity information corresponding to the time information, and the one detection cycle includes N detection scans, where N is greater than 1 is an integer, K is an integer, 1 ⁇ K ⁇ N; and
- step S12 also includes:
- S121 According to the detection data of the K detection scans, identify the field of view where obstacles exist;
- some of the lasers are controlled to emit detection pulses.
- the present invention also designs a laser radar, comprising:
- launch unit including:
- a laser configured to emit pulses
- a driving unit is coupled to the laser and is configured to drive the laser to emit pulses to measure the distance and/or reflectivity of obstacles, wherein one detection cycle includes N detection scans, and N is greater than 1 an integer of
- a receiving unit configured to receive an echo of the pulse reflected by an obstacle, and convert the echo into an electrical signal
- a signal processing unit coupled to the transmitting unit and the receiving unit, and generating detection data for each detection scan according to the electrical signal, wherein the detection data includes time information and intensity information corresponding to the time information;
- drive unit is configured to perform the following operations:
- step S12 also includes:
- S121 According to the detection data of the K detection scans, identify the field of view where obstacles exist;
- some of the lasers are controlled to emit detection pulses.
- the signal processing unit is configured to: determine the obstacle's distance and/or reflectivity, and calibrate the distance and/or reflectivity of the obstacle based on the detection data of the K+1th to Nth detection scans.
- the drive unit is further configured to: based on the intensity information and/or reflectivity information of the K detection scans, in the K+1th to Nth detection scans of the detection cycle , adjusting the emission power of the laser corresponding to the field of view with obstacles.
- the drive unit is further configured to: when the intensity is greater than a threshold, reduce the emission power of the laser corresponding to the field of view with obstacles in the next detection scan; when the intensity is less than the threshold, increase the The emission power of the laser corresponding to the field of view with obstacles in the next detection scan.
- the lidar includes a plurality of channels, each channel includes a corresponding laser and a detector for detecting a specific field of view, and the drive unit is further configured to:
- the driving unit is configured to: in the step S11, increase the emission power of the laser, and decrease the value of K.
- the lidar includes a plurality of channels, each channel includes a corresponding laser and a detector for detecting a specific field of view, and the drive unit is further configured to:
- the detection data is stored in a first storage method or a second storage method
- the first storage method includes: storing the detected data with a first time precision and according to the weight of the time information
- the intensity information, the first time accuracy is the time interval between any two adjacent first time scales, and is M times the time resolution of the lidar detection data, where M>1, the The weight is associated with the time information and at least one time interval of the first time scale;
- the second storage method includes storing according to the time resolution of the lidar.
- the first set of detection data is stored in the first storage manner
- the second set of detection data is stored in the second storage manner.
- the weight includes a first weight and a second weight
- the first weight is associated with the time information and the time interval between one of the adjacent first time scales
- the The second weight is associated with the time interval between the time information and another adjacent first time scale
- the first storage method includes: with the first time precision, according to the first weight and the second weights, storing the strength information.
- the drive unit is further configured to perform the following operations:
- the operation S13 also includes:
- the technical solution of the present invention obtains the existence of obstacles in the field of view and the approximate distance information between the existing obstacles and the radar through a certain number of initial detection scans in a detection period, and then in subsequent detection scans or For the next detection (possibly the next detection channel), adjust the transmitter strategy accordingly, such as only driving the laser corresponding to the field of view with obstacles to emit light, so the power consumption in the field of view without obstacles can be reduced, thereby reducing power consumption of the radar.
- the strategy of the receiving end can be adjusted accordingly, such as only processing the echo data within the detection window corresponding to the distance range with obstacles, so that the signal-to-noise ratio and ranging capability can be further improved.
- FIG. 1A shows a flowchart of a transmitting end adjustment strategy of a detection method according to an embodiment of the present invention
- FIG. 1B shows a flow chart of adjusting strategies of the transmitting end and the receiving end of the detection method according to an embodiment of the present invention
- Fig. 2 shows the flowchart of step S12 in the detection method of the embodiment of the present invention (Fig. 1A and Fig. 1B);
- Figure 3 shows an example of a curve of intensity information-time information
- FIG. 4(a), FIG. 4(b), and FIG. 4(c) respectively show schematic diagrams of the lidar scanning scene, subfield of view and laser arrangement in Embodiment 1 of the present invention
- FIG. 5 shows a schematic diagram of a time-sharing time slice of the time-of-flight of Embodiment 1 of the present invention
- Fig. 6 (A), Fig. 6 (B), and Fig. 6 (C) respectively show the schematic diagrams of the laser radar sub-field of view, the laser arrangement and the first 300 detections in a detection period of Embodiment 1 of the present invention
- FIG. 7(A), FIG. 7(B), and FIG. 7(C) respectively show the schematic diagrams of the laser radar sub-field of view, the laser arrangement and the last 100 detections in the detection period of Embodiment 1 of the present invention
- Fig. 8 shows a schematic diagram of the laser radar sub-field of view, laser arrangement and a total of 400 detection results superimposed in one detection cycle according to Embodiment 1 of the present invention
- FIG. 9 shows a detection flow chart of Embodiment 1 of the present invention.
- Figure 10 shows a detection unit according to one embodiment of the present invention
- Figure 11 shows a data storage method according to the prior art
- FIG. 12 and FIG. 13 show specific schematic diagrams of storage methods according to a preferred embodiment of the present invention.
- Fig. 14 (A), Fig. 14 (B), Fig. 14 (C) respectively show the schematic diagram of lidar sub-field of view, laser arrangement and storage mode of an embodiment of the present invention
- Figure 15 shows a schematic diagram of a comparison between a coarse scale and a fine scale according to an embodiment of the present invention
- Fig. 16 shows a block diagram of a lidar according to an embodiment of the present invention.
- first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
- a feature defined as “first” or “second” may explicitly or implicitly include one or more of said features.
- “plurality” means two or more, unless otherwise specifically defined.
- connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection.
- Connected, or integrally connected it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction of two components relation.
- a first feature being “on” or “under” a second feature may include that the first and second features are in direct contact, or may include the first and second features Not in direct contact but through another characteristic contact between them.
- “on”, “above” and “above” the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the level of the first feature is higher than that of the second feature.
- "Below”, “below” and “under” the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature has a lower horizontal height than the second feature.
- the lidar usually in the entire detection field of view of the lidar, especially in a detection cycle (which may include multiple sending and receiving detections or detection scanning (sweep) processes), obstacles only appear in certain distance ranges and certain field of view ranges. Inside. If no obstacle is detected in a certain area of the field of view, the lidar continues to detect in this area during the remaining detections in the detection cycle, which will waste energy unnecessarily.
- the transmitting unit emits the detection laser beam, and the corresponding receiving unit is always turned on within the preset detection window range to receive the possible echo after the detection laser beam encounters obstacles.
- the receiving unit and the signal processing unit will receive and process a large number of The ambient light signal from the surroundings, the receiving unit needs to respond to the ambient light, which leads to power consumption and static power consumption, and the signal processing unit also wastes resources to read and process the detection data, which will cause great power consumption and lead to decrease in signal-to-noise ratio.
- the present invention designs a laser radar detection method, a transmitting unit, and a laser radar.
- the detection data obtained by the number of initial detection scan sweeps is used to determine the field of view and distance where the obstacle is located. range, and then according to the detection data, correspondingly adjust the transmission strategy of the transmitting end and/or the detection strategy of the receiving end in the remaining detection scans in the detection period.
- the present invention relates to a detection method 10 of laser radar, as shown in Fig. 1A and Fig. 1B, the detection method 10 includes:
- step S11 in one detection cycle, the detection data of K detection scans are obtained.
- a detection cycle includes the process of multiple sending and receiving detections or detection scans.
- a point on the point cloud map can be obtained (as for how large the point is and how much it is separated from adjacent points, it depends on the specific type of radar.
- the detection data of the detection scan includes time information and intensity information corresponding to the time information, correspondingly representing the distance and reflectivity information of obstacles.
- the measurement of a distance and/or reflectivity is based on the mechanism of repeated detection scans, and the measurement of a distance and/or reflectivity refers to the detection of a point in a three-dimensional environment (or a point on an obstacle) , which can eventually generate, for example, a point in a lidar point cloud.
- the laser of the lidar can transmit and the corresponding detector can receive.
- the above-mentioned transmission-reception process is called a detection scan, and multiple such detection scans constitute 1
- the data of multiple detection scans are superimposed, and then the distance and/or reflectivity information is obtained by processing the superimposed results.
- the information of a point on the point cloud map can be obtained through one detection cycle, but it is only said that in order to obtain or determine the information of the distance and reflectivity of a point, it is necessary to perform multiple sending and receiving detection actions , and then the data obtained by multiple detections are integrated for further processing. But at the same time, for all points in the entire FOV of the lidar, they can be detected at the same time; they can also be grouped, and these points in the same group can be detected at the same time.
- detection at the same time means that these groups of lasers and detectors perform the detection action of sending and receiving at the same time.
- the split ratio is limited) detection scan and the K+1th to Nth detection scans.
- step S11 the detection data of the previous K detection scans are firstly obtained, including the time information of each detection scan and the intensity information corresponding to the time information, N is an integer greater than 1, K is an integer, 1 ⁇ K ⁇ N.
- the laser emits a detection laser pulse, the detector receives the echo, and the signal processing circuit can obtain the time when the detector receives the echo or the time-of-flight of the echo, which corresponds to the above-mentioned time information, which reflects the obstacle The relative distance between the object and the radar.
- the signal processing circuit can obtain the intensity of the echoes received by the detector, which can be characterized by, for example, the number of photons, signal amplitude, etc., corresponding to the above-mentioned intensity information, which reflects the reflectivity of obstacles.
- step S12 according to the detection data of the first K detection scans, adjust the light emission strategy of the laser in the K+1th to Nth detection scans of the detection cycle.
- the laser detection pulse is normally emitted (the laser is driven in the same way as the previous K detection scans); for the laser corresponding to the sub-field of view without obstacles, the K+1th In the Nth detection scan, change its light emission strategy accordingly, such as not emitting a laser detection pulse, or emitting a laser detection pulse in a relatively "slow” (such as a reduction in light emission power) or "inactive" (such as a reduction in light emission frequency) .
- step S12 includes:
- step S121 the field of view where obstacles exist is determined according to the detection data of the previous K detection scans.
- the detection data of the first K detection scans can be accumulated, and then the curve of intensity information-time information can be obtained, as shown in Figure 3, for this curve, the horizontal axis can be is the time of flight (Time of Flight, TOF), and the vertical axis is the intensity information of the echo.
- the lidar can have a preset or dynamically adjusted noise threshold, which can be related to the intensity of the current ambient light. For the field of view corresponding to the area whose intensity information is higher than the noise threshold, it indicates that there is an obstacle; otherwise, when the intensity Information below this noise threshold indicates that there are no obstacles in the field of view.
- step S122 for the laser corresponding to the field of view without obstacles, in the K+1th to Nth detection scans of the detection cycle, any one or more of the following methods are used to reduce the power of the transmitting end consumption:
- the laser can be controlled to emit light relatively "slowly". Specifically, it can control whether it emits light and adjust the power of the light, thereby reducing the power consumption of the laser radar.
- Lidar usually includes multiple lasers and multiple detectors.
- One (or more) lasers correspond to one (or more) detectors to form a detection channel, and a detection channel corresponds to a specific field of view.
- the strategy of controlling the light emission of the laser is described above through step S11 and step S12, and then in step S13-A, as shown in Fig. 1A, the detector receives the echo and obtains detection data.
- step S13-B control the detector at the receiving end or control the receiving strategy:
- the detector of the detection channel is turned off, or the detector of the detection channel is controlled to compare Low sensitivity (low operating voltage) work, or when the detection channel has multiple detectors, only some of the detectors are controlled for detection.
- the signal processing circuit (such as a time-to-digital converter, etc.) at the receiving end of the lidar can also be controlled so that the signal processing circuit does not perform signal processing for the field of view without obstacles, or only processes the signal within the detection window corresponding to the detection distance. The obtained data, thereby further reducing the power consumption of the lidar.
- the receiving end compared with the field of view with obstacles, it can also be relatively "negligent" in the field of view without obstacles. Therefore, the power consumption and the static power consumption lost due to the response of the detector triggered by the ambient light can be reduced.
- the detailed control method will be further described in the following paragraphs with reference to the examples.
- the technical solution of the present invention determines the position of the obstacle through a certain number of initial detection scans (specifically, it may include the field of view and distance, the aspect of the field of view represents the orientation, and specifically includes the horizontal angle and vertical angle ), and then adjust the transmitter strategy and/or the receiver strategy accordingly in subsequent detection scans or the next detection, thereby reducing the power consumption of the lidar.
- the detection method 10 further includes: determining the rough position of the obstacle based on the detection data of K detection scans, and then calculating The detection data is superimposed on the histogram obtained from the first K detection scans to obtain the detection data of the N detection scans, and initially determine the distance and/or reflectivity of the obstacle, and, based on the K+1th to the Nth detection scans further calibrate the preliminary obstacle distance and/or reflectivity, and use the calibrated result as the obstacle distance and/or reflectivity information.
- Embodiment 1 of the present invention measures based on the time-of-flight method.
- K detection scans can be performed first to obtain detection data, and the signal processing unit of the readout circuit processes the detection data.
- the detection data It is possible to determine the bearings where obstacles exist, as well as the location of obstacles.
- the detection field of view can be divided into multiple sub-fields of view (to characterize the orientation of obstacles), and the flight time can also be divided into multiple time slices (to represent the position of obstacles ).
- the luminescence strategies of the K+1th to Nth detection scans can be adjusted; finally, based on the detection data of the N detection scans, the detection results of the detection period are obtained.
- Figure 4(a) shows the detection scanning scene of the lidar and the stereoscopic schematic diagram of the detection field of view.
- the detection field of view Fov is divided into m rows and n columns of sub-fields of view, that is, sub-fields of view Fov x_y, x ⁇ (1,m), y ⁇ (1,n).
- Figure 4(b) shows a schematic plan view of the detection field of view represented by a matrix.
- the detection field of view is divided into m*n sub-fields of view: Fov 1_1, Fov 1_2, Fov 1_3...Fov m_n.
- FIG. 4(c) is a schematic diagram of the arrangement of the lasers in the lidar (here is only a schematic representation, as for the laser is a linear array or an area array, it is one-dimensional and two-dimensional, it is not limited here), each sub-field of view corresponds to Based on a laser (such as VCSEL, Vertical Cavity Surface Emitting Laser, or EEL, Edge-emitting Laser), each sub-field of view is irradiated and detected by the corresponding laser, for example, the sub-field of view Fov 1_1 is The laser L11 irradiates and detects, the sub-field of view Fov 1_2 is irradiated and detected by the laser L12, ..., the sub-field of view Fov m_n is irradiated and detected by the laser Lmn.
- a laser such as VCSEL, Vertical Cavity Surface Emitting Laser, or EEL, Edge-emitting Laser
- the receiving end also has a detector corresponding to the laser one-to-one (just an example, the actual laser and the detector can be one-to-many, or many-to-one, without limitation) for converting the echo into an electrical signal, And has a readout circuit to receive and process the electrical signal.
- the present invention does not limit the corresponding relationship between sub-fields of view and lasers, for example, one sub-field of view can correspond to multiple lasers or one laser corresponds to multiple sub-fields of view; the present invention does not limit the corresponding relationship between lasers and photodetectors, for example Multiple lasers can correspond to one detector; the present invention does not limit the corresponding relationship between photodetectors and readout circuits, for example, the readout circuits can be multiplexed under the application of row scanning or column scanning.
- the time-of-flight TOF can be divided into C time slices, as shown in Figure 5, and finally form time slices Slice 1, Slice2...Slice C-1, Slice C, where C is greater than Integer of 1.
- the signal processing unit of the readout circuit After dividing the subfield of view and the time slice according to the method shown in Figure 4 and Figure 5 above, first, perform K detection scans, and accumulate the detection data (including time information and intensity information) to obtain K detections
- the scanned histogram as shown in Figure 3, and then, the signal processing unit of the readout circuit performs basic operations on the histogram to obtain the following information: identify the sub-field of view where obstacles exist; for obstacles existing in the field of view , to obtain the rough position of the obstacle (such as the distance from the lidar, which can be expressed by distance or flight time).
- Table 1 is generated according to the above calculation results.
- Table 1 is a table with m rows and n columns, each grid in the table corresponds to a sub-field of view, and each grid can be filled with single-bit information, such as 0 or 1, indicating whether there is an obstacle in the sub-field of view .
- 0 is recorded in the brackets of each sub-field of view, indicating that there is no object in the sub-field of view
- 1 is recorded in the brackets, indicating that there is an object in the sub-field of view.
- Fov 2_2(1), Fov 2_3(1), Fov 3_2(1), and Fov 3_3(1) shown in the dark grid in Table 1 there are objects in the four sub-fields of view.
- table 2 corresponding to each sub-field of view is generated according to the above calculation results, and table 2 stores multi-bit information for representing which segment of the C time slice Slice the obstacle is located in. For example, divide the time-of-flight TOF into several time slices, and determine which time slice the flight time corresponding to the obstacle is in; in this way, the distance information can be numbered according to the time slice as shown in Figure 5, and used to fill m* Table 2 of size n.
- the brackets of each sub-field of view are used to record the number information of the time slice slice.
- the light emission strategies of the K+1th to Nth detection scans can be adjusted. For example, when there is no obstacle in a sub-field of view, the laser corresponding to the sub-field of view is controlled not to emit light at all, to reduce the emission power or to reduce the luminous intensity.
- the laser emits light according to a specific sequence (for example, the entire area array laser can be emitted at the same time, or one row or one column or several rows can be selected.
- the lidar detection field of view with a star mark indicates that they are subfields of view Fov 2_2, Fov 2_3, Fov 3_2, and Fov 3_3 with obstacles , and according to the histogram obtained from the first K detection scans, the rough position of the obstacle can be calculated.
- the threshold can be set, and the TOF can be calculated according to the frontier moment exceeding the threshold, and then the distance of the obstacle can be calculated.
- the center of gravity method is used, the position of the center of gravity can be obtained according to the envelope of the histogram, and then the distance of the obstacle can be obtained.
- the lasers corresponding to the subfields of view Fov 2_2, Fov 2_3, Fov 3_2, and Fov 3_3 with obstacles are L22, L23, and L32 in sequence , L33, and then determine that the corresponding transmitter lasers L22, L23, L32, L33 emit light (corresponding to the circles filled in dark gray in Figure 7(B)), while other lasers do not emit light (corresponding to the circles filled in light gray in Figure 7(B) circle), or emit light at a lower power, or at a lower intensity.
- the power consumption of the laser emitting part can be reduced.
- the controller at the receiving end may additionally refer to the information in Table 2 to control enabling of the detector.
- the detector at the receiving end such as single photon avalanche diode SPAD, Single photon avalanche diode
- the readout circuit do not need to be in the It is turned on during the entire time of flight TOF, and it only needs to be turned on in the corresponding time slice interval in Table 2 (such as the time slice Slice100-Slice103 in Figure 7 (C), or, as in Figure 5, the time slice Slice k). .
- the power consumption caused by ambient light triggering at the receiving end and the average static power consumption during standby can be greatly reduced.
- Table 1 and Table 2 are updated at the end of the first K detection scans in each detection period.
- the detection data is superimposed on the histogram data of the first K times to obtain the final N repetitions
- the data scanned by the probe is shown in Figure 8.
- the distance measurement information can be calculated and calibrated according to the centroid method (calculation of the center of gravity of the echo) or frontier method (calculation of the frontier moment when the echo reaches a preset threshold).
- FIG. 9 shows a flow chart 20 of the detection method according to a preferred embodiment of the present invention, which will be described below with reference to FIG. 9 .
- step S21 K detection scans are performed, and the detection data are accumulated to obtain a histogram of K detection scans.
- K detection scans are firstly performed, detection data of the K detection scans are obtained, and histograms of the K detection scans are obtained by superimposing them.
- step S22 the detection field of view of the lidar is divided into m*n sub-fields of view, and the time-of-flight TOF is divided into C time slices.
- Dividing the detection field of view of the lidar into m*n subfields of view can be built into the lidar, for example, by precisely setting the direction of each detection channel of the lidar so that each detection channel corresponds to one of the subfields of view.
- step S23 after K detection scans, the signal processing unit of the readout circuit performs basic operations on the histogram, and generates Table 1 and Table 2 based on the operation results and division of sub-fields of view and time slices.
- the histogram of the K detection scans the sub-field of view where an obstacle exists can be identified, and if there is an obstacle, the approximate distance (and corresponding time slice) of the obstacle can be determined.
- the grid corresponding to the sub-field of view in Table 1 and Table 2 can be filled, wherein the data in Table 1 indicates whether there is an obstacle in the sub-field of view, and the data in Table 2 indicates that if there is an obstacle, the obstacle The corresponding time slice.
- the operation of dividing sub-fields of view and time slices may also be performed after the signal processing unit of the readout circuit operates on the histogram and before generating Table 1 and Table 2 .
- step S24 determine whether the corresponding laser emits light and/or the light-emitting mode during the subsequent K+1th to Nth detection scans; according to Table 1 and Table 2, determine the subsequent K+1th to During the Nth detection scan process, whether the corresponding detector and readout circuit are enabled and in which time slice Slice they are enabled.
- the lighting strategy of the K+1th detection scan to the Nth detection scan can be determined, for example, it is determined whether the corresponding laser emits light, whether to emit light with reduced power, or whether to emit light with a lower luminous density. If there is an obstacle in the subfield of view, refer to Table 2 to control the corresponding detector and readout circuit so that they are only enabled within a specific time slice, so as to receive echoes and perform data processing.
- step S25 superimposing the K+1th to Nth detection data on the histogram data of the previous K detection scans to obtain the data of N repeated detection scans. After the K+1th detection scan to the Nth detection scan is performed, it is combined with the detection data of the previous K detection scans, for example, superimposed on the histogram of the previous K detection scans to obtain all N detection scans Histogram of .
- step S26 Calculation and calibration of distance measurement information is performed on the data in the time slice Slice where obstacles exist.
- the distance and/or reflectivity of the obstacle may be determined according to the detection data of the first K detection scans and the detection data of the K+1th to Nth detection scans, and based on the K+th
- the detection data of the 1st to Nth detection scans are used to calibrate the distance and/or reflectivity of the obstacle.
- step S122 in the detection method 10 further includes intensity information and/or reflectivity information based on K detection scans, during the K+1th to In the Nth detection scan, the emission power of the laser corresponding to the field of view with obstacles is adjusted.
- step S121 according to the detection data of the K detection scans, the sub-field of view with obstacles and the sub-field of view without obstacles are determined.
- the power consumption can be reduced, and then the total energy can be focused to the sub-field of view with obstacles, for example, the power of the laser emission detection pulse corresponding to the sub-field of view with obstacles can be increased to improve the signal-to-noise Compare.
- the detection method 10 further includes: when the intensity information is greater than the threshold value, reducing the emission power of the laser corresponding to the field of view with obstacles in the next detection scan; The field of view corresponding to the emission power of the laser in the next detection scan.
- the histogram is obtained according to the detection data of the previous K detection scans, and the signal processing unit of the readout circuit performs operations on the histogram , the distance and field of view where obstacles exist can be obtained. If the division is based on the sub-field of view and time slice, the sub-field of view and time slice where the obstacle is located can be obtained.
- the intensity information is higher than the threshold. If it is higher than the threshold, then in the next (eg K+1th) detection scan, reduce the emission power of the laser corresponding to the field of view; if it is lower than the threshold, increase the emission power of the laser corresponding to the field of view.
- the threshold may be set according to the signal-to-noise ratio, for example, and when the signal-to-noise ratio is sufficient to identify the echo signal, there is no need for excessively high transmit power, so as to reduce total power consumption. When the intensity information is less than the threshold, the transmit power can be appropriately increased to increase the signal-to-noise ratio, so as to improve the ranging capability.
- each channel includes a corresponding laser and a detector for detecting a specific field of view
- the detection method 10 further includes: in one detection cycle, acquiring laser In the ROI (Region of interest, corresponding to the field of view FOV with obstacles) area in the radar's field of view, for the laser whose field of view falls into the channel of the ROI area, increase the emission power of the laser in the next detection cycle , preferably, and reduce the value of K.
- ROI Region of interest
- step S11 Although the transmission power is increased in step S11, the number of detection scans performed is reduced, and based on the previous K detection scans, the light emission strategy of subsequent detection scans is adjusted, and the number of subsequent detection scans increases, which further enhances the reduction of total power consumption. Effect.
- each channel includes a corresponding laser and a detector for detecting a specific field of view
- N can improve the signal-to-noise ratio, thereby improving the ranging accuracy.
- the number of repeated detection scans that can be increased for each laser depends on how many lasers outside the ROI area do not need additional light.
- the lidar algorithm provides data for dynamic tracking of obstacles (for example, the obstacle is moving, it is located at d1 position in this detection cycle, and may be at d2 position in the next detection cycle), in each detection cycle, K Second coarse measurements are necessary to determine the position of the moved obstacle.
- the method of providing dynamic tracking data considers the margin of obstacle movement, and after obtaining the real ROI area, expands the area in all directions to ensure that the obstacle moves to the real ROI area Otherwise, the next detection cycle can capture moving obstacles, and then effectively adjust the lighting strategy.
- the above describes the adjustment strategy of the transmitting end.
- the method of data storage and processing at the receiving end can also be adjusted.
- FIG. 10 shows an embodiment of the detection module.
- the detection module 22 includes a plurality of detection units, which are shown as detection units 221 - 1 , 221 - 2 and 221 - n in FIG. 4 .
- Each detection unit includes a plurality of single photon avalanche diodes SPAD (such as 9 as shown in the figure, or 3, 4, ..., specifically p, p is a positive integer ⁇ 1), and each detection unit
- the output end of the single photon avalanche diode of the unit is connected to a time-to-digital converter (time to digital converter, TDC), and the range of the detection window of each detection unit (that is, the time period during which the SPAD can sense incident photons) is independently adjustable, namely
- TDC time to digital converter
- Each detection unit can be independently controlled to be in the active state (the SPAD is in Geiger mode, that is, a reverse bias voltage greater than the breakdown voltage is applied to the SPAD, so that the SPAD can trigger the
- Each detection unit is coupled to a time-to-digital converter TDC, which can determine the arrival time of photons.
- a data processing device (not shown in FIG. 11 ) connected to the TDC can obtain the detection light emission time, determine the time difference between the photon arrival time and the detection light emission time, and store the result in a memory.
- the output terminals of multiple SPADs are connected to the same TDC as a detection unit 221, and the time information is the time when one or more single photon avalanche diode SPADs in the detection unit 221 are triggered,
- the intensity information is the number of single photon avalanche diodes (SPADs) that are triggered at the triggering time, that is, the intensity of the optical signal is represented by the number of single photon avalanche diodes (SPADs) that are triggered.
- the time information is the time when one or more SPADs in the detector (221-1, 221-2, 221-37) are triggered
- the intensity information is the number of single photon avalanche diodes (SPADs) that are triggered at the triggering time, that is, the intensity of the optical signal is represented by the number of single photon avalanche diodes (SPADs) that are triggered.
- the time information is the timestamp timestamp of triggering the single photon avalanche diode SPAD, that is, the time difference t between the time t a when the laser is emitted and the time t 1a when the single photon avalanche diode SPAD is triggered 1a -t a .
- time information and intensity information are described by taking SPAD as an example.
- SPAD photodetectors
- other types of photodetectors can also be used, including but not limited to avalanche photoelectric detectors. Diode APD, silicon photomultiplier tube SiPM, etc.
- avalanche photoelectric detectors Diode APD, silicon photomultiplier tube SiPM, etc.
- different parameters can be used to characterize the intensity information. For example, if the photodetector is a SPAD array, the number of simultaneously triggered SPADs corresponding to the time information can be used as the intensity information; if the photodetector is a SiPM, the output level/current intensity corresponding to the time information can be used to represent the optical signal intensity information.
- the controller of the laser radar strobes a part (a row or a column or any shape of interest) of the detection unit 221 by supplying high voltage to the SPAD, and then sends
- the synchronization signal informs the laser at the transmitting end that it can emit light, and the laser at the transmitting end sends out a light pulse for detection at time t a (a represents the a-th detection scan).
- the light pulse encounters an external obstacle, is reflected by the obstacle and returns to To the laser radar, it can be received by the photodetector at the receiving end.
- the photodetector is a SPAD (S) array
- S SPAD
- an avalanche electrical signal is generated, which is transmitted to the TDC, and the TDC outputs the time signal t 1a triggered by the SPAD and the number signal cnt 1a
- 1a means the first triggering of the a-th detection scan
- tp 1a the triggering time timestamp 1a
- the 1a signal is transmitted and stored in memory.
- a detection unit 221 includes a plurality of SPADs, and the SPADs can detect again after the dead time, so in a detection scan, a SPAD trigger may occur at another moment, and the memory stores the tp 2a and cnt 2a ( 2a means the second trigger of the a-th detection scan). Multiple triggers in a probe scan need to be stored with time information.
- the controller of the laser radar sends a signal again to control the transmitter to send a detection light pulse at time t b according to a preset program.
- the SPAD receives photons
- the avalanche electrical signal is transmitted to the TDC, and the TDC outputs the time signal t 1b triggered by the SPAD and the number signal cnt 1b of the triggered SPAD at the same time (the first trigger of the b-th detection), and the subsequent memory
- the trigger time timestamp 1b (hereinafter referred to as tp 1b ) of the SPAD trigger time t 1b -t b and the trigger quantity cnt 1b signal at the trigger time are stored.
- a detection unit 221 includes multiple SPADs, and the SPADs can detect again after the dead time, so in a detection scan, a SPAD trigger may occur at another time, and the memory stores the tp 2b and cnt 2b of this trigger.
- the trigger quantity cnt obtained by each detection scan is stored in the corresponding memory location according to the trigger time timestamp, and when a new trigger quantity cnt arrives at the position corresponding to the timestamp at the same trigger time, the previously stored The value is accumulated with the new trigger number cnt and then updated to this position. After n detection scans are superimposed, a histogram is saved in the memory.
- the histogram reflects the number of triggers corresponding to timestamp at different trigger moments on the time axis
- the sum of cnt use the histogram to calculate the center of gravity or front time and other operations to obtain the time information corresponding to the echo, as the flight time for distance calculation, and generate a point on the point cloud.
- each time scale of its time resolution needs to have a corresponding storage location, and all the triggered SPAD number information cnt obtained from multiple measurements are stored in the In the corresponding storage location, and the time resolution of the time-to-digital converter TDC can reach the order of picosecond ps, so a register with a very large space is required.
- a data storage method is shown in Figure 11, the abscissa is time t, the scale interval of the abscissa is the resolution of TDC, and each time scale corresponds to a storage location R (register).
- a SPAD trigger occurs at time scale 0
- the time stamp tp 1 (trigger time - current launch time) and trigger quantity information cnt 1a are obtained through calculation according to the launch time and the trigger time of TDC transmission, and cnt 1a is stored
- a SPAD trigger also occurs at time scale 4, and time information tp 5 and cnt 5b are obtained, and cnt 5b also corresponds to storage location R5. At this time, cnt 5a is read out, and then cnt 5b is compared with cnt 5a The added value is updated to R5.
- a represents the detection of the ath time
- b is the detection of the bth time
- the number represents the corresponding time scale and corresponding storage location
- the storage location R corresponds to the time scale one by one
- the memory only stores the trigger quantity cnt, and the data processing
- the time corresponding to the number of triggers cnt can be known according to the storage location).
- a histogram is obtained by accumulating data of many detection scans (400-500 times).
- the storage location corresponding to the time scale stores the cumulative sum of all trigger numbers cnt that trigger at that moment.
- a SPAD trigger does not occur at every time scale in a scan, as shown in Figure 11, a histogram data is superimposed by many detection results, and each time scale may be triggered in a certain scan A SPAD trigger occurs during the process, so that the memory receives the corresponding data.
- each time scale needs to have a corresponding storage location, all the trigger numbers cnt obtained by multiple measurements are stored in the storage location corresponding to the time, the time interval of tp, that is, the resolution of TDC The rate reaches the ps level, requiring a register with a very large space.
- Time information is weighted to store intensity information.
- the present invention adopts the weighted accumulation data storage method, compresses the original signal under the condition of retaining the ranging accuracy, and greatly reduces the storage space required for storing the histogram. Specifically, the weighted accumulation data storage method can reduce the total storage space to 1/10 of the original range.
- the time precision for storing intensity information in the present invention is the first time precision, and the first time precision may be n times the time resolution of the time-to-digital converter TDC.
- the intensity information refers to the optical signal intensity information corresponding to the time information.
- different parameters can be used to characterize the optical signal intensity: for example, the detector is a SPAD array, and the SPAD triggered simultaneously corresponding to the time information can be used The quantity is used as the intensity information; if the detector is a SiPM, the output level/current intensity corresponding to the time information can be used to represent the optical signal intensity information.
- radar detection data includes time information and intensity information corresponding to the time information.
- the data storage method of the present invention specifically includes: storing the intensity information according to the weight of the time information with the first time precision; the first time precision is the time interval between any two adjacent first time scales , and is n times the time resolution of the radar detection data, where n>1; the weight is associated with the time information and at least one time interval of the first time scale.
- Fig. 12 and Fig. 13 show specific schematic diagrams of a storage method according to a preferred embodiment of the present invention. The implementation of the data storage method of the present invention will be described in detail below with reference to Fig. 12 and Fig. 13 .
- the abscissa is the time of flight
- the interval of the time scale on the abscissa is, for example, the time resolution of the lidar, such as the time resolution of the time-to-digital converter TDC, which can reach the order of picoseconds ps.
- the first time scale is set on the basis of the time resolution of the lidar.
- the interval between two adjacent first time scales is 16 interval of time resolution of the lidar.
- the time scale corresponding to the time resolution of lidar can also be called “fine scale”, the first time scale Also called “coarse scale”.
- the weight of the moment x includes a first weight and a second weight
- the first weight is associated with the time interval between the moment x and one of the adjacent first time scales
- the second weight Associated with the time interval between said instant x and another adjacent first time scale.
- the first weight is associated with the time interval between the moment x and the first time scale A adjacent to its left side, the first weight is, for example, (16-x),
- the second weight is associated with the time interval between the time x and the first time scale A+1 adjacent to its right, and the second weight is, for example, x. Therefore, the moment x is represented by its weight at two adjacent coarse scales (A, A+1), where the weight of x at the coarse scale A is (16-x), and at the coarse scale A+
- the weight of 1 is x (x represents the distance from A at this moment), which is equivalent to the fine scale of x at this moment.
- the data at the fine scale is stored in the addresses corresponding to two adjacent coarse scales to represent the value of the scale x instead of storing the scale x itself. This process is represented by the equation as follows:
- the left side of the equal sign is the sum of weights stored according to the coarse scale, the start value and the end value of the coarse scale, and the right side of the equal sign is the specific value of the timestamp. It can be seen that the storage method of coarse scale + weight can accurately represent the specific value of the timestamp.
- the triggered signal includes the trigger number cnt indicating the number or intensity of the trigger in addition to the time stamp
- the newly added intensity information on the coarse scale A is cnt*(16-x)
- the coarse scale A+1 The newly added intensity information is cnt*x, which can be accumulated separately in multiple scans.
- the fine scale represents the time-to-digital converter TDC time resolution. For a timestamp timestamp, the starting value of its coarse scale is A, and its fine scale is at the corresponding 0-15 fine scale x scale in its coarse scale.
- a register is assigned to each coarse scale, the coarse scale interval of the abscissa is 16 times the TDC resolution, and each coarse scale corresponds to a register.
- a coarse scale time (fine scale 0-15), all trigger quantity information cnt is weighted, summed with the original data and stored in registers corresponding to storage locations A and A+1.
- the trigger quantity information cnt within the next coarse scale time is weighted and stored in the registers corresponding to coarse scale A+1 and A+2, for example, a SPAD trigger occurs at time 2', and time information tp 3 ' and cnt 3a ' are obtained , then add cnt 3a '*(16-x 3a ') to the data stored in register A+1 corresponding to coarse scale A+1, and store cnt 3a '* in register A+2 corresponding to coarse scale A+2 x 3a '.
- the received signals tp 2 and cnt 2b are assigned weights cnt 2b *(16-x 2b ) and cnt 2b *x 2b respectively on the coarse scale A and A+1, respectively, and the original stored data
- the sum is stored in the registers corresponding to coarse scale A and A+1.
- a histogram is obtained by accumulating the data of many scans. In several scans, all trigger numbers cnt corresponding to triggers at times 0 to 15 are stored in registers corresponding to coarse scale A and A+1.
- the present invention adopts a weighted accumulation storage method, only needs to set registers corresponding to the coarse scale of 0 ⁇ n+1, and the number of required registers is reduced to the original 1/16, although the bit width stored in each register increases and takes up more space, but because the storage locations that need to be allocated are greatly reduced, the weighted accumulation data storage method can reduce the total storage space to the original 1/16 10 range.
- the time interval between adjacent first time scales is 16 times the time resolution of radar detection data (fine scale), that is, 16 is used as the weight for data compression.
- the weight here can be any larger positive integer.
- the time interval of the coarse scale is 2 m times that of the fine scale, where m is a positive integer, so as to facilitate implementation in FPGA or ASIC.
- the first weight is (16-x), the second weight is x, the present invention is not limited thereto, the first weight may be x, and the second weight is (16-x ), or the first weight can be 1-(x/n), and the second preset weight is x/n, as long as the first weight is between the time x and one of the adjacent first time scales
- the second weight is associated with the time interval between the time x and another adjacent first time scale.
- the detection data of the first K detection scans may be stored in a coarse storage manner, and the detection data of the K+1th to Nth detection scans may be stored in a fine storage manner.
- the comparative relationship between the coarse storage scale used by the histogram data C1 and the fine storage scale used by the histogram data C2 is shown in Figure 15, 0, 1, 2... A, A+1 are coarse scales, every two Between two coarse scales (for example, between A and A+1), there are multiple fine scales, that is, the time resolution of the lidar, for example, the fine scale x.
- the detection method 10 also includes:
- step S13-B in the K+1th to Nth detection scans, adjust the detection window of the detector according to the field of view of the obstacle, and obtain the detection data of the detector within the detection window.
- the present invention also relates to a laser radar transmitting unit 100.
- the transmitting unit 100 includes:
- a laser 101 configured to emit pulses
- the driving unit 102 is coupled to the laser 101, and is configured to drive the laser 101 to emit pulses to measure the distance and/or reflectivity of obstacles, and the driving unit 102 is also configured to perform the following operate:
- S11 Obtain detection data of K detection scans in one detection cycle, wherein the detection data includes time information and intensity information corresponding to the time information, one detection cycle includes N detection scans, and N is an integer greater than 1 , K is an integer, 1 ⁇ K ⁇ N; and
- step S12 also includes:
- S121 Determine the field of view where obstacles exist according to the detection data of the K detection scans
- some of the lasers 101 are controlled to emit detection pulses.
- the present invention also designs a laser radar 200, as shown in Figure 12, the laser radar 200 includes:
- a launch unit 100 comprising:
- a laser 101 configured to emit pulses
- a driving unit 102 the driving unit is coupled to the laser and is configured to drive the laser to emit pulses to measure the distance and/or reflectivity of obstacles, wherein one detection cycle includes N detection scans, and N is greater than an integer of 1;
- the receiving unit 201 is configured to receive an echo of the pulse reflected by an obstacle, and convert the echo into an electrical signal
- the signal processing unit 202 is coupled to the transmitting unit 100 and the receiving unit 201, and generates detection data for each detection scan according to the electrical signal, wherein the detection data includes time information and intensity corresponding to the time information information;
- drive unit 102 is configured to perform the following operations:
- step S12 also includes:
- step S121 according to the detection data of the K detection scans, identify the field of view where obstacles exist;
- step S122 For the field of view without obstacles, in the K+1th to Nth detection scans of the detection cycle, use any one or more of the following to control the corresponding Laser 101:
- some of the lasers 101 are controlled to emit detection pulses.
- the signal processing unit 202 is configured to: determine the obstacle based on the detection data of the K detection scans and the detection data of the K+1th to Nth detection scans and calibrate the distance and/or reflectivity of the obstacle based on the detection data of the K+1th to Nth detection scans.
- the drive unit 102 is further configured to: based on the intensity information and/or reflectivity information of the K detection scans, detect During scanning, the emission power of the laser 101 corresponding to the field of view with obstacles is adjusted.
- the drive unit 102 is further configured to: when the intensity is greater than a threshold, reduce the emission power of the laser 101 corresponding to the field of view with obstacles in the next detection scan; when the intensity is less than the threshold , increasing the emission power of the laser 101 corresponding to the field of view where the obstacle exists in the next detection scan.
- each channel includes a corresponding laser 101 and a detector 202 for time-of-flight measurement for a specific field of view, and the drive unit 102 also Configured as:
- the driving unit 102 is configured to: in the step S11 , increase the emission power of the laser 101 and decrease the value of K.
- the lidar 200 includes a plurality of channels, each channel includes a corresponding laser 101 and a detector 202 for detecting a specific field of view, and the drive unit 102 is also configured to :
- the value of N is increased.
- the detection data is stored by the first storage method or the second storage method, wherein the first storage method includes: storing For the intensity information, the first time accuracy is the time interval between any two adjacent first time scales, and is M times the time resolution of the detection data of the lidar 200, where M>1, The weight is associated with the time information and at least one time interval of the first time scale; the second storage manner includes storing according to the time resolution of the lidar 200 .
- the first set of detection data is stored in the first storage manner
- the second set of detection data is stored in the second storage manner.
- the weight includes a first weight and a second weight
- the first weight is associated with the time information and the time interval between one of the adjacent first time scales
- the The second weight is associated with the time interval between the time information and another adjacent first time scale
- the first storage method includes: with the first time precision, respectively according to the first weight and the second Two weights, storing the intensity information.
- the drive unit 102 is further configured to perform the following operations:
- Step S13 In the K+1th to Nth detection scans, adjust the detection window of the detector 202 according to the field of view of the obstacle, and obtain the detection data of the detector 202 within the detection window.
- the operation S13 further includes:
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Abstract
Description
Claims (28)
- 一种激光雷达的探测方法,所述探测方法包括:S11:在一个探测周期,获得K次探测扫描的探测数据,所述一个探测周期包括N次探测扫描,N为大于1的整数,K为整数,1≤K<N;和S12:根据所述K次探测扫描的探测数据,调整激光器在该探测周期的第K+1次到第N次探测扫描中的发光策略。
- 如权利要求1所述的探测方法,其中所述步骤S12包括:S121:根据所述K次探测扫描的探测数据,识别存在障碍物的视场;S122:对不存在障碍物的视场,在该探测周期的第K+1次到第N次探测扫描中,采用以下中的任意一种或多种控制所述视场对应的所述激光器:不发射探测脉冲:控制所述激光器以降低的功率发射探测脉冲;和控制其中部分激光器发射探测脉冲。
- 如权利要求2所述的探测方法,还包括:基于所述K次探测扫描的探测数据和所述第K+1次到第N次探测扫描的探测数据,确定所述障碍物的距离和/或反射率,并基于所述第K+1次到第N次探测扫描的探测数据,校准所述障碍物的距离和/或反射率。
- 如权利要求3所述的探测方法,其中步骤S122还包括基于所述K次探测扫描的强度信息和/或反射率信息,在该探测周期的第K+1次到第N次探测扫描中,调整所述存在障碍物的视场对应的激光器的发射功率。
- 如权利要求4所述的探测方法,还包括:当强度信息大于阈值时,降低所述存在障碍物的视场对应的激光器在下一次探测扫描的发射功率;当强度小于阈值时,提高所述存在障碍物的视场对应的激光器在下一次探测扫描的发射功率。
- 如权利要求1-5中任一项所述的探测方法,其中所述激光雷达包括多个通道,每个 通道包括相对应的激光器和探测器用于针对特定视场范围进行探测,所述探测方法还包括:获取所述激光雷达的视场中的ROI区域;对于视场范围落入该ROI区域的通道的激光器,在所述步骤S11中,增大激光器的发射功率。
- 如权利要求6所述的探测方法,还包括:增大激光器的发射功率,并减小所述K的值。
- 如权利要求1-5中任一项所述的探测方法,其中所述激光雷达包括多个通道,每个通道包括相对应的激光器和探测器用于针对特定视场范围进行探测,所述探测方法还包括:获取所述激光雷达的视场中的ROI区域;对于视场范围落入该ROI区域的通道的激光器,增大所述N的值。
- 如权利要求1-5中任一项所述的探测方法,其中所述探测数据通过第一存储方式或第二存储方式进行存储,其中所述第一存储方式包括:以第一时间精度,按照所述时间信息的权重,存储所述强度信息,所述第一时间精度为任意两个相邻第一时间刻度之间的时间间隔,且为所述激光雷达的探测数据的时间分辨率的M倍,其中M>1,所述权重与所述时间信息和至少一个第一时间刻度的时间间隔相关联;所述第二存储方式包括按照所述激光雷达的时间分辨率存储。
- 如权利要求9所述的探测方法,其中所述第一组探测数据按照所述第一存储方式存储,所述第二组探测数据按照所述第二存储方式存储。
- 如权利要求9所述的探测方法,其中所述权重包括第一权重和第二权重,所述第一权重与所述时间信息和其中一个相邻的第一时间刻度之间的时间间隔相关联,所述第二权重与所述时间信息与另一个相邻的第一时间刻度之间的时间间隔相关联,所述第一存储方式包括:以第一时间精度,分别按照所述第一权重和第二权重,存储所述 强度信息。
- 如权利要求1-5中任一项所述的探测方法,还包括:S13:在所述第K+1次到第N次探测扫描中,根据障碍物的视场调整探测器的探测窗口,获得所述探测器在所述探测窗口内的探测数据。
- 如权利要求12所述的探测方法,所述步骤S13还包括:仅在所述探测窗口内激活所述探测器;和/或保持所述探测器激活,仅读取所述探测器在所述探测窗口内的探测数据。
- 一种激光雷达的发射单元,包括:激光器,配置成发射脉冲;和驱动单元,所述驱动单元耦接到所述激光器,并配置成可驱动所述激光器发射脉冲以测量障碍物的距离和/或反射率,所述驱动单元还配置成执行以下操作:S11:在一个探测周期,获得K次探测扫描的探测数据,其中所述探测数据包括时间信息和与所述时间信息对应的强度信息,所述一个探测周期包括N次探测扫描,N为大于1的整数,K为整数,1≤K<N;和S12:根据所述K次探测扫描的探测数据,调整所述激光器在该个探测周期的第K+1次到第N次探测扫描中的发光策略。
- 如权利要求14所述的发射单元,其中所述步骤S12还包括:S121:根据所述K次探测扫描的探测数据,识别存在障碍物的视场;S122:对不存在障碍物的视场,在该探测周期的第K+1次到第N次探测扫描中,采用以下中的任意一种或多种控制所述视场对应所述激光器:不发射探测脉冲;控制所述激光器以降低的功率发射探测脉冲;和当多个激光器对应于该探测时,控制其中部分激光器发射探测脉冲。
- 一种激光雷达,包括:发射单元,包括:激光器,配置成发射脉冲;和驱动单元,所述驱动单元耦接到所述激光器,并配置成可驱动所述激光器发射脉冲以测量障碍物的距离和/或反射率,其中一个探测周期包括N次探测扫描,N为大于1的整数;接收单元,配置为接收所述脉冲在障碍物上反射后的回波,并将所述回波转换为电信号;和信号处理单元,耦接到所述发射单元和接收单元,并根据所述电信号生成每次探测扫描的探测数据,其中所述探测数据包括时间信息和与所述时间信息对应的强度信息;其中所述驱动单元配置成执行以下操作:S11:在一个探测周期,获得K次探测扫描的探测数据,K为整数,1≤K<N;和S12:根据所述K次探测扫描的探测数据,调整所述激光器在该探测周期的第K+1次到第N次探测扫描中的发光策略。
- 如权利要求16所述的激光雷达,其中所述步骤S12还包括:S121:根据所述K次探测扫描的探测数据,识别存在障碍物的视场;S122:对不存在障碍物的视场,在该探测周期的第K+1次到第N次探测扫描中,采用以下中的任意一种或多种控制所述视场对应的所述激光器:不发射探测脉冲;控制所述激光器以降低的功率发射探测脉冲;和当多个激光器对应于该探测时,控制其中部分激光器发射探测脉冲。
- 如权利要求17所述的激光雷达,其中所述信号处理单元配置成:基于所述K次探测扫描的探测数据和所述第K+1次到第N次探测扫描的探测数据,确定所述障碍物的距离和/或反射率,并基于所述第K+1次到第N次探测扫描的探测数据,校准所述障碍 物的距离和/或反射率。
- 如权利要求18所述的激光雷达,其中所述驱动单元进一步配置成:基于所述K次探测扫描的强度信息和/或反射率信息,在该探测周期的第K+1次到第N次探测扫描中,调整所述存在障碍物的视场对应的激光器的发射功率。
- 如权利要求19所述的激光雷达,其中所述驱动单元进一步配置成:当强度大于阈值时,降低所述存在障碍物的视场对应的激光器在下一次探测扫描的发射功率;当强度小于阈值时,提高所述存在障碍物的视场对应的激光器在下一次探测扫描的发射功率。
- 如权利要求16-20所述的激光雷达,其中所述激光雷达包括多个通道,每个通道包括相对应的激光器和探测器用于针对特定视场范围进行探测,所述驱动单元还配置成:获取所述激光雷达的视场中的ROI区域;对于视场范围落入该ROI区域的通道的激光器,在所述操作S11中,增大激光器的发射功率。
- 如权利要求16-20中任一项所述的激光雷达,其中所述驱动单元配置成:在所述步骤S11中,增大激光器的发射功率,并减小所述K的值。
- 如权利要求16-20中任一项所述的激光雷达,其中所述激光雷达包括多个通道,每个通道包括相对应的激光器和探测器用于针对特定视场范围进行探测,所述驱动单元还配置成:获取所述激光雷达的视场中的ROI区域;对于视场范围落入该ROI区域的通道的激光器,增大所述N的值。
- 如权利要求15-17中任一项所述的激光雷达,其中所述探测数据通过第一存储方式或第二存储方式进行存储,其中所述第一存储方式包括:以第一时间精度,按照所 述时间信息的权重,存储所述强度信息,所述第一时间精度为任意两个相邻第一时间刻度之间的时间间隔,且为所述激光雷达的探测数据的时间分辨率的M倍,其中M>1,所述权重与所述时间信息和至少一个第一时间刻度的时间间隔相关联;所述第二存储方式包括按照所述激光雷达的时间分辨率存储。
- 如权利要求24所述的激光雷达,其中所述第一组探测数据按照所述第一存储方式存储,所述第二组探测数据按照所述第二存储方式存储。
- 如权利要求24所述的激光雷达,其中所述权重包括第一权重和第二权重,所述第一权重与所述时间信息和其中一个相邻的第一时间刻度之间的时间间隔相关联,所述第二权重与所述时间信息与另一个相邻的第一时间刻度之间的时间间隔相关联,所述第一存储方式包括:以第一时间精度,分别按照所述第一权重和第二权重,存储所述强度信息。
- 如权利要求16-20中任一项所述的激光雷达,所述驱动单元还配置成执行以下操作:S13:在所述第K+1次到第N次探测扫描中,根据障碍物的视场调整探测器的探测窗口,获得所述探测器在所述探测窗口内的探测数据。
- 如权利要求27所述的激光雷达,所述操作S13还包括:仅在所述探测窗口内激活所述探测器;和/或保持所述探测器激活,仅读取所述探测器在所述探测窗口内的探测数据。
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Publication number | Priority date | Publication date | Assignee | Title |
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CN117471433A (zh) * | 2023-12-28 | 2024-01-30 | 广东威恒输变电工程有限公司 | 基于高反射强度标靶的施工机械激光点云实时提取方法 |
CN117471433B (zh) * | 2023-12-28 | 2024-04-02 | 广东威恒输变电工程有限公司 | 基于高反射强度标靶的施工机械激光点云实时提取方法 |
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KR20240018654A (ko) | 2024-02-13 |
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DE112022002606T5 (de) | 2024-05-29 |
JP2024526345A (ja) | 2024-07-17 |
CN115616533A (zh) | 2023-01-17 |
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