WO2024113328A1 - 探测方法、阵列探测器、阵列发射器、探测装置及终端 - Google Patents

探测方法、阵列探测器、阵列发射器、探测装置及终端 Download PDF

Info

Publication number
WO2024113328A1
WO2024113328A1 PCT/CN2022/136036 CN2022136036W WO2024113328A1 WO 2024113328 A1 WO2024113328 A1 WO 2024113328A1 CN 2022136036 W CN2022136036 W CN 2022136036W WO 2024113328 A1 WO2024113328 A1 WO 2024113328A1
Authority
WO
WIPO (PCT)
Prior art keywords
detection
area
signal
array
array detector
Prior art date
Application number
PCT/CN2022/136036
Other languages
English (en)
French (fr)
Inventor
韩二江
石现领
曹国亮
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2022/136036 priority Critical patent/WO2024113328A1/zh
Publication of WO2024113328A1 publication Critical patent/WO2024113328A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/493—Extracting wanted echo signals

Definitions

  • the present application relates to the field of light detection technology, and in particular to a detection method, an array detector, an array transmitter, a detection device and a terminal.
  • Detection devices can be regarded as the "eyes" that perceive the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radars, laser radars, and ultrasonic radars.
  • visual sensors such as cameras
  • radar sensors such as millimeter-wave radars, laser radars, and ultrasonic radars.
  • laser radar light detection and ranging, Lidar
  • It is a key sensor in the field of perception and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing and other fields.
  • the transmitting end sends out multiple detection signals.
  • the multiple detection signals are respectively irradiated onto the target in the field of view, and are reflected on the target in the field of view to obtain echo signals corresponding to the multiple detection signals.
  • the light spot of the echo signal will fall on the detector, which receives the echo signal and obtains its energy, thereby obtaining relevant information about the target.
  • the detector of the laser radar is usually implemented as an array detector containing multiple detection elements.
  • the position where the light spot of the echo signal falls on the array detector is related to the distance of the target and the pointing angle of the target (that is, the position of the target in the field of view). Therefore, by processing the energy obtained at different positions on the array detector, relevant information about the target within the corresponding distance and pointing angle can be obtained, and targeted distance compensation and reflectivity compensation can be performed to improve detection accuracy.
  • the position of the echo signal spot on the array detector often shifts.
  • the shift of the spot is not only an overall shift, but also accompanied by the splitting and dispersion of the spot, which can easily cause the spot to shift out of the area that can receive the echo signal energy, thereby causing abnormalities in the subsequent distance compensation and reflectivity compensation, affecting the detection accuracy of the lidar.
  • the embodiments of the present application provide a detection method, an array detector, an array transmitter, a detection device and a terminal, which can reduce the energy loss caused by the movement of the light spot and improve the detection accuracy of the detection device.
  • an embodiment of the present application provides a detection method, including:
  • a first area of the array detector receives a first echo signal and acquires energy of the first echo signal, the first echo signal corresponds to a first detection signal, and the first detection signal is sent at a first moment;
  • the second area of the array detector receives a second echo signal and obtains energy of the second echo signal, the second echo signal corresponds to a second detection signal, and the second detection signal is sent at a second moment;
  • the first region and the second region are included in the array detector, the first region and the second region respectively include at least two detection elements, and the first region and the second region do not completely overlap.
  • the above method may be applied to an array detector or a controller, where the controller may control the array detector, and the array detector includes a plurality of detection elements.
  • the first area and the second area do not completely overlap, that is, there is an offset between the first area and the second area.
  • the array detector can dynamically offset and adjust the position of the receiving area when receiving the echoes of the two.
  • the dynamic adjustment of the receiving area can adapt to the distribution change of the light spot, and can capture the echo light spot with position offset and/or energy dispersion, thereby reducing the energy loss caused by the light spot movement of the echo signal and improving the detection accuracy of the detection device.
  • the first detection signal and the second detection signal are signals emitted within a detection duration.
  • a detection duration may be a time slot, a wave position, a detection frame, or a detection subframe.
  • a time slot is the smallest time unit in the detection process, and multiple pulse signals may be transmitted in a time slot.
  • the beam position is related to the time it takes for the detection signal to complete a detection scan in one direction. For example, if the vertical pitch angle of the detection device is 0-20°, and the beam width of the detection signal emitted by the detection device is 5°, at least 4 beam positions are required to cover the entire pitch airspace.
  • a detection frame refers to an image obtained when the detection device completes a scan of the entire field of view.
  • a detection frame usually generates a point cloud image.
  • the detection subframe is obtained by dividing the detection frame.
  • completing a scan in one direction is a detection subframe
  • completing scans in two directions is a detection frame.
  • a detection subframe or a wave position
  • completing the detection of the full field of view is called a detection frame.
  • the time it takes to complete the detection of a "point" is called a detection subframe (or a wave position)
  • completing the detection of the full field of view is called a detection frame.
  • the detection device transmits multiple detection signals within a period of time to detect the same detection area (or a detection area with an angle smaller than an angular resolution), and the first detection signal and the second detection signal belong to multiple detection signals transmitted within the same period of time.
  • the first area completely overlaps with a reference receiving area
  • the offset between the second area and the reference receiving area is a first distance
  • the first distance is a multiple of a unit width
  • the unit width is the minimum resolution unit of the array detector.
  • the reference receiving area is an area for receiving the echo signal of the first detection signal and the echo signal of the second detection signal under a first environmental condition
  • the reference receiving area is included in the array detector
  • the first environmental condition is a predefined working environment of the array detection.
  • the reference receiving area may be regarded as an ideal receiving position of the light spot.
  • the reference receiving area may be pre-set or pre-defined, such as written by a manufacturer, developer, tester, or the like.
  • the above implementation can improve the reception efficiency of the echo energy, increase the effective ratio of the signal, and improve the detection accuracy.
  • the offset between the first area and a preset reference receiving area is a second distance
  • the offset between the second area and the reference receiving area is a third distance
  • the second distance and the third distance are different multiples of a unit width
  • the unit width is the minimum resolution unit of the array detector.
  • the shifted area is shifted with the reference receiving area as an anchor point. Considering that the echo spot after the shifting will also fall near the reference receiving area, the above implementation can improve the receiving efficiency of the echo energy, increase the effective ratio of the signal, and improve the detection accuracy.
  • the temperature of the environment in which the array detector is currently working is higher than a first temperature threshold
  • the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.
  • Temperature change is an important factor that causes the echo spot to move.
  • the echo spot when the temperature is higher than or equal to the first temperature threshold, the echo spot will deviate from the reference receiving area; therefore, when the temperature is higher than or equal to the first threshold, the energy of the echo spot can be received more accurately by dynamically shifting the receiving area, reducing the energy loss caused by the spot moving, and improving the detection accuracy of the detection device.
  • a pointing angle of the first detection signal and a pointing angle of the second detection signal fall within a first angle range, and the first angle range is a partial angle in a field of view.
  • the field of view is the field of view of the detection device.
  • multiple detection signals at different angles are usually emitted. For example, taking a line scanning detection device as an example, the detection device scans multiple lines to complete the detection of the field of view.
  • the echo spot in some angles of the field of view, is received by dynamic offset; while the other angles can be received by a fixed reference receiving area or by dynamic offset.
  • the receiving method of the echo spot can be more flexibly adjusted, the energy of the echo spot can be received more accurately, and the detection accuracy can be improved.
  • the array detector may select whether to use a dynamic receiving mode for detecting a certain horizontal angle based on the horizontal angle.
  • some angles are angles close to the edge of the field of view. Since the angles close to the edge of the field of view are more likely to cause the light spot to move, the echo light spot of the detection signal emitted to the edge of the field of view is dynamically offset and received, so that the energy of the echo light spot can be received more accurately, the energy loss caused by the light spot moving can be reduced, and the detection accuracy of the detection device can be improved.
  • the detection device is further used to receive the echo of the fourth detection signal through the reference receiving area and obtain the energy of the echo of the fourth detection signal.
  • the pointing angle of the fourth detection signal is located in the middle area of the field of view.
  • the energy of the echo spot can be received more accurately through the reference receiving area, thereby improving the detection accuracy.
  • the maximum detection distance of the first detection signal and the maximum detection distance of the second detection signal are less than the maximum detection distance of the third detection signal emitted at the third moment.
  • the third moment is different from the first moment (e.g., far measurement and near measurement are performed in different time periods), or the same as the first moment (e.g., far measurement and near measurement are not performed in different time periods).
  • the third moment is different from the first moment, or the same as the first moment.
  • the maximum detection distance is related to the energy density and/or power of the signal.
  • the energy density and/or power of the first detection signal is less than that of the third detection signal.
  • the energy density/power of the second detection signal is less than that of the third detection signal.
  • the array detector can determine whether to adopt a dynamic receiving mode according to long-distance measurement and short-distance measurement. For example, during short-distance detection, the echo signal is received by dynamically switching the receiving area.
  • the echo of the third detection signal may also be received by dynamically shifting the receiving area.
  • the method further includes:
  • the array detector obtains an output electrical signal according to the first echo signal and the second echo signal
  • the array detector obtains statistical histogram data according to the output electrical signal, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view.
  • the first echo signal and the second echo signal correspond to pixels with the same detection result.
  • the method further includes:
  • the array detector adjusts the area for receiving echo signals to the second area at a third moment, and the third moment is prior to the second moment.
  • the adjustment of the receiving area on the array detector should be earlier than the emission time of the detection signal. Because some detection elements need time to adjust their working state, for example, some detection elements need to be powered on or output channel gated, these operations need a certain time to stabilize.
  • the receiving area is adjusted to the second area before transmitting the second detection signal.
  • the detection element in the second area acquires the energy of the second echo signal, it will have higher accuracy and stronger stability, thereby improving the detection performance.
  • an embodiment of the present application further provides a detection method, the method comprising:
  • the first area of the array transmitter transmits a first detection signal, wherein the first detection signal corresponds to a first echo signal.
  • the second area of the array transmitter transmits a second detection signal, and the second detection signal corresponds to a second echo signal;
  • the first area and the second area are included in the array transmitter, the first area and the second area respectively include at least two light-emitting elements, and the first area and the second area do not completely overlap.
  • the first detection signal and the second detection signal are used to detect the same detection area in the field of view.
  • the first echo signal and the second echo signal correspond to the same pixel in the detection result. That is, the first echo signal and the second echo signal are used to obtain statistical histogram data, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view.
  • the above method can be applied to an array transmitter or a controller, and the controller can control the array transmitter, and the array transmitter includes multiple light-emitting elements.
  • different emission areas in the array emitter are used to emit light for detection. Different emission areas have different pointing angles relative to the detection area, and the echo spots formed will fall on different positions of the detector (or receiver).
  • the movement of the light spot can be shifted left and right (or up and down) through different angles.
  • detection signals with multiple pointing angles it is very likely that there will be a light spot that falls into the reference receiving area among the multiple echo light spots corresponding to the multiple detection signals, so that the detector can obtain the energy of the echo light spot from the reference receiving area.
  • using detection signals emitted from different emission areas achieves the effect of dynamically shifting the receiving area, reducing the energy loss caused by the movement of the echo light spot, and improving the detection accuracy of the detection device.
  • the first detection signal and the second detection signal are signals emitted within a detection duration.
  • a detection duration may be a time slot, a wave position, a detection frame, or a detection subframe.
  • the first area completely overlaps with the reference emission area
  • the offset between the second area and the reference emission area is a first distance
  • the first distance is a multiple of a unit width
  • the unit width is the minimum resolution unit of the array transmitter.
  • the third echo signal corresponding to the fourth detection signal emitted by the reference emission area falls into the reference receiving area of the array detector, and the reference receiving area is used to receive the third echo signal and obtain the energy of the third echo signal.
  • the offset between the first area and the reference emission area is a second distance
  • the offset between the second area and the reference emission area is a third distance
  • the second distance and the third distance are different multiples of a unit width
  • the unit width is the minimum resolution unit of the array transmitter.
  • the temperature of the environment in which the array transmitter is currently operating is higher than a first temperature threshold
  • the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.
  • a directional angle of the first detection signal and a directional angle of the detection signal fall within a first angle range
  • the first angle range is a partial angle in the field of view range.
  • the first echo signal and the second echo signal are used to obtain statistical histogram data
  • the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view.
  • the farthest detection distance of the first detection signal and the farthest detection distance of the second detection signal are smaller than the farthest detection distance of the third detection signal emitted at the third moment.
  • an embodiment of the present application further provides an array detector, wherein the array detector comprises a plurality of detection elements
  • the array detector is used to implement the method described in the first aspect or any possible implementation manner of the first aspect.
  • an embodiment of the present application further provides an array transmitter, wherein the array transmitter comprises a plurality of light emitting elements;
  • the array detector is used to implement the method described in the second aspect or any possible implementation manner of the second aspect.
  • an embodiment of the present application further provides a detection device, the detection device comprising a transmitter and an array detector, the transmitter being used to transmit a first detection signal at a first moment and to transmit a second detection signal at a second moment;
  • the array detector includes the array detector described in the third aspect.
  • an embodiment of the present application further provides a detection device, the detection device comprising an array transmitter and a detector, the array transmitter comprising the array transmitter described in the fourth aspect;
  • the detector is used for receiving a first echo signal and a second echo signal.
  • an embodiment of the present application further provides a detection device, which includes an array detector, a transmitter and a controller, and the controller is used to control the transmitter and the array detector so that the detection device implements the detection method described in any one of the first aspects.
  • an embodiment of the present application further provides a detection device, comprising an array transmitter, a detector and a controller, wherein the controller is used to control the array transmitter and the detector so that the detection device implements the detection method described in any one of the second aspects.
  • an embodiment of the present application also provides a terminal, which includes the array detector described in the third aspect, or includes the array transmitter described in the fourth aspect, or includes the detection device described in the fifth aspect, or includes the detection device described in the sixth aspect, or includes the detection device described in the seventh aspect, or includes the detection device described in the eighth aspect.
  • the terminal may be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.
  • beneficial effects of the second to ninth aspects of the present application can refer to the beneficial effects of the first aspect, and will not be described one by one here.
  • FIG1 is a schematic diagram of a transmitting optical path and a receiving optical path
  • FIG2 is a schematic diagram of the relationship between the offset and distance of a light spot
  • FIG3 is a schematic diagram of the position of a light spot on an array detector at different temperatures
  • FIG4 is a schematic diagram of the structure of a detection device provided in an embodiment of the present application.
  • FIG5 is a schematic diagram of a laser transmitter provided in an embodiment of the present application.
  • FIG6A is a schematic diagram of another laser transmitter provided in an embodiment of the present application.
  • FIG6B is a schematic diagram of another laser transmitter provided in an embodiment of the present application.
  • FIG7 is a schematic diagram of a flow chart of a detection method provided in an embodiment of the present application.
  • FIG8 is a schematic diagram of a receiving area in an array detector provided in an embodiment of the present application.
  • FIG9 is a schematic diagram of an operation scenario of a detection device provided in an embodiment of the present application.
  • FIG10 is a schematic diagram of an operation scenario of another detection device provided in an embodiment of the present application.
  • FIG11 is a schematic diagram of a control signal provided in an embodiment of the present application.
  • FIG12 is a flow chart of another detection method provided in an embodiment of the present application.
  • FIG13 is a schematic diagram of a transmission area in an array transmitter provided in an embodiment of the present application.
  • FIG14 is a schematic diagram of an operation scenario of another detection device provided in an embodiment of the present application.
  • FIG. 15 is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application.
  • the detection device mentioned in the embodiments of the present application may be a laser radar or other optical detection devices, such as a fusion detection device (for example, a detection device integrating a radar detector and an image sensor). Its working principle is to detect targets within the field of view by emitting detection signals and receiving echoes.
  • a fusion detection device for example, a detection device integrating a radar detector and an image sensor. Its working principle is to detect targets within the field of view by emitting detection signals and receiving echoes.
  • the detection device in the embodiment of the present application can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, drones, etc., and can complete one or more functions of target detection, distance measurement, speed measurement, target tracking, imaging recognition, etc.
  • the detection device in the embodiment of the present application can be applied to a vehicle-mounted detection device (such as a vehicle-mounted radar), a roadside detection device (such as an intersection radar), etc., and can also be applied to other detection devices, such as detection devices installed on drones, robots, rail cars, bicycles, signal lights, speed measuring devices or base stations, etc.
  • vehicle-mounted detection device such as a vehicle-mounted radar
  • roadside detection device such as an intersection radar
  • the present application does not limit the location where the detection device is installed.
  • LOS line of sight
  • the signal e.g., radio wave, laser
  • the angle formed by the two edges of the maximum range through which the image of the measured object can pass through the lens, with the lens of the optical instrument as the vertex, is called the field of view.
  • the size of the field of view angle determines the field of view of the optical instrument. The larger the field of view angle, the larger the field of view.
  • the detection device scans the object space by rotating or swinging to form a larger field of view.
  • the detection principle of the detection device is to obtain relevant information of the target by transmitting a detection signal and receiving an echo signal corresponding to the detection signal (some embodiments are also referred to as echo).
  • Figure 1 is a schematic diagram of a possible transmitting optical path and a receiving optical path.
  • the transmitting end of the detection device transmits a detection signal 1, and the detection signal 1 is reflected on the target within the field of view to form an echo signal 2.
  • the echo signal 2 falls into the detector and is received by the detection element in the detector.
  • the detection element receives the echo signal 2 and obtains the energy of the echo signal 2 (for example, obtaining an electrical signal with different characteristics, obtaining the number of photons, etc.), and then processes it to obtain information such as the distance, reflectivity, speed, color, shape, pattern, etc. of the target.
  • the light spot of the echo signal usually does not fall on a fixed area on the array detector.
  • the position falling on the array detector is related to the distance to the target and the pointing angle of the target (or the position of the target in the field of view).
  • the array detector includes multiple detection elements, and the array detector includes a reference receiving area.
  • the detection elements in the reference receiving area can obtain the energy of the received echo signal.
  • the reference receiving area is also called the region of interest (ROI).
  • Figure 2 is a schematic diagram of the relationship between the possible offset of the light spot and the distance. Taking the horizontal offset as an example, the closer the target is to the detection device, the greater the offset between its echo light spot and the reference receiving area.
  • the pointing angle of the target relative to the detection device also affects the offset of the light spot. When the target is at the edge of the field of view, the corresponding offset between the echo light spot and the reference receiving area is relatively large.
  • the offset of the light spot is also related to factors such as the temperature of the environment or the aging of optical devices.
  • Figure 3 it is a possible schematic diagram of the position of the light spot on the array detector at different temperatures.
  • the gray grid in the detector is the ROI area, and the ROI area can obtain the energy of the echo.
  • Figure 3 is a possible schematic diagram made to facilitate the understanding of the position of the light spot on the array detector at different temperatures.
  • the size, energy distribution, position, or degree of offset of the light spot may have other situations.
  • Light spot displacement can easily cause the light spot to deviate from the area where the echo signal energy can be received, which in turn leads to abnormalities in subsequent distance compensation and reflectivity compensation, affecting the detection accuracy of the LiDAR.
  • the energy distribution of the echo light spot changes greatly.
  • the energy of some light spots falls into the area where the echo energy cannot be received, so that the echo energy cannot be received, resulting in signal leakage and affecting the accuracy of the detection result.
  • different receiving positions of the detection device correspond to different distance compensation, reflectivity compensation and other processing.
  • the displacement of the light spot may also lead to processing errors such as abnormal distance compensation and abnormal reflectivity compensation, further affecting the detection accuracy.
  • the embodiments of the present application provide a detection method, an array detector, an array transmitter, a detection device and a terminal, which can adapt to the energy distribution changes of the echo spot, reduce the energy loss caused by the movement of the spot, and improve the detection accuracy of the detection device.
  • the detection device 40 includes a transmitter 401 and a detector 402.
  • the detection device 40 also includes one or more of a controller 403, a modulator 404, a filter 405, a signal processing module 406, etc.
  • the multiple modules of the detection device can be connected by wire and/or wirelessly. The following is an exemplary introduction to each module:
  • the transmitter 401 is used to generate a laser signal.
  • the transmitter 401 may include a light-emitting element such as a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electro mechanical system laser diode (MOEMS-LD).
  • a light-emitting element such as a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electro mechanical system laser diode (MOEMS-LD).
  • the transmitter 401 when the transmitter 401 includes multiple light-emitting elements, the multiple light-emitting elements may be arranged in an array, and the transmitter may be referred to as an array transmitter, or a flash transmitter.
  • the array transmitter may be, for example, a 1 ⁇ 10 array, a 2 ⁇ 5 array, or an 8 ⁇ 9 array.
  • the light signal emitted by the emitter 401 may be irradiated onto the detection area (the detection area refers to a real area in the field of view) through one or more optical elements.
  • the detection area refers to a real area in the field of view
  • optical elements The following are three possible designs for the emission process:
  • the transmitter 401 may be an array transmitter. Please refer to FIG. 5, which is a schematic diagram of a possible laser transmitter provided in an embodiment of the present application.
  • the transmitter 401 includes an 8 ⁇ 8 array light source composed of 64 light-emitting elements. As shown in FIG. 5, each small square in the transmitter 401 is a light-emitting element 501.
  • one or more light-emitting elements in the transmitter 401 emit a detection signal, and the detection signal is irradiated into the field of view through the optical element 502.
  • Design 2 The optical signal emitted by the laser emitter 401 can be irradiated onto the detection area through a scanner to achieve scanning detection of the detection area.
  • Figure 6A is a schematic diagram of another possible emitter provided in an embodiment of the present application
  • Figure 6B is a schematic diagram of another possible emitter provided in an embodiment of the present application.
  • the detection signal emitted by the emitter 401 can be irradiated onto the detection area in the field of view at one or more angles through the scanner 601.
  • the scanner 601 may include one or more of a rotating mirror, a micro-vibrating mirror, or a swinging mirror, etc.; the scanning form of the scanner 601 may include a point scan, a line scan, etc.
  • the present application does not limit the scanning order of the scanner, for example, it may be from top to bottom, from left to right, or from right to left, etc.
  • the scanning effect can also be achieved by rotating the detection device itself.
  • Fig. 6A which is a schematic diagram of line scanning
  • Fig. 6B which is a schematic diagram of point scanning
  • the scanner can adjust the angle in two directions to scan and detect the field of view.
  • the transmitter 401 may include one or more light sources (or referred to as flood light sources), and the detection signal emitted by the light source may illuminate the entire field of view at one time.
  • the detector 402 is used to receive the optical signal. Furthermore, the detector 402 can obtain an electrical signal based on the optical signal.
  • the detector 402 may include one or more detection elements.
  • the detector 402 may include one or more of the following detection elements: a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD).
  • a single-photon avalanche diode SiPM
  • SiPM silicon photomultiplier
  • API semiconductor avalanche photodiode
  • MPPC multi-pixel photon counter
  • ECCD electron multiplying charge-coupled device
  • the multiple detection elements may be arranged in an array.
  • the array may be a 1 ⁇ 10 array, a 20 ⁇ 40 array, or the like.
  • the present application does not limit the number of rows and columns of the array arrangement.
  • the detector 402 may specifically be a SPAD array, a SiPM array, or the like.
  • the controller is used to generate control signals to control other modules to complete their functions.
  • the controller may enable some detection elements in the array detector through a control signal, and the enabled detection elements may obtain electrical signals based on the optical signals.
  • the controller may control some of the light-emitting elements in the array transmitter to emit light at a certain moment through a control signal.
  • filters are used to process the received echo signals.
  • filters include but are not limited to finite impulse response (FIR) filters, infinite impulse response (IIR) filters, low-pass filters, or band-pass filters.
  • the signal processing module processes the signal including but is not limited to one or more of analog-to-digital conversion, time-to-digital conversion, signal detection, TOF extraction, distance compensation, reflectivity compensation, etc.
  • the detection device also includes one or more optical elements, such as the receiving optical system and the transmitting optical system shown in Figure 4.
  • the optical elements include but are not limited to collimators, lenses, filters, beam splitters, light homogenizers, reflectors, rotating mirrors, oscillating mirrors, or micro-vibration mirrors, etc. This application does not limit the number and placement of optical elements.
  • Figure 7 is a flow chart of a detection method provided in an embodiment of the present application.
  • the detection method can be applied to the detection device shown in Figure 4.
  • the method shown in Figure 7 includes at least the following steps:
  • Step S701 a first area of the array detector receives a first echo signal and acquires energy of the first echo signal.
  • the first region is included in the array detector, and the first region includes at least two detection elements. For example, taking the array detector as a 100 ⁇ 100 SPAD array, the first region includes part of the SPADs.
  • the first echo signal corresponds to the first detection signal, and the first detection signal is sent at the first moment, that is, the first detection signal sent at the first moment, and its corresponding echo is received in the first area of the array detector.
  • the detection elements outside the first area on the array detector may be set not to receive the signal, that is, these detection elements may not be in a working state.
  • the detection elements outside the first area may not be powered on, which can reduce the energy consumption of the detector and the amount of data output by the detection device.
  • the detection elements outside the first area on the array detector can receive the signal, but the electrical signal obtained from the received signal is not used in processing. For example, in some scenarios, the energy of multiple echo signals is accumulated, and the electrical signal output by the detection elements outside the first area does not participate in the energy accumulation.
  • Step S702 The second area of the array detector receives the second echo signal and acquires the energy of the second echo signal.
  • the second region is included in the array detector, and the second region includes at least two detection elements. For example, taking a SPAD array of 100 ⁇ 100 detection elements as an example, the second region includes some of the SPADs.
  • the second echo signal corresponds to the second detection signal, and the second detection signal is sent at the second moment. That is, the second detection signal sent at the second moment, its corresponding echo is received in the second area of the array detector.
  • the first moment and the second moment may be different moments.
  • the detection elements outside the first area on the array detector can be set not to receive the signal.
  • the detection elements outside the first area on the array detector can receive the signal, but the electrical signal obtained from the received signal is not used or does not participate in obtaining the relevant information of the target during processing.
  • the first area and the second area do not completely overlap.
  • the incomplete overlap can be completely non-overlapping (such as not containing the same detection elements), or partially overlapping and partially non-overlapping (that is, it may contain the same detection elements, but there are different detection elements).
  • Figure 8 is a schematic diagram of a receiving area in an array detector provided in an embodiment of the present application, wherein each small square represents a detection element or a detection element group, and a detection element group can contain multiple detection elements.
  • the first area is area 1, which contains detection elements (or detection element groups) in columns 1-6
  • the second area is area 2, which contains detection elements (or detection element groups) in columns 3-8. It is not difficult to see that there are non-overlapping detection elements (or detection element groups) in area 1 and area 2, that is: there is at least one detection element (or detection element group) that does not belong to area 1 and area 2 at the same time.
  • the embodiment shown in Fig. 7 takes the first detection signal and the second detection signal as examples to exemplarily illustrate the dynamic shift receiving area.
  • the array detector can use at least two areas for receiving in multiple detection.
  • N is an integer and N>1) detection signals
  • the array detector uses area 1 to receive the echo signal; for the 2nd and 8th shots, the array detector uses area 2 to receive the echo signal; for the 3rd and 9th shots, the array detector uses area 3 to receive the echo signal; for the 4th and 10th shots, the array detector uses area 4 to receive the echo signal; for the 5th and 11th shots, the array detector uses area 5 to receive the echo signal; for the 6th and 12th shots, the array detector uses area 6 to receive the echo signal.
  • the area receiving the signal in the 12 detection signals covers a larger range on the array detector, so that it can adapt to the distribution changes of the light spot and improve the possibility of capturing the light spot of the echo signal.
  • Figure 9 is a schematic diagram of an operating scenario of a possible detection device provided by an embodiment of the present application.
  • the transmitter of the detection device transmits multiple detection signals (solid lines with arrows as shown in Figure 9), and the multiple detection signals are irradiated into the field of view (optionally through the transmitting optical system, scanner, etc.) to form multiple emission spots; the target in the field of view can respectively reflect multiple detection signals to form multiple echoes (dashed lines with arrows as shown in Figure 9), and the multiple echoes are received in different receiving areas of the array detector.
  • the array detector dynamically adjusts the receiving area of the echo signal, thereby increasing the possibility of capturing the light spot of the echo signal.
  • the spacing between different detection signals is illustrated to be relatively obvious.
  • the time interval between different detection signals may be set to be extremely small, such as microseconds or nanoseconds, so the light spots of different detection signals are relatively close.
  • the difference in pointing angles between the light spot formed by the first detection signal and the light spot formed by the second detection signal is smaller than the minimum angle that can be resolved by the detection device.
  • the transmitter of the detection device is an array transmitter.
  • Multiple light-emitting elements in the array transmitter form multiple emission areas, each emission area emits multiple detection signals, and each emission area forms an emission angle.
  • multiple emission areas are directly illustrated as multiple emission angles.
  • the array detector can dynamically adjust the receiving area to use different receiving areas to receive multiple detection signals emitted by the same emission angle.
  • the transmitter of the detection device is an array transmitter, which can transmit detection signals at multiple (for example, M, M is an integer and M>1) angles; at the first angle, the array detector transmits multiple detection signals; and the receiving end dynamically adjusts the area of receiving the echo spot in the multiple detection signals at one angle, thereby improving the possibility of capturing the spot of the echo signal.
  • the first area and the second area are offset near a reference receiving area.
  • the reference receiving area refers to an area for receiving the echo signal of the first detection signal and the echo signal of the second detection signal under a first environmental condition, which can be regarded as an ideal receiving area, such as the aforementioned ROI.
  • the reference receiving area is included in the array detector, and the first environmental condition is a predefined working environment of the array detector.
  • the first environmental condition is 0°C, or normal temperature and pressure
  • the first environmental condition is a test environmental condition of the array detector.
  • the reference receiving area can be pre-set or pre-defined, such as written by manufacturers, developers, testers, etc.
  • the reference receiving area may include M areas, and each angle of the array transmitter corresponds to a reference receiving area of the array detector.
  • the first area and the second area are offset in a first direction with the reference receiving area as an anchor point, wherein the first direction includes but is not limited to a left-right direction, an up-down direction, or a diagonal direction.
  • the offset is a multiple of the unit width, wherein the unit width is the minimum resolution unit of the array detector, for example, one detection element.
  • the offset is smaller than the difference between the minimum length and unit width of the echo spot imaged on the array detector, that is, the full offset n is sufficient to satisfy the following formula: L-a ⁇ n ⁇ a, wherein L (L is a real number and L>0) is the minimum length (or width) of the echo spot imaged on the array detector, and a is the length (or width) of the minimum resolution unit of the array detector.
  • the first area completely overlaps with the reference receiving area, and the offset between the second area and the reference receiving area is a first distance, the first distance is a multiple of the unit width, and the unit width is the minimum resolution unit of the array detector. Furthermore, the first distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width. That is, the first area is the reference receiving area, and the second area is offset compared to the reference receiving area. Considering that the echo spot may not move, even if it moves, the echo spot after the movement will fall near the reference receiving area. Therefore, the above embodiment can improve the reception efficiency of the echo energy, increase the effective proportion of the signal, and improve the detection accuracy.
  • the offset between the first area and the preset reference receiving area is the second distance
  • the offset between the second area and the reference receiving area is the third distance
  • the second distance and the third distance are different multiples of the unit width
  • the unit width is the minimum resolution unit of the array detector.
  • the second distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width
  • the third distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width. That is, both the first area and the second area are offset compared to the reference receiving area, but the offsets are different.
  • the above implementation can adapt to changes in the spot energy distribution, improve the efficiency of receiving echo energy, increase the effective proportion of the signal, and improve the detection accuracy.
  • the temperature of the environment in which the array detector is currently working is higher than a first temperature threshold, and when the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.
  • the first temperature threshold when the temperature is higher than or equal to the first temperature threshold, the echo spot will deviate from the reference receiving area; therefore, when the temperature is higher than or equal to the first threshold, the energy of the echo spot can be received more accurately by dynamically offsetting the receiving area, reducing the energy loss caused by the spot displacement, and improving the detection accuracy of the detection device.
  • a channel usually corresponds to one or more adjacent detection elements.
  • a 3 ⁇ 3 detection element is used as a pixel, and a pixel is a channel, so the 3 ⁇ 3 detection element is regarded as a channel.
  • the emission spot formed by the emission signal is a line spot or an array spot
  • the energy obtained by the detection element in the gap is low, and accordingly, the energy of the channel corresponding to the detection element is low.
  • the detection elements in the gap can be made to correspond to different channels, so that the energy of the echo spots received by different channels is equivalent and uniform, thereby improving the channel consistency.
  • the pointing angle of the first detection signal and the pointing angle of the second detection signal fall into a first angle range, and the first angle range is a partial angle in the field of view.
  • the field of view is the field of view of the detection device.
  • the detection device usually emits multiple detection signals at different angles to complete the detection of the field of view. For example, taking a line scanning detection device as an example, the detection device scans multiple lines to complete the detection of the field of view.
  • the echo spot is received by dynamic offset; while the other angles can be received through a fixed reference receiving area, or dynamic offset reception can be used. In this way, the reception method of the echo spot can be more flexibly adjusted, the energy of the echo spot can be received more accurately, and the detection accuracy can be improved.
  • the array detector may select whether to use a dynamic receiving mode for detection at a certain horizontal angle based on the horizontal angle.
  • some angles are angles close to the edge of the field of view. Since the angles close to the edge of the field of view are more likely to cause the light spot to move, the echo light spot of the detection signal emitted to the edge of the field of view is dynamically offset and received, so that the energy of the echo light spot can be received more accurately, the energy loss caused by the light spot moving can be reduced, and the detection accuracy of the detection device can be improved.
  • the detection device is further used to receive the echo of the fourth detection signal through the reference receiving area and obtain the energy of the echo of the fourth detection signal.
  • the pointing angle of the fourth detection signal is located in the middle area of the field of view.
  • the energy of the echo spot can be received more accurately through the reference receiving area, thereby improving the detection accuracy.
  • the maximum detection distance of the first detection signal and the maximum detection distance of the second detection signal are less than the maximum detection distance of the third detection signal emitted at the third moment.
  • the third moment is different from the first moment (e.g., far measurement and near measurement are performed in different time periods), or the same as the first moment (e.g., far measurement and near measurement are not performed in different time periods).
  • the third moment is different from the first moment, or the same as the first moment.
  • the maximum detection distance is related to the energy density and/or power of the signal.
  • the energy density and/or power of the first detection signal is less than that of the third detection signal.
  • the energy density/power of the second detection signal is less than that of the third detection signal.
  • the array detector can determine whether to use a dynamic receiving mode according to whether the signal is suitable for long-distance measurement or short-distance measurement.
  • the echo signal is received by dynamically switching the receiving area during short-distance detection.
  • the maximum detection distance of the first detection signal and the second detection signal is relatively small, which is suitable for short-distance detection. Since the difference in the echo spots of short-distance detection and long-distance detection is relatively large, the spots corresponding to long-distance targets are relatively concentrated, while the spots corresponding to short-distance targets are relatively diffuse. By dynamically offsetting the reception of the echoes of short-distance targets, the difference in spots between long-distance and short-distance targets can be reduced, and the accuracy of short-distance detection can be improved.
  • the echo of the third detection signal may also be received by dynamically shifting the receiving area.
  • the array detector obtains an output electrical signal according to the first echo signal and the second echo signal; the array detector obtains statistical histogram data according to the output electrical signal, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view. That is, the first echo signal and the second echo signal correspond to the same pixel in the detection result.
  • the receiving area is switched before the corresponding detection signal is transmitted.
  • the array detector adjusts the area for receiving the echo signal to the second area at a third moment, and the third moment is prior to the second moment. That is, the adjustment of the receiving area on the array detector is earlier than the transmission time of the detection signal. Since some detection elements need time to adjust their working state, for example, some detection elements need to be powered on or the output channel is selected, these operations require a certain amount of time to stabilize. Therefore, before transmitting the second detection signal, the receiving area is adjusted to the second area, and when the detection elements in the second area obtain the energy of the second echo signal, they will have higher accuracy and stronger stability, thereby improving the detection performance.
  • FIG 11 is a schematic diagram of a control signal provided in an embodiment of the present application.
  • the receiving area switching control signal is used to switch the receiving area
  • the lighting control signal is used to indicate the emission of the detection signal.
  • the time difference between the generation time of the receiving area switching control signal and the generation time of the corresponding lighting control signal is t ⁇ . That is, before emitting the detection signal, the array detector is instructed to complete the adjustment of the receiving area. For example, before emitting the first detection signal, the array detector is instructed to adjust the area receiving the echo of the first detection signal to the first area; before emitting the second detection signal, the array detector is instructed to adjust the area receiving the echo of the second detection signal to the second area.
  • the array detector adjusts the receiving area once for each detection signal.
  • This is an exemplary frequency of adjusting the receiving area.
  • the frequency of adjusting the receiving area of the array detector can also have other designs, and this application does not strictly limit this.
  • the receiving area on the array detector is adjusted once every two detection signals, or the receiving area on the array detector is adjusted before the 1st, 2nd, 4th, 5th, 7th, ... detection signals are sent.
  • the first detection signal and the second detection signal may be signals transmitted in the same detection duration.
  • a detection duration may be a time slot (or time slice), a wave position, a detection frame, or a detection subframe.
  • a time slot is the smallest time unit in the detection process, and multiple detection signals can be transmitted in one time slot.
  • N is an integer, and N>1) detection signals are transmitted in one time slot, and at least two receiving areas are used to receive the N detection signals.
  • the beam position is related to the time it takes for the detection signal to complete a detection scan in one direction. For example, if the vertical field of view of the detection device is 0-20°, and the beam width of the detection signal emitted by the detection device is 5°, at least 4 beam positions are required to cover the entire elevation space.
  • a detection frame refers to an image obtained when the detection device completes a scan of the entire field of view.
  • a detection frame usually generates a point cloud image.
  • the detection subframe is obtained by dividing the detection frame.
  • completing a scan in one direction is a detection subframe
  • completing scans in two directions is a detection frame.
  • a detection subframe or a wave position
  • completing the detection of the full field of view is called a detection frame.
  • the time it takes to complete the detection of a "point" is called a detection subframe (or a wave position)
  • completing the detection of the full field of view is called a detection frame.
  • the first area and the second area do not completely overlap, that is, there is an offset between the first area and the second area.
  • the array detector can dynamically offset and adjust the position of the receiving area when receiving the echoes of the two.
  • the dynamic adjustment of the receiving area can enable the receiving area to adapt to the change of the light spot distribution, thereby capturing the echo light spot with position offset and/or energy dispersion, reducing the energy loss caused by the light spot movement of the echo signal, and improving the detection accuracy of the detection device.
  • Figure 12 is a flow chart of another detection method provided in an embodiment of the present application.
  • the detection method can be applied to the detection device shown in Figure 4.
  • the method shown in Figure 12 includes at least the following steps:
  • Step S1201 The first area of the array transmitter transmits a first detection signal.
  • the first area is included in the array transmitter, and the first area includes at least two light-emitting elements. For example, taking the array transmitter as 8 ⁇ 8 light-emitting elements, the first area includes some of the light-emitting elements. For example, the first area includes a column of light-emitting elements or a row of light-emitting elements in the array transmitter.
  • the first echo signal corresponding to the first detection signal That is, the first detection signal is emitted into the field of view, and after being reflected by the target in the field of view, the echo formed is the first echo signal.
  • Step S1202 The second area of the array transmitter transmits a second detection signal.
  • the second area is included in the array transmitter, and the first area includes at least two light-emitting elements. For example, taking the array transmitter as 8 ⁇ 8 light-emitting elements, the second area includes some of the light-emitting elements. For example, the second area includes a column of light-emitting elements or a row of light-emitting elements in the array transmitter.
  • the second detection signal corresponds to the second echo signal. That is, the second detection signal is emitted into the field of view, and after being reflected by the target in the field of view, the echo formed is the second echo signal.
  • the first detection signal and the second detection signal are used to detect the same detection area in the field of view. Alternatively, the first echo signal and the second echo signal correspond to the same pixel in the detection result.
  • the detection device further includes an array detector.
  • the array detector obtains an output electrical signal according to the first echo signal and the second echo signal; the array detector obtains statistical histogram data according to the output electrical signal, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view. That is, the first echo signal and the second echo signal correspond to pixels with the same detection result.
  • the first area emitting the first detection signal and the second area emitting the second detection signal do not completely overlap.
  • the incomplete overlap may be completely non-overlapping (such as not including the same light-emitting element), or partially overlapping and partially non-overlapping (i.e., may include the same light-emitting element, but there are different light-emitting elements).
  • different transmitting areas in the array transmitter are used to transmit detection signals to detect the detection area.
  • Different transmitting areas have different pointing angles relative to the detection area, and the resulting echo spots will fall on different positions of the detector (or receiver).
  • the movement of the light spot can be shifted left and right (or up and down) through different angles.
  • detection signals with multiple pointing angles it is very likely that there will be a light spot that falls into the reference receiving area among the multiple echo light spots corresponding to the multiple detection signals, so that the detector can obtain the energy of the echo light spot from the reference receiving area.
  • using detection signals emitted from different emission areas achieves the effect of dynamically shifting the receiving area, reducing the energy loss caused by the movement of the echo light spot, and improving the detection accuracy of the detection device.
  • the embodiment shown in Fig. 12 takes the first detection signal and the second detection signal as examples to exemplarily illustrate the dynamic shift transmission area.
  • the array transmitter can use at least two transmission areas to transmit the detection signal in the multi-shot detection.
  • Figure 13 is a schematic diagram of an emission area in an array transmitter provided in an embodiment of the present application, wherein each small square represents a light-emitting element or a light-emitting element group, wherein a light-emitting element group may include multiple light-emitting elements.
  • the first area is area 1, which includes the light-emitting elements (or light-emitting element groups) in the 1st column, rows 1-6;
  • the second area is area 2, which includes the light-emitting elements (or light-emitting element groups) in the 1st column, rows 2-7.
  • the array transmitter transmits 12 detection signals, and transmits multiple detection signals respectively in the transmission area shown in Figure 12.
  • the array transmitter uses area 1 to transmit the detection signal; for the 2nd and 8th shots, the array transmitter uses area 2 to transmit the detection signal; for the 3rd and 9th shots, the array transmitter uses area 3 to transmit the detection signal; for the 4th and 10th shots, the array transmitter uses area 4 to transmit the detection signal; for the 5th and 11th shots, the array transmitter uses area 5 to transmit the detection signal; for the 6th and 12th shots, the array transmitter uses area 6 to transmit the detection signal.
  • the array transmitter dynamically adjusts the transmission area. When the light spot is offset, the possibility of the echo signal light spot falling into the effective receiving area is increased by fine-tuning the transmission area.
  • FIG 14 is a schematic diagram of another possible operation scenario of a detection device provided by an embodiment of the present application.
  • the transmitting end of the detection device is an array transmitter, and the array transmitter can form multiple transmission angles.
  • the array transmitter dynamically adjusts the transmission area. Multiple detection signals are irradiated into the field of view (optionally through the transmission optical system, scanner, etc.) to form multiple emission spots; the target in the field of view can respectively reflect multiple detection signals to form multiple echoes, and the multiple echoes are received in different receiving areas of the array detector.
  • the receiving area when the transmitting area is dynamically adjusted, the receiving area may also be dynamically adjusted.
  • the adjustment method of the transmitting area and the adjustment method of the receiving area may be synchronized or asynchronous.
  • FIG 15 is a schematic diagram of a possible operating scenario provided by an embodiment of the present application.
  • the array transmitter in the detection device dynamically adjusts the transmission area to transmit multiple detection signals for each transmission angle; the array detector dynamically adjusts the receiving area to receive the echo spots of the multiple detection signals corresponding to each transmission angle.
  • the spacing between different detection signals is illustrated to be relatively obvious.
  • the time interval between different detection signals may be set to be extremely small, such as microseconds or nanoseconds, and the spacing between the light spots of different detection signals is also relatively close.
  • the difference in pointing angles between a light spot formed by a currently transmitted detection signal and a light spot formed by a next transmitted detection signal is smaller than a minimum angle that can be resolved by the detection device.
  • the first area and the second area are offset near the reference emission area.
  • the echo signal e.g., called the third echo signal
  • the detection signal e.g., called the fourth detection signal
  • the reference emission area is included in the array transmitter, and the first environmental condition is a predefined working environment of the array transmitter.
  • the first environmental condition is 0°C, or normal temperature and pressure, and the first environmental condition is a test environmental condition of the array transmitter.
  • the reference transmission area may include M.
  • each angle of the array transmitter corresponds to a reference receiving area of the array detector.
  • the first area and the second area are offset in a first direction with the reference emission area as an anchor point, wherein the first direction includes but is not limited to left-right direction, up-down direction, diagonal direction, etc.
  • the offset is a multiple of the unit width, wherein the unit width is the minimum resolution unit of the array emitter, such as one light emitting element.
  • the first area completely overlaps with the reference emission area, and the offset between the second area and the reference emission area is a first distance, which is a multiple of the unit width. That is, the first area is the reference emission area, and the second area is offset compared to the reference emission area.
  • the offset between the first area and the reference emission area is the second distance
  • the offset between the second area and the reference emission area is the third distance
  • the second distance and the third distance are different multiples of the unit width. That is, both the first area and the second area are offset compared to the reference emission area, but the offset amounts are different.
  • the temperature of the environment in which the array transmitter is currently operating is higher than a first temperature threshold.
  • the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference emission area.
  • the echo spot will deviate from the reference emission area; therefore, when the temperature is higher than or equal to the first threshold, by dynamically shifting the emission area, the energy of the echo spot can be received more accurately, reducing the energy loss caused by the spot displacement, and improving the detection accuracy of the detection device.
  • the channel usually corresponds to one or more adjacent detection elements.
  • 3 ⁇ 3 detection elements are used as a pixel, and one pixel is a channel, so the 3 ⁇ 3 detection elements are regarded as one channel.
  • the above-mentioned channel refers to a receiving channel.
  • the array transmitter may include multiple transmitting channels, and each transmitting channel corresponds to one or more adjacent light-emitting elements.
  • the directional angle of the first detection signal and the directional angle of the second detection signal fall into a first angle range, and the first angle range is a partial angle in the field of view.
  • the array transmitter can choose whether to use dynamic reception mode for detection of a certain horizontal angle based on the horizontal angle.
  • the partial angle is an angle close to an edge of the field of view.
  • the detection device is further used to transmit a fourth detection signal through the reference transmission area.
  • the pointing angle of the fourth detection signal is located in the middle area of the field of view.
  • the maximum detection distance of the first detection signal and the second detection signal is less than the maximum detection distance of the third detection signal emitted at the third moment.
  • the third moment is different from the first moment (e.g., far measurement and near measurement are performed in different time periods), or the same as the first moment (e.g., far measurement and near measurement are not performed in different time periods).
  • the third moment is different from the first moment, or the same as the first moment.
  • the maximum detection distance is related to the energy density and/or power of the signal.
  • the energy density and/or power of the first detection signal is less than that of the third detection signal.
  • the energy density/power of the second detection signal is less than that of the third detection signal.
  • the array transmitter can determine whether to use the dynamic transmission mode according to the distance measurement and the proximity measurement.
  • the detection signal is transmitted by dynamically switching the transmission area during close-range detection.
  • the third detection signal may also be transmitted in a manner of dynamically shifting the transmission area.
  • the first detection signal and the second detection signal may be signals transmitted in the same detection duration.
  • a detection duration may be a time slot, a wave position, a detection frame, or a detection subframe.
  • a time slot is the smallest time unit in the detection process, and multiple detection signals can be transmitted in one time slot. As shown in FIG10 , N detection signals are transmitted in one time slot, and at least two transmission areas are used for transmitting the N detection signals.
  • An array detector provided in an embodiment of the present application includes a plurality of detection elements.
  • the array detector is used to implement the aforementioned detection method, such as the detection method in the embodiments shown in FIG. 7 and FIG. 12 .
  • An array transmitter provided in an embodiment of the present application includes a plurality of light emitting elements and is used to implement the aforementioned detection method, such as the detection method in the embodiments shown in FIG. 7 and FIG. 12 .
  • An embodiment of the present application also provides a detection controller, which includes a processor and a communication interface, wherein the processor can generate a control signal, and the communication interface is used to output the control signal generated by the processor.
  • control signal is used to control the array detector to implement the aforementioned detection method.
  • control signal is used to control the array transmitter to implement the aforementioned detection method.
  • the processor includes but is not limited to a central processing unit (CPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the central processing unit to complete corresponding processing and applications), a microcontroller unit (MCU), and/or a neural-network processing unit (NPU) and a combination of one or more thereof.
  • CPU central processing unit
  • MPU microprocessor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • CPLD complex programmable logic device
  • coprocessor assisting the central processing unit to complete corresponding processing and applications
  • MCU microcontroller unit
  • NPU neural-network processing unit
  • the processor can implement the aforementioned detection method by calling computer instructions.
  • the detection controller further includes a memory, and the memory is used to store the computer instructions.
  • An embodiment of the present application also provides a terminal, which includes one or more of the aforementioned array transmitter, array detector, detection device (such as detection device 40), detection controller, etc.
  • the terminal may be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.
  • the words “exemplary” or “for example” are used to indicate examples, illustrations or descriptions. Any embodiment or design described as “exemplary” or “for example” in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as “exemplary” or “for example” is intended to present related concepts in a specific way.
  • At least one refers to one or more, and “plurality” refers to two or more.
  • At least one of the following” or similar expressions refers to any combination of these items, including any combination of single items or plural items.
  • at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple.
  • “And/or” describes the association relationship of associated objects, indicating that three relationships can exist.
  • a and/or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.
  • the character "/" generally indicates that the associated objects before and after are in an "or” relationship.
  • first and second used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.
  • first detection signal and the second detection signal are only for the convenience of description, and do not indicate the difference in the source, order, importance, etc. of the first detection signal and the second detection signal.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

探测方法、阵列探测器、阵列发射器、探测装置及终端，可以应用于探测、智能测绘、智能驾驶等领域。本申请通过在多发探测信号中动态调整接收区域来接收回波信号，和/或，动态发射区域来发射探测信号，提高了捕捉到位置偏移和/或能量分散的回波光斑的可能性，降低光斑跑位造成的能量损失，提升了探测装置的探测精度。

Description

探测方法、阵列探测器、阵列发射器、探测装置及终端 技术领域
本申请涉及光探测技术领域，尤其涉及探测方法、阵列探测器、阵列发射器、探测装置及终端。
背景技术
随着信息技术以及计算机视觉的发展，探测技术取得了飞速发展，各式各样的探测装置给人们的生活、出行带来了极大的便利。探测装置可以看作感知环境的“眼睛”，包括摄像头等视觉系传感器和毫米波雷达、激光雷达和超声波雷达等雷达系传感器。其中，激光雷达(light detection and ranging，Lidar，光探测和测距)技术在探测范围、测距精度及可靠度方面具有明显的优势，且具有近全天候工作的特点，是感知领域中的关键传感器，在智能驾驶、智能运输、测绘、智能制造等领域发挥着重要作用。
激光雷达在进行探测时，发射端发射多发探测信号，多发探测信号分别照射到视野内的目标上，在视野内的目标上发生反射，得到多发探测信号分别对应的回波信号，而回波信号的光斑会落在探测器上，探测器接收回波信号并获取其能量，从而得到目标的相关信息。
激光雷达的探测器通常以包含多个探测元件的阵列探测器实现。回波信号的光斑落在阵列探测器上的位置，与目标的距离和目标的指向角(即目标在视野中的位置)相关。因此，对阵列探测器上不同位置获取的能量进行处理，可以得到对应距离和指向角内的目标的相关信息，并针对性的进行距离补偿和反射率补偿，提升探测准确性。
但是，随着外界环境的温度、目标的距离变化、光学器件老化等问题，使得回波信号的光斑在阵列探测器上的位置经常发生跑位。光斑的跑位不仅仅是整体的偏移，还伴随着光斑的分裂和离散，易使得光斑偏移出能够接收回波信号能量的区域，进而导致后续距离补偿和反射率补偿的异常，使得激光雷达的探测精度受影响。
发明内容
本申请实施例提供探测方法、阵列探测器、阵列发射器、探测装置及终端，能够降低光斑跑位造成的能量损失，提升探测装置的探测精度。
第一方面，本申请实施例提供一种探测方法，包括：
阵列探测器的第一区域接收第一回波信号以及获取所述第一回波信号的能量，所述第一回波信号对应第一探测信号，所述第一探测信号在第一时刻发送；
所述阵列探测器的第二区域接收第二回波信号以及获取所述第二回波信号的能量，所述第二回波信号对应第二探测信号，所述第二探测信号在第二时刻发送；
所述第一区域和所述第二区域包含于所述阵列探测器，所述第一区域和所述第二区域分别包含至少两个探测元件，所述第一区域和所述第二区域不完全重叠。
可选的，上述方法可以应用于阵列探测器或者控制器，该控制器可以控制阵列探测器，阵列探测器包含多个探测元件。
在本申请实施例中，第一区域和第二区域不完全重叠，即第一区域和第二区域之间存在偏移量。对于第一时刻发射的探测信号和第二时刻发射的探测信号，阵列探测器在接收二者 的回波时可以动态偏移、调整接收区域的位置，在光斑可能发生跑位的情况下，通过接收区域的动态调整能够适应光斑的分布变化，可以捕捉到位置偏移和/或能量分散的回波光斑，降低了回波信号的光斑跑位造成的能量损失，提升探测装置的探测精度。
在第一方面的一种可能的实施方式中，所述第一探测信号和所述第二探测信号为一个探测时长内发射的信号。
可选的，一个探测时长可以是一个时隙(slot)、一个波位、一个探测帧、或一个探测子帧。其中，时隙是探测过程中的最小的时间单位，一个时隙内可以发射多发脉冲信号。
波位与探测信号在一个方向上完成一次探测扫描的时间相关。例如，探测装置的垂直方向上的俯仰角为0～20°，而探测装置发射出的探测信号的波束宽度5°，则覆盖整个俯仰空域至少需要4个波位。
探测帧是指探测装置对全视野完成一次扫描的图像，一个探测帧通常生成一幅点云图像。
探测子帧是由探测帧划分得到的。一些场景中，对于二维扫描的探测装置，完成一个方向的一次扫描则为一个探测子帧，而完成两个方向上的扫描则为一个探测帧。例如，在以行扫形式进行探测的探测装置中，完成一行的扫描所花费的时长称为一个探测子帧(或一个波位)，而完成对全视野的探测称为一个探测帧。再如，在以点扫形式进行探测的探测装置中，完成一个“点”的探测所花费的时长称为一个探测子帧(或一个波位)，而完成对全视野的探测称为一个探测帧。
在第一方面的一种可能的实施方式中，探测装置在一段时长内发射多发探测信号对同一个探测区域(或角度小于角分辨率的探测区域)进行探测，该第一探测信号和第二探测信号属于在同一段时长内发射多发探测信号。
在第一方面的一种可能的实施方式中，所述第一区域与基准接收区域完全重叠，所述第二区域与所述基准接收区域之间的偏移量为第一距离，所述第一距离为单位宽度的倍数，所述单位宽度为所述阵列探测器的最小分辨单元。
其中，所述基准接收区域为在第一环境条件下对所述第一探测信号的回波信号和所述第二探测信号的回波信号进行接收的区域，所述基准接收区域包含于所述阵列探测器，所述第一环境条件为预先定义的所述阵列探测的工作环境。
或者，基准接收区域可以看作光斑的理想接收位置。可选的，基准接收区域可以是预先设置、或预先定义的，例如由厂商、开发人员、测试人员等写入的。
在上述实施方式中，在动态偏移时，部分接收区域与基准接收区域重叠，而其他接收区域以基准接收区域为锚点进行偏移。考虑到回波的光斑也可能不会发生跑位，即便发生跑位，跑位后的回波光斑也会与落于基准接收区域附近。因此，上述实施方式可以提升对回波能量的接收效率，提高信号的有效比例，提升探测精度。
在第一方面的一种可能的实施方式中，所述第一区域与预设的基准接收区域之间的偏移量为第二距离，所述第二区域与所述基准接收区域之间的偏移量为第三距离，所述第二距离和所述第三距离为单位宽度的不同倍数，所述单位宽度为所述阵列探测器的最小分辨单元。
在上述实施方式中，在动态偏移时，偏移的区域以基准接收区域为锚点进行偏移。考虑跑位后的回波光斑也会与落于基准接收区域附近，上述实施方式可以提升对回波能量的接收效率，提高信号的有效比例，提升探测精度。
在第一方面的一种可能的实施方式中，所述阵列探测器当前工作的环境的温度高于第一温度阈值，
当温度高于或等于所述第一温度阈值时，所述第一回波信号和第二回波信号落在所述阵 列探测器上的区域偏离所述基准接收区域。
温度的变化是引起回波光斑发生跑位的重要因素。上述实施方式中，当温度高于或等于第一温度阈值时，回波的光斑则会偏离基准接收区域；因此，在温度高于或等于第一阈值的情况下，通过动态偏移接收区域可以更准确地接收到回波光斑的能量，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
在第一方面的一种可能的实施方式中，在第一方向上，所述第一探测信号的指向角度和所述第二探测信号的指向角度落入第一角度范围，第一角度范围为视场范围中的部分角度。
视场范围即探测装置的视野，完成对视场范围的探测通常会发射多个不同角度的探测信号。示例性的，以行扫形式的探测装置为例，探测装置会扫描多行以完成对视场范围的探测。
在上述实施方式中，在视野范围的部分角度中，通过动态偏移来接收回波光斑；而另一部分角度可以通过固定基准接收区域接收，也可以使用动态偏移接收。如此可以更加灵活地调控对回波光斑的接收方式，更精准地接收到回波光斑的能量，提升探测精度。
示例性的，阵列探测器可以基于水平角度来选择是否对某一水平角度的探测使用动态接收方式。
作为一种可能的实现，部分角度为靠近视野边缘的角度。由于靠近视野边缘的角度更容易产生光斑发生跑位的现象，因此针对发射到视野边缘的探测信号的回波光斑进行动态偏移接收，可以更准确地接收到回波光斑的能量，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
作为又一种可能的实现，探测装置还用于通过基准接收区域来接收第四探测信号的回波，并获取第四探测信号的回波的能量。第四探测信号的指向角度位于视场范围的中间区域。
考虑到来自视场范围的中间区域的回波光斑，其发生跑位的可能性比较低。此时，通过基准接收区域可以更准确地接收到回波光斑的能量，提升探测精度。
在第一方面的一种可能的实施方式中，第一探测信号的最远探测距离和第二探测信号的最远探测距离，小于，在第三时刻发射的第三探测信号的最远探测距离。第三时刻与第一时刻不同(如：测远和测近分时进行)，或者，相同(如：测远和测近不分时)。类似的，第三时刻与第一时刻不同，或者，相同。
其中，最远探测距离与信号的能量密度和/或功率相关。例如，第一探测信号的能量密度和/或功率小于第三探测信号。再如，第二探测信号的能量密度/功率小于第三探测信号。
作为一种可能的实现方式，阵列探测器可以根据测远和测近来确定是否采用动态接收方式。示例性的，在近距离探测时使用动态切换接收区域的方式来接收回波信号。
可选的，对于第三探测信号的回波也可以使用动态偏移接收区域的方式来接收。
在第一方面的一种可能的实施方式中，所述方法还包括：
所述阵列探测器根据所述第一回波信号和所述第二回波信号得到输出电信号；
所述阵列探测器根据所述输出电信号得到统计直方图数据，所述统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。
可选的，第一回波信号和第二回波信号对应了探测结果相同的像素。
在第一方面的一种可能的实施方式中，所述方法还包括：
所述阵列探测器在第三时刻将接收回波信号的区域调整为所述第二区域，所述第三时刻先于所述第二时刻。
在这种实施方式中，阵列探测器上接收区域的调整，要早于探测信号的发射时间。由于部分探测元件需要时间来调整其工作状态，例如部分探测元件需要进行上电、或输出通道选 通等操作，这些操作需要一定的时间达到稳定。
在上述实施方式中，发射第二探测信号之前调整接收区域为第二区域，在第二区域中的探测元件获取第二回波信号的能量时，会具有更高的准确性和更强的稳定性，从而能够提升探测性能。
第二方面，本申请实施例还提供一种探测方法，该方法包括：
阵列发射器的第一区域发射第一探测信号，所述第一探测信号对应第一回波信号，
所述阵列发射器的第二区域发射第二探测信号，所述第二探测信号对应第二回波信号；
所述第一区域和所述第二区域包含于所述阵列发射器，所述第一区域和所述第二区域分别包含至少两个发光元件，所述第一区域和第二区域不完全重叠。
其中，第一探测信号和第二探测信号用于对视野中的同一块探测区域进行探测。或者，第一回波信号和第二回波信号对应的探测结果中相同的一块像素。也即：第一回波信号和第二回波信号用于得到统计直方图数据，所述统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。
可选的，上述方法可以应用于阵列发射器或者控制器，该控制器可以控制阵列发射器，阵列发射器包含多个发光元件。
在本申请实施例中，对于同一块探测区域(对应探测结果中相同像素区域)，使用阵列发射器中的不同发射区域来发光进行探测。不同发射区域相对于该探测区域的指向角度不同，形成的回波光斑会落在探测器(或者接收器)的不同位置上。
此时，探测信号对应的回波光斑发生跑位(偏离基准接收区域)时，通过不同的角度可以使得光斑的跑位发生左右偏移(或者上下偏移)。使用多个指向角度的探测信号，多个探测信号对应的多个回波光斑中，极有可能存在落入基准接收区域的光斑，使得探测器可以从基准接收区域获得回波光斑的能量。总之，使用不同发射区域发射的探测信号，达到了动态偏移接收区域的效果，降低由于回波光斑跑位带来的能量损失，提升探测装置的探测精度。
在第二方面的一种可能的实施方式中，所述第一探测信号和所述第二探测信号为一个探测时长内发射的信号。
可选的，一个探测时长可以是一个时隙(slot)、一个波位、一个探测帧、或一个探测子帧。
在第二方面的一种可能的实施方式中，所述第一区域与基准发射区域完全重叠，所述第二区域与所述基准发射区域之间的偏移量为第一距离，所述第一距离为单位宽度的倍数，所述单位宽度为所述阵列发射器的最小分辨单元。
其中，在第一环境条件下由所述基准发射区域发射的第四探测信号对应的第三回波信号落入阵列探测器的基准接收区域，所述基准接收区域用于接收所述由所述第三回波信号并获取所述第三回波信号的能量。
在第二方面的一种可能的实施方式中，第一区域与基准发射区域之间的偏移量为第二距离，所述第二区域与所述基准发射区域之间的偏移量为第三距离，所述第二距离和所述第三距离为单位宽度的不同倍数，所述单位宽度为所述阵列发射器的最小分辨单元。
在第二方面的一种可能的实施方式中，所述阵列发射器当前工作的环境的温度高于第一温度阈值，
当温度高于或等于所述第一温度阈值时，所述第一回波信号和第二回波信号落在所述阵列探测器上的区域偏离所述基准接收区域。
在第二方面的一种可能的实施方式中，在第一方向上，所述第一探测信号的指向角度和所述探测信号的指向角度落入第一角度范围，
所述第一角度范围为视场范围中的部分角度。
在第二方面的一种可能的实施方式中，所述第一回波信号和所述第二回波信号用于得到统计直方图数据，所述统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。
在第二方面的一种可能的实施方式中，第一探测信号的最远探测距离和第二探测信号的最远探测距离，小于，在第三时刻发射的第三探测信号的最远探测距离。
第三方面，本申请实施例还提供一种阵列探测器，所述阵列探测器包含多个探测元件；
所述阵列探测器用于实现第一方面或者第一方面任一种可能的实施方式所描述的方法。
第四方面，本申请实施例还提供一种阵列发射器，所述阵列发射器包含多个发光元件；
所述阵列探测器用于实现第二方面或者第二方面任一种可能的实施方式所描述的方法。
第五方面，本申请实施例还提供一种探测装置，所述探测装置包含发射器和阵列探测器，所述发射器用于在第一时刻发射第一探测信号以及在第二时刻发射第二探测信号；
所述阵列探测器包含第三方面所描述的阵列探测器。
第六方面，本申请实施例还提供一种探测装置，所述探测装置包含阵列发射器和探测器，所述阵列发射器包含第四方面所描述的阵列发射器；
所述探测器用于接收第一回波信号以及接收第二回波信号。
第七方面，本申请实施例还提供一种探测装置，所述探测装置包含阵列探测器、发射器和控制器，所述控制器用于控制所述发射器和阵列探测器，以使得探测装置实现第一方面任一项所描述的探测方法。
第八方面，本申请实施例还提供一种探测装置，所述探测装置包含阵列发射器、探测器器和控制器，所述控制器用于控制所述阵列发射器和探测器，以使得探测装置实现第二方面任一项所描述的探测方法。
第九方面，本申请实施例还提供一种终端，该终端包含第三方面所描述的阵列探测器，或者包含第四方面所描述的阵列发射器，或者包含第五方面所描述的探测装置，或者包含第六方面所描述探测装置，或者包含第七方面所描述探测装置，或者包含第八方面所描述探测装置。
可选的，终端可以为车辆、无人机、机器人等智能终端或交通工具。
本申请第二方面至第九方面的部分有益效果可以参考第一方面的有益效果，此处不在一一说明。
附图说明
下面将对实施例描述中所需要使用的附图作简单的介绍。
图1是一种发射光路和接收光路的示意图；
图2是一种光斑的偏移与距离的关系示意图；
图3是一种不同温度下光斑在阵列探测器上的位置示意图；
图4是本申请实施例提供一种探测装置的结构示意图；
图5是本申请实施例提供的一种激光发射器的示意图；
图6A是本申请实施例提供的又一种激光发射器的示意图；
图6B是本申请实施例提供的又一种激光发射器的示意图；
图7是本申请实施例提供的一种探测方法的流程示意图；
图8是本申请实施例提供的一种阵列探测器中的接收区域的示意图；
图9是本申请实施例提供的一种探测装置的运行场景示意图；
图10是本申请实施例提供的又一种探测装置的运行场景示意图；
图11是本申请实施例提供的一种控制信号的示意图；
图12是本申请实施例提供的又一种探测方法的流程示意图；
图13是本申请实施例提供的一种阵列发射器中的发射区域的示意图；
图14是本申请实施例提供的又一种探测装置的运行场景示意图；
图15是本申请实施例提供的又一种探测装置的运行场景示意图。
具体实施方式
下面将结合附图对本申请实施例作进一步地详细描述。
为了便于理解，以下示例地给出了部分与本申请实施例相关概念的说明以供参考。如下所述：
1.探测装置
本申请实施例中提到的探测装置可以是激光雷达，也可以是其它的光探测装置，例如融合探测装置(例如，集成雷达探测器和图像传感器的探测装置)。其工作原理是通过发射探测信号，并接收回波来探测视野内的目标。
本申请实施例中的探测装置能够使用在智能驾驶、智能运输、智能制造、环境探测、测绘、无人机等各种领域，能够完成目标探测、距离测量、速度测量、目标跟踪、成像识别等中的一项或者多项功能。
本申请实施例中的探测装置可以应用于车载探测装置(例如车载雷达)、路侧探测装置(例如路口雷达)等，也可以应用于其它的探测装置，例如安装在无人机、机器人、轨道车、自行车、信号灯、测速装置或基站等等装置上面的探测装置。本申请对探测装置安装的位置不做限定。
2.视野(field of view，FOV)
探测装置的发射端与目标物体之间，和/或，探测装置的接收端与目标物体之间，需要具有信号(例如无线电波、激光)传输不中断的视线区域(line of sight，LOS)。该视线区域即可以理解为视野，或者称为视场。
在光学领域，以光学仪器的镜头为顶点，以被测目标的物像可通过镜头的最大范围的两条边缘构成的夹角，称为视场角。视场角的大小决定了光学仪器的视野，视场角越大，视野就越大。
一些场景中，探测装置通过旋转或者摆动，对物空间进行扫描，形成较大的视野。
以上对于技术术语的说明可选使用在下文的实施例中。
探测装置的探测原理是：通过发射探测信号，并接收探测信号对应的回波信号(部分实施例也简称为回波)来得到目标的相关信息。图1是一种可能的发射光路和接收光路的示意图，探测装置的发射端发射探测信号1，探测信号1在视野内的目标上被反射，形成回波信号2，回波信号2落入探测器，被探测器中的探测元件接收。探测元件接收回波信号2，并获取回波信号2的能量(例如：得到具有不同特征电信号、得到光子个数等)，进而处理得到目 标的距离、反射率、速度、颜色、形状、花纹等信息。
由于雷达的探测是多个角度的、覆盖了长距离的，因此，回波信号的光斑通常不会固定落在阵列探测器上的某个区域。
首先，落在阵列探测器上的位置，与目标的距离和目标的指向角(或者说目标在视野中的位置)相关。一些场景中，阵列探测器上包含多个探测元件，阵列探测器上包含基准接收区域，基准接收区域中的探测元件可以获取接收回波信号的能量，基准接收区域也称为感兴趣区域(regionof interest，ROI)。图2是一种可能的光斑的偏移与距离的关系示意图，以水平方向的偏移为例，距离探测装置越近的目标，其回波光斑与基准接收区域之间的偏移越大。而目标相对于探测装置的指向角也影响着光斑的偏移，当目标位于视野的边缘时，对应的回波光斑与基准接收区域之间的偏移比较大。
其次，光斑的偏移还与环境的温度、或光学器件老化等因素相关。如图3是一种可能的不同温度下光斑在阵列探测器上的位置示意图。探测器中的灰色格子即ROI区，ROI区能够获取回波的能量。当环境温度为0℃时，回波的光斑落入ROI区中，且光斑形状正常，能量集中；当环境温度为45℃时，回波的光斑形状变化、能量分散，光斑相对于0℃时偏移，且小部分已经超出ROI区；当环境温度为75℃时，回波光斑进一步变化、能量剧烈离散，偏移程度进一步变化。应理解，图3是为了方便理解不同温度下的光斑在阵列探测器上的位置，所做出的一种可能示意，具体实施过程中，光斑的大小、能量分布、位置、或偏移的程度等可以有其他的情况。
光斑的位置偏移、形状分裂、能量离散等现象，称为光斑的跑位。光斑的跑位易使得光斑偏移出可以接收回波信号能量的区域，进而导致后续距离补偿和反射率补偿的异常，使得激光雷达的探测精度受影响。
如图3所示，回波光斑的能量分布发生较大的变化，部分光斑的能量落入了无法接收回波能量的区域，使得回波的能量不能被接收，造成信号漏检，影响探测结果的准确性。另外，探测装置不同的接收位置对应了不同的距离补偿、反射率补偿等处理，光斑跑位还可能导致距离补偿异常、反射率补偿异常等处理错误，进一步影响了探测精度。
有鉴于此，本申请实施例提供探测方法、阵列探测器、阵列发射器、探测装置及终端，能够适应回波光斑的能量分布变化，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
下面对本申请的系统架构和业务场景进行描述。需要说明的是，本申请描述的系统架构及业务场景是为了更加清楚的说明本申请的技术方案，并不构成对于本申请提供的技术方案的限定。随着系统架构的演变和新业务场景的出现，本申请提供的技术方案对于类似的技术问题，同样适用。
请参见图4，图4是本申请实施例提供一种可能的探测装置的结构示意图，探测装置40包含发射器401和探测器402。可选的，探测装置40还包含控制器403、调制器404、滤波器405、信号处理模块406等中的一项或者多项。探测装置的多个模块之间可以通过有线和/或无线方式连接。以下对各个模块进行示例性的介绍：
(1)发射器401用于产生激光信号。例如，发射器401可以包含激光二极管(laser diode，LD)、垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、光子晶体表面发射激光器(photonic crystal surface emitting semiconductor lasers，PCSEL)、边发射激光器(edge emitting laser，EEL)、分布式反馈激光二极管(distributed feedback LD，DFB-LD)、光栅耦合 采样反射激光二极管(Grating coupled sampling reflection LD，GCSR-LD)、或者微光机电系统激光二极管(micro opto electro mechanical system LD，MOEMS-LD)等发光元件。
可选的，在发射器401包含多个发光元件的情况下，多个发光元件可以是阵列排布的，此时发射器可以称为阵列发射器，或者称为flash发射器。本申请对于阵列的规则不做限定，具体实施过程中阵列发射器例如可以为1×10阵列、2×5阵列、或8×9阵列等规格。
发射器401发射的光信号，可以经过一个或者多个光学元件照射到探测区域(探测区域指视野中的一块真实区域)上。以下示例性列举3种关于发射过程的可能设计：
设计1：发射器401可以为阵列发射器。请参见图5，图5是本申请实施例提供的一种可能的激光发射器的示意图。发射器401包含64个发光元件组成的8×8阵列光源，如图5所示发射器401中每一个小方格为一个发光元件501。在发射时，发射器401中一个或者多个发光元件发出探测信号，探测信号通过光学元件502照射到视野中。
设计2：激光发射器401发射的光信号可以通过扫描器照射到探测区域上，以实现对探测区域的扫描探测。请参见图6A和图6B，图6A是本申请实施例提供的又一种可能的发射器的示意图，图6B是本申请实施例提供的又一种可能的发射器的示意图。发射器401发射的探测信号可以通过扫描器601，以一个或者多个角度将探测信号照射到视野中的探测区域上。
其中，扫描器601可以包含转镜、微振镜、或摆镜等中的一个或者多个；扫描器601的扫描形式可以包含点扫、或线扫等扫描形式。本申请对扫描器的扫描顺序等不做限定，例如可以从上到下、从左到右、或从右到左等。另外，一些场景中，通过探测装置本身的旋转，也可以达到扫描的效果。
示例性地，如图6A为线扫的示意图，扫描器可以调整一个方向上的角度，对视野进行扫描探测。如图6B为点扫的示意图，扫描器可以调整两个方向上的角度，从而对视野进行扫描探测。
设计3：发射器401可以包含一个或者多个光源(或称为泛光源)，光源发出的探测信号可以一次性点亮整个视野。
(2)探测器402用于接收光信号。进一步的，探测器402可以基于光信号得到电信号。
可选的，探测器402可以包含一个或者多个探测元件。例如，探测器402可以包含以下探测元件中的一项或者多项：单光子雪崩二极管(single-photon avalanche diode，SPAD)、硅光电倍增管(Silicon photomultiplier，SiPM)、半导体雪崩光电二极管(avalanche photo detector，APD)、多像素光子计数器(multi-pixel photon counter，MPPC)、或电子倍增电荷耦合器(electron multiplying charge-coupled device，EMCCD)等探测元件中的一项或者多项。
进一步的，在探测器包含多个探测元件的情况下，多个探测元件可以是阵列排布的。例如可以为1×10阵列、20×40阵列等规格的阵列，本申请对于阵列排布的行数和列数不做限定。作为一种可能的实现方式，探测器402具体可以为SPAD阵列、或SiPM阵列等。
(3)控制器用于产生控制信号，以控制其他模块完成其功能。
例如，控制器可以通过控制信号选通阵列探测器中的部分探测元件，被选通的探测元件可以基于光信号得到电信号。
再如，控制器可以通过控制信号过控制阵列发射器中的部分发光元件在某一时刻发光。
可选的，滤波器、信号处理模块等都用于对接收的回波信号的进行处理。示例性的，滤波器包含但不限于是有限脉冲响应(finite impulse response，FIR)滤波器、无限脉冲响应(infinite impulse response，IIR)滤波器、低通滤波器、或带通滤波器等。示例性的，信号处 理模块对信号进行的处理包含但不限于模数转换、时间数字转换、信号检测、TOF提取、距离补偿、反射率补偿等中的一项或者多项。
另外，探测装置中还包括一个或者多个光学元件，如图4所示的接收光学系统、发射光学系统。光学元件包含但不限于是准直镜、透镜、滤光片、分光片、匀光片、反射镜、转镜、摆镜、或微振镜等，本申请对于光学元件的数量、摆放位置等不做限定。
下面对本申请的提供的探测方法进行介绍。
请参见图7，图7是本申请实施例提供的一种探测方法的流程示意图。可选的，该探测方法可以应用于图4所示的探测装置。如图7所示的方法至少包括如下步骤：
步骤S701：阵列探测器的第一区域接收第一回波信号以及获取第一回波信号的能量。
其中，第一区域包含于所述阵列探测器，第一区域包含至少两个探测元件。例如，以阵列探测器为100×100的SPAD阵列为例，第一区域包含其中部分SPAD。
第一回波信号对应第一探测信号，第一探测信号在第一时刻发送。即，在第一时刻发射的第一探测信号，其对应的回波在阵列探测器的第一区域被接收。
可选的，在接收第一回波信号时，阵列探测器上的第一区域之外的探测元件，可以设置为不接收信号，即：这部分探测元件可能不处于工作状态。例如，在第一区域之外的探测元件可以不上电，此时可以降低探测器的能耗，降低探测装置输出的数据量。
或者可选的，在接收第一回波信号时，阵列探测器上的第一区域之外的探测元件，可以接收信号，但是其接收的信号所得到的电信号在处理时不使用。例如，一些场景中将多个回波信号的能量进行累计，此时由第一区域之外的探测元件所输出的电信号不参与能量累加。
步骤S702：阵列探测器的第二区域接收第二回波信号以及获取第二回波信号的能量。
其中，第二区域包含于所述阵列探测器，第二区域包含至少两个探测元件。例如，以探测元件为100×100的SPAD阵列为例，第二区域包含其中部分SPAD。
第二回波信号对应第二探测信号，所述第二探测信号在第二时刻发送。即，在第二时刻发射的第二探测信号，其对应的回波在阵列探测器的第二区域被接收。其中，第一时刻与第二时刻可以是不同的时刻。
可选的，在接收第一回波信号时，阵列探测器上的第一区域之外的探测元件，可以设置为不接收信号。或者可选的，在接收第一回波信号时，阵列探测器上的第一区域之外的探测元件，可以接收信号，但是其接收的信号所得到的电信号在处理时不使用或者不参与得到目标的相关信息。
本申请实施例中，第一区域和第二区域不完全重叠。其中，不完全重叠可以为完全不重叠(如不包含相同的探测元件)，或，部分重叠部分不重叠(即可能包含相同的探测元件，但存在不相同的探测元件)。请参见图8，图8是本申请实施例提供的一种阵列探测器中的接收区域的示意图，其中，每一个小方块表示一个探测元件或者一个探测元件组，其中一个探测元件组可以包含多个探测元件。例如，第一区域为区域1，包含第1-6列的探测元件(或探测元件组)；第二区域为区域2，包含第3-8列的探测元件(或探测元件组)。不难看出，区域1与区域2中存在不重叠的探测元件(或探测元件组)，即：至少存在一个探测元件(或探测元件组)不同时属于区域1和区域2。
进一步的，图7所示的实施例是以第一探测信号和第二探测信号为例对动态偏移接收区域进行示例性地说明。具体实施过程中，阵列探测器可以在多发探测中使用至少两种区域来进行接收。
示例性的，一段时长内探测装置的发射器发射N(N为整数且N＞1)发探测信号，以图8所示的接收区域来分别接收多发探测信号为例，其中，N＝12。对于第1发和第7发，阵列探测器使用区域1来接收回波信号；对于第2发和第8发，阵列探测器使用区域2来接收回波信号；对于第3发和第9发，阵列探测器使用区域3来接收回波信号；对于第4发和第10发，阵列探测器使用区域4来接收回波信号；对于第5发和第11发，阵列探测器使用区域5来接收回波信号；对于第6发和第12发，阵列探测器使用区域6来接收回波信号。在12发探测信号中接收信号的区域覆盖阵列探测器上的较大范围，从而能够适应光斑的分布变化，提升捕捉到回波信号的光斑的可能性。
请参见图9，图9是本申请实施例提供的一种可能的探测装置的运行场景示意图，探测装置的发射器发射多发探测信号(如图9所示的带箭头的实线)，多发探测信号照射到视野(可选经过发射光学系统、扫描器等)中，形成多个发射光斑；视野中的目标可以分别反射多个探测信号，形成多个回波(如图9所示的带箭头的虚线)，多个回波在阵列探测器的不同接收区被接收。在接收多发探测信号的回波的过程中，阵列探测器动态调整了回波信号的接收区域，提升了捕捉到回波信号的光斑的可能性。通过动态调整接收区域而不是同时选通整个阵列探测器的所有探测元件，不仅大大降低了探测装置的能耗，还提高了接收的信号的有效比例，降低了探测装置同时处理的数据量，减轻计算负担，减轻了对芯片的计算能力的需求。
需要说明的是，此处是为了便于描述不同发的探测信号的光斑，故将不同发探测信号之间的间距示意得比较明显。具体实施过程中，不同发的探测信号之间的时间间隔可能设置得极小，例如为微秒级、或纳秒级等，因此，不同发的探测信号的光斑间距比较近。
作为一种可能的实施方式，第一探测信号所形成的光斑和第二探测信号所形成的光斑，其指向角度的差距小于探测装置能够分辨的最小角度。
作为一种可能的实施方式，探测装置的发射器为阵列发射器。阵列发射器中的多个发光元件形成多个发射区域，每个发射区域发射多发探测信号，每个发射区域形成一个发射角度。一些场景中也直接将多个发射区域示意为多个发射角度。对于某一个发射区域(某一个角度)所发射的多发探测信号，阵列探测器可以动态调整接收区域，以使用不同的接收区域来接收同一个发射角度所发射的多发探测信号。
请参见图10，图10是本申请实施例提供的又一种探测装置的运行场景示意图，探测装置的发射器为阵列发射器，可以发射多个(例如M个，M为整数且M＞1)角度的探测信号；在第一个角度中，阵列探测器发射多发探测信号；而接收端在一个角度的多发探测信号中，动态调整接收回波光斑的区域，提升了捕捉到回波信号的光斑的可能性。
作为一种可能的实施方式，第一区域和第二区域在基准接收区域附近偏移。其中，基准接收区域是指在第一环境条件下对第一探测信号的回波信号和第二探测信号的回波信号进行接收的区域，可以看作是理想接收区域，例如前述的ROI。基准接收区域包含于所述阵列探测器，第一环境条件为预先定义的阵列探测器的工作环境。例如，第一环境条件为0℃、或常温常压等环境条件，再如第一环境条件为阵列探测器的测试环境条件等。可选的，基准接收区域可以是预先设置、或预先定义的，例如由厂商、开发人员、测试人员等写入的。
可选的，在发射器为阵列发射器时且在发射时通过M个角度发射探测信号时，则基准接收区域可以包含M个，阵列发射器的每一个角度对应阵列探测器的一个基准接收区域。
作为一种可能的实施方式，第一区域和第二区域以基准接收区域为锚点，在第一方向上偏移。其中，第一方向包含但不限于是左右方向、上下方向、或对角线方向等。
作为一种可能的实施方式，在第一区域或第二区域相对于基准接收区域进行偏移的情况 下，偏移量为单位宽度的倍数。其中，单位宽度为阵列探测器的最小分辨单位，例如为一个探测元件。
可选的，偏移量小于回波光斑在阵列探测器上成像的最小长度和单位宽度的差值，即：满偏移量n足以下式子：L-a≥n≥a，其中，L(L为实数且L＞0)为回波光斑在阵列探测器上成像的最小长度(或宽度)，a为阵列探测器的最小分辨单位的长度(或宽度)。
作为一种偏移情况的示例，第一区域与基准接收区域完全重叠，第二区域与基准接收区域之间的偏移量为第一距离，第一距离为单位宽度的倍数，单位宽度为所述阵列探测器的最小分辨单元。进一步的，第一距离小于回波光斑在阵列探测器上成像的最小长度和单位宽度的差值。即，第一区域为基准接收区域，而第二区域相比于基准接收区域进行偏移。考虑到回波的光斑也可能不会发生跑位，即便发生跑位，跑位后的回波光斑也会与落于基准接收区域附近。因此，上述实施方式可以提升对回波能量的接收效率，提高信号的有效比例，提升探测精度。
作为又一种偏移情况的示例，第一区域与预设的基准接收区域之间的偏移量为第二距离，第二区域与所述基准接收区域之间的偏移量为第三距离，第二距离和第三距离为单位宽度的不同倍数，所述单位宽度为所述阵列探测器的最小分辨单元。进一步的，第二距离小于回波光斑在阵列探测器上成像的最小长度和单位宽度的差值，第三距离小于回波光斑在阵列探测器上成像的最小长度和单位宽度的差值。即：第一区域和第二区域都相比于基准接收区域进行偏移，但二者偏移量不同。考虑跑位后的回波光斑也会与落于基准接收区域附近，上述实施方式可以适应光斑能量分布的变化，提升对回波能量的接收效率，提高信号的有效比例，提升探测精度。
作为一种可能的实施方式，阵列探测器当前工作的环境的温度高于第一温度阈值，当温度高于或等于所述第一温度阈值时，第一回波信号和第二回波信号落在阵列探测器上的区域偏离基准接收区域。上述实施方式中，当温度高于或等于第一温度阈值时，回波的光斑则会偏离基准接收区域；因此，在温度高于或等于第一阈值的情况下，通过动态偏移接收区域可以更准确地接收到回波光斑的能量，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
作为一种可能的实施方式，当回波信号的光斑能量分布不均匀时，获取能量的多个通道之间的一致性较差。通过动态偏移接收区域，可以使得回波光斑的能量形成等效均匀，提高通道一致性。其中，通道通常对应相邻的一个或者多个探测元件，示例性的，3×3的探测元件作为一个像素，一个像素则是一个通道，因此该3×3的探测元件看作一个通道。
示例性的，当发射信号所形成的发射光斑为线光斑或者阵列光斑的情况下，由于线光斑或者阵列光斑存在间隙。位于间隙内的探测元件获取的能量较低，相应的，该探测元件对应的通道的能量较低。此时，通过动态偏移接收区域(例如偏移一行或者几行探测元件)，可以使得间隙内的探测元件对应到不同的通道中，从而使得不同通道接收的回波光斑的能量等效均匀，提高通道一致性。作为一种可能的实施方式，在第一方向上，第一探测信号的指向角度和第二探测信号的指向角度落入第一角度范围，第一角度范围为视场范围中的部分角度。
视场范围即探测装置的视野，探测装置完成对视场范围的探测通常会发射多个不同角度的探测信号。示例性的，以行扫形式的探测装置为例，探测装置会扫描多行以完成对视场范围的探测。在上述实施方式中，在视野范围的部分角度中，通过动态偏移来接收回波光斑；而另一部分角度可以通过固定的基准接收区域接收，也可以使用动态偏移接收。如此可以更加灵活地调控对回波光斑的接收方式，更精准地接收到回波光斑的能量，提升探测精度。
可选的，阵列探测器可以基于水平角度来选择是否对某一水平角度的探测使用动态接收方式。
作为一种可能的实现，部分角度为靠近视野边缘的角度。由于靠近视野边缘的角度更容易产生光斑发生跑位的现象，因此针对发射到视野边缘的探测信号的回波光斑进行动态偏移接收，可以更准确地接收到回波光斑的能量，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
作为又一种可能的实现，探测装置还用于通过基准接收区域来接收第四探测信号的回波，并获取第四探测信号的回波的能量。第四探测信号的指向角度位于视场范围的中间区域。
考虑到来自视场范围的中间区域的回波光斑，其发生跑位的可能性比较低。此时，通过基准接收区域可以更准确地接收到回波光斑的能量，提升探测精度。
作为一种可能的实施方式，第一探测信号的最远探测距离和第二探测信号的最远探测距离，小于，在第三时刻发射的第三探测信号的最远探测距离。第三时刻与第一时刻不同(如：测远和测近分时进行)，或者，相同(如：测远和测近不分时)。类似的，第三时刻与第一时刻不同，或者，相同。
其中，最远探测距离与信号的能量密度和/或功率相关。例如，第一探测信号的能量密度和/或功率小于第三探测信号。再如，第二探测信号的能量密度/功率小于第三探测信号。
在这种情况下，阵列探测器可以根据信号适用于测远还是测近来确定是否采用动态接收方式。示例性的，在近距离探测时使用动态切换接收区域的方式来接收回波信号。一些场景中，第一探测信号和第二探测信号的最远探测距离比较小，适用于近距离探测。由于近距离探测和远距离探测的回波光斑的差异比较大，远距离目标对应的光斑比较聚集，而近距离目标对应的光斑比较弥散，通过对近距离目标的回波进行动态偏移接收，可以降低远近距离目标的光斑差异，可以提升近距探测精度。
可选的，对于第三探测信号的回波也可以使用动态偏移接收区域的方式来接收。
作为一种可能的实施方式，阵列探测器根据第一回波信号和第二回波信号得到输出电信号；阵列探测器根据所述输出电信号得到统计直方图数据，统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。即，第一回波信号和第二回波信号对应了探测结果相同的像素。
作为一种可能的实施方式，接收区域的切换在对应的探测信号发射之前。示例性的，阵列探测器在第三时刻将接收回波信号的区域调整为所述第二区域，所述第三时刻先于所述第二时刻。即：阵列探测器上接收区域的调整，要早于探测信号的发射时间。由于部分探测元件需要时间来调整其工作状态，例如部分探测元件需要进行上电、或输出通道选通等操作，这些操作需要一定的时间达到稳定。因此，在发射第二探测信号之前调整接收区域为第二区域，在第二区域中的探测元件获取第二回波信号的能量时，会具有更高的准确性和更强的稳定性，从而能够提升探测性能。
请参见图11，图11是本申请实施例提供的一种控制信号的示意图。接收区域切换控制信号用于切换接收区域，打光控制信号用于指示发射探测信号，接收区域切换控制信号的产生时间与对应的打光控制信号的产生时间之间的时间差为t △。即在发射探测信号之前，指示阵列探测器完成接收区域的调整。例如，在发射第一探测信号之前，指示阵列探测器将接收第一探测信号的回波的区域调整为第一区域；在发射第二探测信号之前，指示阵列探测器将接收第二探测信号的回波的区域调整为第二区域。
在图11所示的控制信号中，阵列探测器对于每一发探测信号均调整一次接收区域进行接收。这是一种示例性的接收区域调整频率，具体实施过程中，阵列探测器调整接收区域的频率还可以有其他设计，本申请对此不作严格限定。例如，每隔两发探测信号调整一次阵列探测器上的接收区域，或者，在第1、2、4、5、7…..发探测信号之前调整阵列探测器上的接收区域。
作为一种可能的实施方式，第一探测信号和第二探测信号可以是同一个探测时长内发射的信号。可选的，一个探测时长可以是一个时隙(slot，或称为时间片)、一个波位、一个探测帧、或一个探测子帧。
其中，时隙是探测过程中的最小的时间单位，一个时隙内可以发射多发探测信号。如图11所示，一个时隙(slot)中发射N(N为整数，且N＞1)发探测信号，针对N发探测信号使用至少两种接收区域来进行接收。
波位与探测信号在一个方向上完成一次探测扫描的时间相关。例如，探测装置的垂直方向上的视场角为0～20°，而探测装置发射出的探测信号的波束宽度5°，则覆盖整个俯仰空域至少需要4个波位。
探测帧是指探测装置对全视野完成一次扫描的图像，一个探测帧通常生成一幅点云图像。
探测子帧是由探测帧划分得到的。一些场景中，对于二维扫描的探测装置，完成一个方向的一次扫描则为一个探测子帧，而完成两个方向上的扫描则为一个探测帧。例如，在以行扫形式进行探测的探测装置中，完成一行的扫描所花费的时长称为一个探测子帧(或一个波位)，而完成对全视野的探测称为一个探测帧。再如，在以点扫形式进行探测的探测装置中，完成一个“点”的探测所花费的时长称为一个探测子帧(或一个波位)，而完成对全视野的探测称为一个探测帧。
图7所示的实施例中，第一区域和第二区域不完全重叠，即第一区域和第二区域之间存在偏移量。对于第一时刻发射的探测信号和第二时刻发射的探测信号，阵列探测器在接收二者的回波时可以动态偏移调整接收区域的位置，在光斑可能发生跑位的情况下，通过接收区域的动态调整能够使得接收区域可以适应光斑分布的变化，从而捕捉到位置偏移和/或能量分散的回波光斑，降低了回波信号的光斑跑位带来的能量损失，提升探测装置的探测精度。
请参见图12，图12是本申请实施例提供的又一种探测方法的流程示意图。可选的，该探测方法可以应用于图4所示的探测装置。如图12所示的方法至少包括如下步骤：
步骤S1201：阵列发射器的第一区域发射第一探测信号。
其中，第一区域包含于阵列发射器，第一区域包含至少两个发光元件。例如，以阵列发射器为8×8的发光元件为例，第一区域包含其中部分发射发光元件。例如，第一区域包含阵列发射器中的一列发光元件，或者一行发光元件。
第一探测信号对应的第一回波信号。即：第一探测信号发射到视野中，被视野中的目标反射后，形成的回波为第一回波信号。
步骤S1202：所述阵列发射器的第二区域发射第二探测信号。
第二区域包含于阵列发射器，第一区域包含至少两个发光元件。例如，以阵列发射器为8×8的发光元件为例，第二区域包含其中部分发射发光元件。例如，第二区域包含阵列发射器中的一列发光元件，或者一行发光元件。
第二探测信号对应的第二回波信号。即：第二探测信号发射到视野中，被视野中的目标反射后，形成的回波为第二回波信号。第一探测信号和第二探测信号用于对视野中的同一块 探测区域进行探测。或者，第一回波信号和第二回波信号对应的探测结果中相同的一块像素。
作为一种可能的实施方式，探测装置还包含阵列探测器。阵列探测器根据第一回波信号和第二回波信号得到输出电信号；阵列探测器根据所述输出电信号得到统计直方图数据，统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。即，第一回波信号和第二回波信号对应了探测结果相同的像素。
在步骤S1201和步骤S1202中，发射第一探测信号的第一区域和发射第二探测信号的第二区域不完全重叠。其中，不完全重叠可以为完全不重叠(如不包含相同的发光元件)，或者部分重叠部分不重叠(即可能包含相同的发光元件，但存在不相同的发光元件)。
在图12所示的实施例中，使用阵列发射器中的不同发射区域来发射探测信号对探测区域进行探测。不同发射区域相对于探测区域的指向角度不同，形成的回波光斑会落在探测器(或者接收器)的不同位置上。
此时，探测信号对应的回波光斑发生跑位(偏离基准接收区域)时，通过不同的角度可以使得光斑的跑位发生左右偏移(或者上下偏移)。使用多个指向角度的探测信号，多个探测信号对应的多个回波光斑中，极有可能存在落入基准接收区域的光斑，使得探测器可以从基准接收区域获得回波光斑的能量。总之，使用不同发射区域发射的探测信号，达到了动态偏移接收区域的效果，降低由于回波光斑跑位带来的能量损失，提升探测装置的探测精度。
进一步的，图12所示的实施例是以第一探测信号和第二探测信号为例对动态偏移发射区域进行示例性地说明。具体实施过程中，阵列发射器可以在多发探测中使用至少两种发射区域来发射探测信号。
请参见图13，图13是本申请实施例提供的一种阵列发射器中的发射区域的示意图，其中，每一个小方块表示一个发光元件或者一个发光元件组，其中一个发光元件组可以包含多个发光元件。例如，第一区域为区域1，包含第1列第1-6行的发光元件(或发光元件组)；第二区域为区域2，包含第1列第2-7行发光元件(或发光元件组)。不难看出，区域1与区域2中存在不重叠的发光元件(或探测元件组)，即：至少存在一个发光元件(或发光元件组)不同时属于区域1和区域2。
作为一种可能的示例，一段时长内，阵列发射器发射12发探测信号，以图12所示的发射区域来分别发射多发探测信号。对于第1发和第7发，阵列发射器使用区域1来发射探测信号；对于第2发和第8发，阵列发射器使用区域2来发射探测信号；对于第3发和第9发，阵列发射器使用区域3来发射探测信号；对于第4发和第10发，阵列发射器使用区域4来发射探测信号；对于第5发和第11发，阵列发射器使用区域5来发射探测信号；对于第6发和第12发，阵列发射器使用区域6来发射探测信号。在12发探测信号中，阵列发射器动态调整发射区域，当光斑发生偏移时，通过微调发射区域，提升回波信号光斑落入有效接收区域的可能性。
请参见图14，图14是本申请实施例提供的又一种可能的探测装置的运行场景示意图，探测装置的发射端为阵列发射器，阵列发射器可以形成多个发射角度，对于每一个发射角度所发射的多发探测信号，阵列发射器动态调整发射区域。多发探测信号照射到视野(可选经过发射光学系统、扫描器等)中，形成多个发射光斑；视野中的目标可以分别反射多个探测信号，形成多个回波，多个回波在阵列探测器的不同接收区被接收。
作为一种可能的实施方式，在动态调整发射区域时，接收区域也可以进行动态调整。可选的，发射区域的调整方式与接收区域的调整方式可以同步，或者，不同步。
请参见图15，图15是本申请实施例提供的一种可能的运行场景示意图，探测装置中的 阵列发射器对于每一个发射角度，动态调整发射区域以发射多发探测信号；阵列探测器对于每一个发射角度对应的多发回波，动态调整接收区域以接收多发探测探测信号的回波光斑。
需要说明的是，此处是为了便于描述不同发的探测信号的光斑，故将不同发探测信号之间的间距示意得比较明显。具体实施过程中，不同发的探测信号之间的时间间隔可能设置得极小，例如为微秒级、纳秒级等，此时不同发的探测信号的光斑间距也相应的比较近。
作为一种可能的实施方式，当前发探测信号所形成的光斑和下一发探测信号所形成的光斑，其指向角度的差距小于探测装置能够分辨的最小角度。
作为一种可能的实施方式，第一区域和第二区域在基准发射区域附近偏移。其中，在第一环境条件下由所述基准发射区域发射的探测信号(例如称为第四探测信号)对应的回波信号(例如称为第三回波信号)落入阵列探测器的基准接收区域。基准发射区域包含于阵列发射器，第一环境条件为预先定义的所述阵列发射器的工作环境。例如，第一环境条件为0℃、或常温常压等环境条件，再如第一环境条件为阵列发射器的测试环境条件等。
可选的，在阵列发射器通过M个角度发射探测信号时，则基准发射区域可以包含M个。进一步的，阵列发射器的每一个角度对应阵列探测器的一个基准接收区域。
作为一种可能的实施方式，第一区域和第二区域以基准发射区域为锚点，在第一方向上偏移。其中，第一方向包含但不限于是左右方向、上下方向、对角线方向等。
作为一种可能的实施方式，在第一区域或第二区域相对于基准发射区域进行了偏移时，偏移量为单位宽度的倍数。其中，单位宽度为阵列发射器的最小分辨单位，例如为一个发光元件。
作为一种偏移情况的示例，第一区域与基准发射区域完全重叠，第二区域与基准发射区域之间的偏移量为第一距离，第一距离为单位宽度的倍数。即，第一区域为基准发射区域，而第二区域相比于基准发射区域进行偏移。
作为又一种偏移情况的示例，第一区域与基准发射区域之间的偏移量为第二距离，第二区域与基准发射区域之间的偏移量为第三距离，第二距离和第三距离为单位宽度的不同倍数。即：第一区域和第二区域都相比于基准发射区域进行偏移，但偏移量不同。
作为一种可能的实施方式，阵列发射器当前工作的环境的温度高于第一温度阈值，当温度高于或等于所述第一温度阈值时，第一回波信号和第二回波信号落在阵列探测器上的区域偏离基准发射区域。上述实施方式中，当温度高于或等于第一温度阈值时，回波的光斑则会偏离基准发射区域；因此，在温度高于或等于第一阈值的情况下，通过动态偏移发射区域，可以更准确地接收到回波光斑的能量，降低光斑跑位带来的能量损失，提升探测装置的探测精度。
作为一种可能的实施方式，当发射信号对应的回波信号的光斑能量分布不均匀时，获取能量的多个通道之间的一致性较差。通过动态偏移发射区域，可以使得回波光斑的能量等效均匀，提高通道一致性。其中，通道通常对应相邻的一个或者多个探测元件，示例性的，3×3的探测元件作为一个像素，一个像素则是一个通道，因此该3×3的探测元件看作一个通道。
另外，上述的通道是指接收通道。一些场景中，阵列发射器中可以包含多个发射通道，每个发射通道对应相邻的一个或者多个发光元件。
作为一种可能的实施方式，在第一方向上，所述第一探测信号的指向角度和所述第二探测信号的指向角度落入第一角度范围，第一角度范围为视场范围中的部分角度。
可选的，阵列发射器可以基于水平角度来选择是否对某一水平角度的探测使用动态接收 方式。
作为一种可能的实现，部分角度为靠近视野边缘的角度。
作为又一种可能的实现，探测装置还用于通过基准发射区域来发射第四探测信号。第四探测信号的指向角度位于视场范围的中间区域。
作为一种可能的实施方式，第一探测信号和第二探测信号的最远探测距离，小于，在第三时刻发射的第三探测信号的最远探测距离。第三时刻与第一时刻不同(如：测远和测近分时进行)，或者，相同(如：测远和测近不分时)。类似的，第三时刻与第一时刻不同，或者，相同。
其中，最远探测距离与信号的能量密度和/或功率相关。例如，第一探测信号的能量密度和/或功率小于第三探测信号。再如，第二探测信号的能量密度/功率小于第三探测信号。
在这种情况下，阵列发射器可以根据测远和测近来确定是否采用动态发射方式。示例性的，在近距离探测时使用动态切换发射区域的方式来发射探测信号。
可选的，对于第三探测信号也可以使用动态偏移发射区域的方式来发射。
作为一种可能的实施方式，第一探测信号和第二探测信号可以是同一个探测时长内发射的信号。可选的，一个探测时长可以是一个时隙、一个波位、一个探测帧、或一个探测子帧。
其中，时隙是探测过程中的最小的时间单位，一个时隙内可以发射多发探测信号。如图10所示，一个时隙(slot)中发射N发探测信号，针对N发探测信号使用至少两种发射区域来进行发射。
下面对本申请实施例提供的装置进行介绍。
本申请实施例提供的一种阵列探测器，探测器包含多个探测元件。该阵列探测器用于实现前述的探测方法，例如前述图7、图12所示实施例中的探测方法。
本申请实施例提供的一种阵列发射器，阵列发射器包含多个发光元件。该阵列发射器用于实现前述的探测方法，例如前述图7、图12所示实施例中的探测方法。
本申请实施例还提供一种探测控制器，探测控制器包含处理器和通信接口，其中处理器可以产生控制信号，通信接口用于输出处理器产生的控制信号。
可选的，该控制信号用于控制阵列探测器实现前述的探测方法。
或者可选的，该控制信号用于控制阵列发射器实现前述的探测方法。
示例性的，处理器包含但不限于是中央处理器(central processing unit，CPU)、微处理器(microprocessor unit，MPU)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程逻辑门阵列(Field Programmable Gate Array，FPGA)、复杂可编程逻辑器件(Complex programmable logic device，CPLD)、协处理器(协助中央处理器完成相应处理和应用)、微控制单元(Microcontroller Unit，MCU)、和/或神经网络处理器(neural-network processing unit，NPU)等中的一种或者多种的组合。
可选的，处理器可以通过调用计算机指令来实现前述的探测方法。这种情况下，探测控制器还包含存储器，存储器用于存储计算机指令。
本申请实施例还提供一种终端，终端包含前述阵列发射器、阵列探测器、探测装置(如探测装置40)、探测控制器等中的一项或者多项。
可选的，终端可以为车辆、无人机、机器人等智能终端或交通工具。
在本申请的描述中，术语“中心”、“上”、“下”、“垂直”、“水平”、“内”、“外”等指示 的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
本申请实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本申请中被描述为“示例性的”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性的”或者“例如”等词旨在以具体方式呈现相关概念。
本申请中实施例提到的“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a、b、或c中的至少一项(个)，可以表示：a、b、c、(a和b)、(a和c)、(b和c)、或(a和b和c)，其中a、b、c可以是单个，也可以是多个。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A、同时存在A和B、单独存在B这三种情况，其中A、B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。
以及，除非有相反的说明，本申请实施例使用“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。例如，第一探测信号和第二探测信号，只是为了便于描述，而并不是表示这第一探测信号和第二探测信号的来源、顺序、重要程度等的不同。
上述实施例中所用，根据上下文，术语“当……时”可以被解释为意思是“如果……”或“在……后”或“响应于确定……”或“响应于检测到……”。以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本申请的构思和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。

Claims (18)

  1. 一种探测方法，其特征在于，所述方法用于阵列探测器，所述阵列探测器包含多个探测元件；所述方法包括；
    所述阵列探测器的第一区域接收第一回波信号以及获取所述第一回波信号的能量，所述第一回波信号对应第一探测信号，所述第一探测信号在第一时刻发送；
    所述阵列探测器的第二区域接收第二回波信号以及获取所述第二回波信号的能量，所述第二回波信号对应第二探测信号，所述第二探测信号在第二时刻发送；
    所述第一区域和所述第二区域包含于所述阵列探测器，所述第一区域和所述第二区域分别包含至少两个探测元件，所述第一区域和所述第二区域不完全重叠。
  2. 根据权利要求1所述的方法，其特征在于，
    所述第一区域与基准接收区域完全重叠，所述第二区域与所述基准接收区域之间的偏移量为第一距离，所述第一距离为单位宽度的倍数，所述单位宽度为所述阵列探测器的最小分辨单元；
    或者，所述第一区域与基准接收区域之间的偏移量为第二距离，所述第二区域与所述基准接收区域之间的偏移量为第三距离，所述第二距离和所述第三距离为单位宽度的不同倍数，所述单位宽度为所述阵列探测器的最小分辨单元；
    其中，所述基准接收区域为在第一环境条件下对所述第一探测信号的回波信号和所述第二探测信号的回波信号进行接收的区域，所述基准接收区域包含于所述阵列探测器，所述第一环境条件为预先定义的所述阵列探测的工作环境。
  3. 根据权利要求2所述的方法，其特征在于，所述阵列探测器当前工作的环境的温度高于第一温度阈值，
    当温度高于或等于所述第一温度阈值时，所述第一回波信号和第二回波信号落在所述阵列探测器上的区域偏离所述基准接收区域。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，在第一方向上，所述第一探测信号的指向角度和所述第二探测信号的指向角度落入第一角度范围，
    所述第一角度范围为视场范围中的部分角度。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述第一探测信号和所述第二探测信号的最远探测距离小于第三探测信号的最远探测距离，所述第三探测信号在第三时刻发射。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    所述阵列探测器根据所述第一回波信号和所述第二回波信号得到输出电信号；
    所述阵列探测器根据所述输出电信号得到统计直方图数据，所述统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：
    所述阵列探测器在第四时刻将接收回波信号的区域调整为所述第二区域，所述第四时刻先于所述第二时刻。
  8. 一种探测方法，其特征在于，所述方法用于阵列发射器，所述阵列发射器包含多个发光元，所述方法包括：
    所述阵列发射器的第一区域发射第一探测信号，所述第一探测信号对应第一回波信号，
    所述阵列发射器的第二区域发射第二探测信号，所述第二探测信号对应第二回波信号，所述第一回波信号和所述第二回波信号用于得到统计直方图数据，所述统计直方图数据用于得到对视场范围的探测结果中的一个或者多个像素；
    所述第一区域和所述第二区域包含于所述阵列发射器，所述第一区域和所述第二区域分别包含至少两个发光元件，所述第一区域和第二区域不完全重叠。
  9. 根据权利要求8所述的方法，其特征在于，
    所述第一区域与基准发射区域完全重叠，所述第二区域与所述基准发射区域之间的偏移量为第一距离，所述第一距离为单位宽度的倍数，所述单位宽度为所述阵列发射器的最小分辨单元；
    或者，所述第一区域与基准发射区域之间的偏移量为第二距离，所述第二区域与所述基准发射区域之间的偏移量为第三距离，所述第二距离和所述第三距离为单位宽度的不同倍数，所述单位宽度为所述阵列发射器的最小分辨单元；
    其中，在第一环境条件下由所述基准发射区域发射的第四探测信号对应的第三回波信号落入阵列探测器的基准接收区域，所述基准接收区域用于接收所述由所述第三回波信号并获取所述第三回波信号的能量。
  10. 根据权利要求8或9所述的方法，其特征在于，所述阵列发射器当前工作的环境的温度高于第一温度阈值，
    当温度高于或等于所述第一温度阈值时，所述第一回波信号和第二回波信号落在所述阵列探测器上的区域偏离所述基准发射区域。
  11. 根据权利要求8-10任一项所述的方法，其特征在于，在第一方向上，所述第一探测信号的指向角度和所述探测信号的指向角度落入第一角度范围，
    所述第一角度范围为视场范围中的部分角度。
  12. 根据权利要求8-11任一项所述的方法，其特征在于，所述方法还包括：
    所述阵列探测器在第三时刻发射第三探测信号，所述第一探测信号的最远探测距离和所述第二探测信号的最远探测距离小于第三探测信号的最远探测距离。
  13. 一种阵列探测器，其特征在于，所述阵列探测器包含多个探测元件；
    所述阵列探测器用于实现权利要求1-7任一项所述的方法。
  14. 一种阵列发射器，其特征在于，所述阵列发射器包含多个发光元件；
    所述阵列发射器用于实现权利要求8-12任一项所述的方法。
  15. 一种探测装置，其特征在于，所述探测装置包含发射器和阵列探测器，所述发射器用 于在第一时刻发射第一探测信号以及在第二时刻发射第二探测信号；
    所述阵列探测器为权利要求13所述的阵列探测器。
  16. 一种探测装置，其特征在于，所述探测装置包含阵列发射器和探测器，所述阵列发射器为权利要求14所述的阵列发射器；
    所述探测器用于接收第一回波信号以及接收第二回波信号。
  17. 一种终端，其特征在于，所述终端包含如权利要求13所述的阵列探测器，或包含如权利要求14所述的阵列发射器，或包含如权利要求15所述的探测装置，或包含如权利要求16所述的探测装置。
  18. 根据权利要求17所述的终端，其特征在于，所述终端为车辆、无人机或者机器人。
PCT/CN2022/136036 2022-12-01 2022-12-01 探测方法、阵列探测器、阵列发射器、探测装置及终端 WO2024113328A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/136036 WO2024113328A1 (zh) 2022-12-01 2022-12-01 探测方法、阵列探测器、阵列发射器、探测装置及终端

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2022/136036 WO2024113328A1 (zh) 2022-12-01 2022-12-01 探测方法、阵列探测器、阵列发射器、探测装置及终端

Publications (1)

Publication Number Publication Date
WO2024113328A1 true WO2024113328A1 (zh) 2024-06-06

Family

ID=91322785

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/136036 WO2024113328A1 (zh) 2022-12-01 2022-12-01 探测方法、阵列探测器、阵列发射器、探测装置及终端

Country Status (1)

Country Link
WO (1) WO2024113328A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111830530A (zh) * 2020-06-04 2020-10-27 深圳奥锐达科技有限公司 一种距离测量方法、系统及计算机可读存储介质
CN113614564A (zh) * 2021-07-09 2021-11-05 华为技术有限公司 一种探测控制方法及装置
CN114594449A (zh) * 2020-12-04 2022-06-07 上海禾赛科技有限公司 探测装置、探测方法和激光雷达
WO2022194006A1 (zh) * 2021-03-15 2022-09-22 华为技术有限公司 一种探测装置
CN115166687A (zh) * 2018-02-12 2022-10-11 深圳市镭神智能系统有限公司 接收激光雷达的反射光斑的感光阵列、接收系统及方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115166687A (zh) * 2018-02-12 2022-10-11 深圳市镭神智能系统有限公司 接收激光雷达的反射光斑的感光阵列、接收系统及方法
CN111830530A (zh) * 2020-06-04 2020-10-27 深圳奥锐达科技有限公司 一种距离测量方法、系统及计算机可读存储介质
CN114594449A (zh) * 2020-12-04 2022-06-07 上海禾赛科技有限公司 探测装置、探测方法和激光雷达
WO2022194006A1 (zh) * 2021-03-15 2022-09-22 华为技术有限公司 一种探测装置
CN113614564A (zh) * 2021-07-09 2021-11-05 华为技术有限公司 一种探测控制方法及装置

Similar Documents

Publication Publication Date Title
WO2021072802A1 (zh) 一种距离测量系统及方法
WO2021212915A1 (zh) 一种激光测距装置及方法
WO2021128587A1 (zh) 一种可调的深度测量装置及测量方法
CN111722241B (zh) 一种多线扫描距离测量系统、方法及电子设备
US20230014366A1 (en) Laser transceiver system, lidar, and autonomous driving apparatus
US10571574B1 (en) Hybrid LADAR with co-planar scanning and imaging field-of-view
WO2022017366A1 (zh) 一种深度成像方法及深度成像系统
WO2022011974A1 (zh) 一种距离测量系统、方法及计算机可读存储介质
CN110780312B (zh) 一种可调距离测量系统及方法
WO2022082985A1 (zh) 一种多线扫描距离测量系统
CN211148917U (zh) 一种距离测量系统
US11668801B2 (en) LIDAR system
WO2020237764A1 (zh) 激光雷达装置
WO2022083198A1 (zh) 一种多线扫描距离测量系统
CN113227827A (zh) 激光雷达及自动驾驶设备
US20230035528A1 (en) Lidar and automated driving device
CN111965659A (zh) 一种距离测量系统、方法及计算机可读存储介质
CN114488173A (zh) 一种基于飞行时间的距离探测方法和系统
US11156716B1 (en) Hybrid LADAR with co-planar scanning and imaging field-of-view
WO2024113328A1 (zh) 探测方法、阵列探测器、阵列发射器、探测装置及终端
CN111308498A (zh) 一种三维成像激光雷达装置
CN111308444A (zh) 一种激光雷达系统
WO2022126429A1 (zh) 测距装置、测距方法和可移动平台
WO2023061386A1 (zh) 激光雷达、接收系统、发射系统以及控制方法
CN220491038U (zh) 一种多点激光测距装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22966916

Country of ref document: EP

Kind code of ref document: A1