The present application relates to the technical field of laser ranging, and provides a time of flight counting device and a laser ranging device. The counting device comprises a counting part and a memory. The counting part is used for acquiring S first initial time of flight data sets within S first integration periods, performing accumulation processing on each first initial time of flight data set by taking every N adjacent pieces of first initial time of flight data as a group to obtain S accumulated time of flight data sets corresponding to the S first initial time of flight data sets, S being a positive integer, S≥2, N being a positive integer, and N≥2, performing superposition processing on the S accumulated time of flight data sets to obtain a superposed time of flight data set, and storing, in the memory, at least one superposed photon count value in the superposed time of flight data set by storing one superposed photon count value in a memory cell. The counting device can increase the detection distance of the laser ranging device.
The present disclosure provides a laser emitting module and a LiDAR apparatus. The laser emitting module includes at least two groups of laser emitting circuits. Each group of the laser emitting circuits includes one charging energy storage circuit and at least one energy releasing circuit. The energy releasing circuit includes an energy releasing switch and at least one laser. The energy releasing switch is turned on to drive at least one laser to work correspondingly. The charging energy storage circuit and the energy releasing circuit are arranged one-to-one or one-to-multiple. Any two adjacent emissions correspond to different groups of the laser emitting circuits.
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
H01S 3/00 - Lasers, c. à d. dispositifs utilisant l'émission stimulée de rayonnement électromagnétique dans la gamme de l’infrarouge, du visible ou de l’ultraviolet
3.
LIDAR CONTROLLING METHOD AND APPARATUS, TERMINAL DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
This application provides a LiDAR controlling method and apparatus, a terminal device, and a computer-readable storage medium. The method includes: obtaining an emission policy of a current emission block based on a current measurement scenario; and controlling, by the LiDAR, the current emission block to emit the laser detection signal based on the emission policy.
The present embodiment discloses a photonic chip module, LiDAR, and a mobile device. The photonic chip module includes a photonic chip and a reflection unit. The photonic chip includes a cladding and multiple first transceiving waveguide modules. The first transceiving waveguide module is embedded in the cladding, and the first emergent end and the first incident end are arranged at intervals along a first preset direction, collectively forming the first transceiving end of each first transceiving waveguide module, with these ends being spaced along a second preset direction. The reflection unit includes multiple reflection modules arranged along the second preset direction. Each reflection module has a first reflection surface. The photonic chip module provided in this embodiment is advantageous for increasing the detection field of view of the LiDAR under the same resolution conditions.
The present disclosure relates to the technical field of LiDAR, and provides a galvanometer motor and LiDAR. The galvanometer motor includes a stator assembly and a rotor assembly. The stator assembly includes a housing and a stator winding. The stator winding is mounted inside the housing. The rotor assembly includes a first shaft, a second shaft, a magnetic core, and a lens. The first shaft is rotatably disposed in the housing. The stator winding is connected to an alternating current to generate the alternating magnetic field. The magnetic core is driven by the alternating magnetic field to drive the entire rotor assembly to rotate, thereby rotating the lens. The magnetic core, and the second shaft are connected in sequence, the length of the rotor assembly is shortened, which is beneficial to the miniaturization design of the galvanometer motor and the LiDAR.
This application pertains to a LiDAR detection method, including: emitting multiple primary laser beams, where there is at least partial overlap between reception analysis regions of at least two emitted primary laser beams; receiving a first echo beam; when the first echo beam is received in an overlapping region of reception analysis regions of the first laser beam and the second laser beam, determining candidate TOF values of the first echo beam based on emission time of the first laser beam and the second laser beam, and reception time of the first echo beam; obtaining similarity values between each candidate TOF value of the first echo beam and a TOF value of at least one adjacent echo beam of the first echo beam, and determining a true TOF value of the first echo beam from the candidate TOF values of the first echo beam based on the similarity values.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
7.
LIDAR, MOBILE DEVICE AND LIDAR ATTACHMENT DETECTION METHOD
This application discloses a LiDAR, a mobile device, and a LiDAR attachment detection method, where the LiDAR includes a transceiving assembly, a window, a detection module, and a control module. The transceiving assembly is configured to emit an outgoing beam and receive an echo beam. The window is mounted on an optical path corresponding to the transceiving assembly, where part of the outgoing beam emitted by the transceiving assembly forms a reflected beam after being reflected by the window, and the reflected beam includes a specular reflected beam. The detection module is configured to receive the reflected beam and generate a corresponding electrical signal. The control module is electrically connected to the transceiving assembly and the detection module, where the control module is configured to determine whether there is an attachment on the window based on the corresponding electrical signal.
A sampling method, a sampling apparatus, a computer storage medium, and a laser ranging apparatus. The sampling method comprises: using N*f0 as a sampling frequency, sampling electrical signals outputted by a detection unit, and generating an initial sampling signal; wherein f0 is the clock frequency of a first clock signal, and N is a positive integer greater than 1; and using f0/K as a sampling frequency, sampling K*N pieces of sampling data from K clock periods adjacent to the initial sampling signal, and generating a first sampling signal through a K*N sampling signal; wherein K is a positive integer greater than 1. The present application increases the sampling rate of a sampling circuit, thereby further improving time-of-flight distance measurement accuracy and reducing clock speed requirements for subsequent sampling signal processing operations.
G06F 3/0488 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p.ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p.ex. des gestes en fonction de la pression exer utilisant un écran tactile ou une tablette numérique, p.ex. entrée de commandes par des tracés gestuels
9.
TIME-OF-FLIGHT MEASUREMENT SYSTEM AND LASER RANGING APPARATUS
A time-of-flight measurement system and a laser ranging apparatus. The system comprises a detector array (10) and a statistical module group (30). The detector array (10) comprises a first detection module group (11), the first detection module group (11) comprising t detection modules (111) arranged in sequence. The statistical module group (30) comprises a first selection module group (71) and a first statistical module group (31). The first selection module group (71) comprises a first group of first selection components (711) for successively selecting in a first preset order time-of-flight data sets respectively corresponding to the t detection modules (111) in the first detection module group (11), so as to output in a time-sharing manner the time-of-flight data sets respectively corresponding to the t detection modules (111) in the first detection module group (11). The first statistical module group (31) comprises a first group of first statistical components (311) for acquiring the statistics of the time-of-flight data sets corresponding to the detection modules (111) selected by the first group of first selection components (711), so as to generate histogram data corresponding to the detection modules (111) selected by the first group of first selection components (711). Therefore, the present application saves the hardware resource overhead of the time-of-flight measurement system using the detector array (10).
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
10.
LIDAR CONTROLLING METHOD AND APPARATUS, TERMINAL DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
This application is applicable to the field of LiDAR technologies, and provides a LiDAR controlling method and apparatus, a terminal device. The method includes: grouping all parallel channels of the LiDAR based on physical intervals between the parallel channels; and controlling parallel channels in different groups to emit detection signals based on an intergroup emission policy, where the intergroup emission policy is to control a time interval between emission times of the parallel channels in the different groups to be a first preset time interval, and the first preset time interval is greater than a recovery time of a sensor between two adjacent signal emissions.
This application pertains to the field of laser detection, and specifically, relates to a laser detector, including multiple optical detection units and a received signal processing module, where the multiple optical detection units are divided into at least a first block and a second block, a first bias voltage is input into each optical detection unit in the first block, a second bias voltage is input into each optical detection unit in the second block, and the first bias voltage is different from the second bias voltage. The received signal processing module is configured to process a received incident optical signal detected by the first block and the second block and provide an output signal.
The present disclosure proposes a master control chip of a LiDAR and a LiDAR device. The master control chip of the LiDAR includes an execution control unit, a communication interface, an operation management unit, and a function test unit. The execution control unit is configured to connect a ranging module of the LiDAR and to control the ranging module to operate ranging. The operation management unit connects to the execution control unit and the communication interface respectively, and is configured to communicate with a peripheral device through the communication interface and to drive the execution control unit to operate. The function test unit connects to each unit of the master control chip of the LiDAR, and is configured to test function states of the units of the master control chip and to report corresponding state information.
A time-of-flight measurement method and apparatus, and a laser ranging apparatus and a storage medium, which are applicable to the technical field of time-of-flight measurement. The method comprises: counting photon events of a detection unit within a first preset time period, so as to generate an ambient light value (S11); counting photon events of the detection unit within a second preset time period, so as to generate histogram data, wherein the histogram data comprises Z flight moments and Z count values respectively corresponding to the Z flight moments (S12); subtracting the ambient light value from each of the Z count values, so as to generate Z processed values respectively corresponding to the Z count values (S13); and determining a time of flight according to the Z processed values (S14). In the method, a plurality of processed values are obtained by means of subtracting an ambient light value from each count value, and the count values of echo optical signals in histogram data can substantially remain unchanged, and the count values of ambient optical signals are attenuated, thereby increasing the signal-to-noise ratio of a detection unit, facilitating the determination of a correct time of flight, and effectively improving the accuracy of time-of-flight measurement.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 17/08 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 7/487 - Extraction des signaux d'écho désirés
14.
AC COUPLING CIRCUIT, LASER DETECTION MODULE, AND LIDAR
Embodiments of this application disclose an AC coupling circuit, a laser detection module, and a LiDAR. The AC coupling circuit is configured to be accessed by a first AC signal and block a DC component in the first AC signal to output a second AC signal, and the AC coupling circuit includes an impedance matching circuit and a baseline drift reduction circuit. The impedance matching circuit has a signal input terminal configured to be accessed by the first AC signal, and the impedance matching circuit is configured to perform matching on transmission impedance of the AC coupling circuit. The baseline drift reduction circuit is connected with the impedance matching circuit. The baseline drift reduction circuit uses the symmetry of a baseline drift in the AC coupling circuit to reduce the baseline drift in the AC coupling circuit.
This application discloses a frequency modulated continuous wave LiDAR and an autonomous driving device. The LiDAR includes a light source module, a silicon photonic chip and a refraction module, and the silicon photonic chip includes a light splitting module, a coupling module and multiple transceiving units. The light splitting module receives a laser beam coupled into the silicon photonic chip, divides the laser beam into multiple beams of detection light, and transmits the multiple beams of detection light to corresponding multiple transceiving units, and the transceiving units emit the received detection light outward. The refraction module is configured to refract the detection light emitted by the multiple transceiving units to emit multiple beams of detection light in a staggered manner in a second direction, where the second direction is a direction perpendicular to the terminal surface of the transceiving unit.
This application is applicable to the technical field of LiDAR and provides a LiDAR controlling method and apparatus, a terminal device, and a computer-readable storage medium. The method includes: controlling a LiDAR to move by a preset stepping in a scanning direction after the LiDAR completes the task of emitting a detection laser beam via a current emission channel, and emitting the detection laser beam via a next emission channel until all emission channels complete the task of emitting the detection laser beam, where the preset stepping is smaller than a divergence angle of a scanning light spot of the current emission channel; filtering echo data received by the current emission channel, and obtaining the scanning result of the current emission channel. Therefore, the scanning light spots between the adjacent emission channels overlap.
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/487 - Extraction des signaux d'écho désirés
17.
LIDAR CONTROLLING METHOD AND DEVICE, ELECTRONIC APPARATUS AND STORAGE MEDIUM
The present application discloses a LiDAR controlling method and device, an electronic apparatus, and a storage medium. The method includes: in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, where the emitting group includes at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk; controlling the at least two emitting units to emit laser beams asynchronously based on a preset rule; controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes, where the laser echoes refer to echoes formed after the laser beams are reflected by a target object; and when at least two emitting groups are determined in the measurement period, controlling the emitting groups to emit the laser beams asynchronously based on the preset rule.
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
A time-of-flight ranging system and a laser ranging apparatus. The time-of-flight ranging system comprises a detector array (10), a storage module (40), and a control and processing module (50), wherein the detector array (10) comprises detection modules (11), each of which comprises t detection sub-modules (111) arranged in sequence; the storage module (40) comprises storage assemblies (41), which correspond to the detection modules (11) on a one-to-one basis, and are used for writing and outputting, at different times, histogram data corresponding to the t detection sub-modules (111); the control and processing module (50) is connected to the storage assemblies (41), and is used for receiving the histogram data corresponding to the t detection sub-modules (111), which histogram data is output by the storage module (40), and determining the time of flight of corresponding detection of each detection unit (101) comprised in the detection modules (11); and the control and processing module (50) is further used for controlling the storage assemblies (41) to sequentially write and output, at different times, the histogram data corresponding to the t detection sub-modules (111). The time-of-flight ranging system can reduce storage capacity and a hardware resource overhead required by the time-of-flight ranging system, which uses an array detector.
This disclosure provides a parking space identification method, a parking space identification apparatus, a computer-readable storage medium, and an electronic device, and relates to the field of smart transportation technology. The method includes: obtaining an around-view image of a target vehicle and determining a target region from the around-view image; segmenting the target region in a target direction to obtain multiple grids, where the target direction is perpendicular to a driving direction of the target vehicle; and determining a parking space based on image semanteme information corresponding to the multiple grids separately.
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
G06V 10/22 - Prétraitement de l’image par la sélection d’une région spécifique contenant ou référençant une forme; Localisation ou traitement de régions spécifiques visant à guider la détection ou la reconnaissance
G06V 10/26 - Segmentation de formes dans le champ d’image; Découpage ou fusion d’éléments d’image visant à établir la région de motif, p.ex. techniques de regroupement; Détection d’occlusion
G06V 10/98 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos Évaluation de la qualité des motifs acquis
G06V 20/70 - RECONNAISSANCE OU COMPRÉHENSION D’IMAGES OU DE VIDÉOS Éléments spécifiques à la scène Étiquetage du contenu de scène, p.ex. en tirant des représentations syntaxiques ou sémantiques
20.
PARKING SPACE DETECTION METHOD, ELECTRONIC DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
This application provides a parking space detection method, an electronic device, and a computer-readable storage medium. The parking space detection method includes: obtaining a parking space image and parking space lines detected by a radar device at a first position, and an image feature of the parking space image includes an image feature of reference parking space lines; determining an overlapping rate of the parking space lines and the parking space image; determining an included angle of an entrance line in the parking space lines, and determining a target confidence degree of the parking space at the first position based on the overlapping rate and the included angle of the entrance line; and when the target confidence degree is greater than a preset value, determining the parking space at the first position as an available parking space.
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
G06T 7/80 - Analyse des images capturées pour déterminer les paramètres de caméra intrinsèques ou extrinsèques, c. à d. étalonnage de caméra
G06V 10/26 - Segmentation de formes dans le champ d’image; Découpage ou fusion d’éléments d’image visant à établir la région de motif, p.ex. techniques de regroupement; Détection d’occlusion
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p.ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersections; Analyse de connectivité, p.ex. de composantes connectées
G06V 10/80 - Fusion, c. à d. combinaison des données de diverses sources au niveau du capteur, du prétraitement, de l’extraction des caractéristiques ou de la classification
G06V 20/56 - Contexte ou environnement de l’image à l’extérieur d’un véhicule à partir de capteurs embarqués
This application discloses a laser ranging device, including a housing, a light-transmitting sheet, at least one laser emission module, and at least one laser receiving module; the laser emission module includes a laser and an emission lens module; the emission lens module includes at least one emission optical element; the laser receiving module includes a laser detector and a receiving lens module; the receiving lens module includes at least one receiving optical element; the laser receiving module also includes a first enclosing member; and the first enclosing member is arranged between a first optical element and the light-transmitting sheet to enclose and form a first sealing cavity between the light-transmitting sheet and the first optical element; or the second enclosing member is arranged between a second optical element and the light-transmitting sheet to enclose and form a second sealed cavity between the light-transmitting sheet and the second optical element.
This application discloses a LiDAR and a mobile device, where LiDAR includes a lens and a photonic chip, an optical axis of the lens extends along a first preset direction; the photonic chip and the lens are spaced apart along the first preset direction, the photonic chip includes a cladding layer and multiple receiving waveguide core layers, all the receiving waveguide core layers are located at an end of the cladding layer that is closer to the lens and are spaced apart along a second preset direction, each receiving waveguide core layer has a first end surface and a second end surface opposite to each other, the first end surface is closer to the lens than the second end surface; and there is a distance between a first end surface of at least one receiving waveguide core layer and a focal plane of the lens.
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G02B 6/10 - OPTIQUE ÉLÉMENTS, SYSTÈMES OU APPAREILS OPTIQUES - Détails de structure de dispositions comprenant des guides de lumière et d'autres éléments optiques, p.ex. des moyens de couplage du type guide d'ondes optiques
A LIDAR includes an emission module, a beam adjustment module and a receiving module, where the beam adjustment module includes a first scanning apparatus and a second scanning apparatus. The emission module is configured to emit a laser beam. The first scanning apparatus is rotated in a first set direction to drive the laser beam to scan along a first direction, and the second scanning apparatus is rotated in a second set direction to drive the laser beam to scan along a second direction. A receiving beam is formed after the laser beam is reflected in the detection region, and the receiving beam is reflected by the second mirror of the second scanning apparatus and then received by the receiving module. The size of the first scanning apparatus can be reduced.
This application discloses an optical system and a LiDAR, where the optical system includes a bracket and at least one first optical assembly; the bracket includes a first end surface and a second end surface that are arranged back to back, where the bracket is also provided with a first accommodation cavity, and the first accommodation cavity extends along a first axial direction and communicates with the first end surface and the second end surface; and the first optical assembly includes at least one optical element, and the optical element included in the first optical assembly is arranged in the first accommodation cavity along the first axial direction, and abuts against an inner wall of the first accommodation cavity.
Embodiments of this application disclose a point cloud densification method and apparatus, a storage medium, and a LiDAR. The method is applied to the LiDAR, the LiDAR includes an emitter group and a scanning apparatus, and the method includes: obtaining a point cloud densification multiple of a detection field of view at each level; obtaining an interval between scanning lines corresponding to two adjacent emissions based on the point cloud densification multiple of the detection field of view at each level; and performing scanning based on the interval between the scanning lines corresponding to the two adjacent emissions.
This application discloses a LiDAR controlling method, the LiDAR includes a laser emission array and a laser receiving array, and the method includes: in a measurement cycle, determining at least one emission block to be turned on in a current measurement cycle from the laser emission array, where the laser emission array includes multiple emission blocks, and each emission block includes multiple emission units; controlling at least one emission block to emit a laser beam according to a preset rule; and controlling a receiving block in the laser receiving array that corresponds to the at least one emission block to receive a laser echo, where the laser echo refers to an echo formed after the laser beam is reflected by a target object.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
27.
SCANNING APPARATUS CONTROLLING METHOD, ELECTRONIC DEVICE AND LIDAR
This application is applicable to the technical field of LiDAR, and provides a scanning apparatus controlling method, an electronic device and a LiDAR. The scanning apparatus controlling method includes: obtaining first movement information of a first scanning apparatus at a current moment, where the first movement information includes any one or more of a position, an angular velocity and angular acceleration; predicting a position of a second scanning apparatus at a next moment based on the first movement information and a relative positional relationship between the first scanning apparatus and the second scanning apparatus; and controlling rotation of the second scanning apparatus based on the position of the second scanning apparatus at the next moment so that the second scanning apparatus can be rotated along with an actual position of the first scanning apparatus, thereby improving repeatability of scanning tracks formed by laser beams.
This application relates to a galvanometer-based laser synchronization controlling method, calibration method and apparatus, and a LiDAR. The galvanometer-based laser synchronization controlling method includes obtaining a fast-axis feedback signal when a galvanometer scans; obtaining a first phase difference between a fast-axis drive signal and the fast-axis feedback signal and obtaining a second phase difference between an emission period of a laser beam and the fast-axis drive signal; and setting a phase for the fast-axis drive signal based on the first phase difference and the second phase difference. T
Embodiments of this application disclose a control circuit of a galvanometer motor and a LiDAR. The control circuit is configured to control the galvanometer motor to be discharged during a power failure, and the control circuit includes a switch circuit and a discharge circuit. The switch circuit is configured to access a control voltage; and the discharge circuit is connected to the switch circuit and configured to be connected to a driving positive electrode and a driving negative electrode of the galvanometer motor.
H02H 7/08 - Circuits de protection de sécurité spécialement adaptés pour des machines ou appareils électriques de types particuliers ou pour la protection sectionnelle de systèmes de câble ou ligne, et effectuant une commutation automatique dans le cas d'un chan pour moteurs dynamo-électriques
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
Embodiment of this application discloses a laser emission module and a laser ranging device. The laser emission module includes an emission substrate, a light emitting chip, at least one anode drive chip, and at least one cathode drive chip. The light emitting chip is assembled on a first surface of the emission substrate, internally integrated with a laser array, which includes m*n lasers, anodes of the lasers located in the same row are electrically connected and lead out a common anode end, and cathodes of the lasers located in the same column are electrically connected and lead out a common cathode end. The anode drive chip is assembled on the emission substrate, internally integrated with m anode drive circuits. The m anode drive circuits are respectively electrically connected with m common anode ends. Embodiment of this application can reduce the size of the laser emission module.
The embodiments of this application disclose a time of flight measurement method, including: performing delay processing on an echo signal to obtain N delayed signals; generating X clock signals with different phases based on a multi-phase clock unit; performing delay latch on the N delayed signals based on each of the X clock signals; determining a to-be-processed time of flight based on the reference signal and each of the delay latch result; and determining a target time of flight based on the X to-be-processed time of flights, where the target time of flight is a time difference between emitting the reference signal and receiving the echo signal. With the embodiment of this application, the precision of measuring the time of flight of the echo signal can be effectively improved while saving costs and simplifying calculations.
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
32.
SIGNAL PROCESSING METHOD AND APPARATUS AND TERMINAL DEVICE
A signal processing method provided in this application is applied to a terminal device, and the signal processing method includes: after an indication signal sent by a laser receiving sensor is received, processing the indication signal to obtain a target signal, where delay of the target signal relative to the indication signal is preset duration, a pulse width of the target signal is a target width, and the target signal is configured to trigger laser emission; and determining a start moment of laser emission based on the target signal and the indication signal.
This application discloses a LiDAR and a device. The LiDAR includes: a receiving module and a plurality of emission modules, and a combination of emission fields of view of the plurality of emission modules matches the receiving field of view of the receiving module. Each emission module includes a laser and an emission optical component located on a light emission side of the laser. An area of a projection region of a light emission region of the laser of the emission module on a light-incident face of the emission optical component is smaller than an area of the light-incident face. Emission angles of view of the plurality of emission modules are overlapped.
This application provides a detection method of a laser detection apparatus and the laser detection apparatus, where the detection method includes: controlling two lasers with different emission power respectively to emit triangular wave signals with different sweep slopes and in opposite sweep directions to the target object in the same sweep period; then receiving local oscillator signals; and further based on a magnitude relationship of the power of the two lasers, a value of the sweep slope, and frequency of the local oscillator signals and the beat frequency signal of the corresponding echo signal, determining a moving direction and a speed of the target object.
G01S 7/4913 - Circuits de détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
A point cloud processing method and a radar. The point cloud processing method comprises: obtaining a point cloud, wherein points in the point cloud have reflectivities; in response to the point cloud, dividing the point cloud into first-type points and/or second-type points on the basis of the reflectivities of the points in the point cloud, wherein the reflectivity of the first-type points is higher than a first reflectivity threshold, and the reflectivity of the second-type points is lower than a second reflectivity threshold; and if the second-type points and the first-type points are connected and the second-type points meet a deletion condition, deleting the second-type points, wherein the deletion condition represents that the second-type points belong to swell noise.
A method for processing a point cloud, and a radar. The method for processing a point cloud comprises: acquiring a point cloud, the point cloud comprising outliers (S310); determining ground points in the point cloud, the ground points comprising a first type of points among the outliers, the first type of points meeting a height requirement, and the height requirement being determined on the basis of the height of ground points in the previous point cloud frame of the current point cloud frame (S320); and at least outputting the ground points (S330). The method for processing a point cloud can remove abnormal noise points in point clouds, and effectively identify ground points while meeting sensing requirements of LIDARs, thereby ensuring the accuracy of ground point identification.
The present application provides a transceiving module and a LiDAR. The transceiving module includes a substrate and multiple transceiving assemblies, where the multiple transceiving assemblies are arranged on the substrate in sequence along a first direction, each transceiving assembly includes an emission waveguide and a receiving waveguide, the emission waveguide is configured to transmit and emit a detection beam, and the receiving waveguide is configured to receive and transmit an echo beam.
An opto-mechanical system is provided. The opto-mechanical system includes a light emission assembly, a light receiving assembly, a mainboard, a light scanning assembly, and an electronic control board. The mainboard is electrically connected to the light emission assembly and configured to control the light emission assembly to emit an emission light signal to the target object, and is electrically connected to the light receiving assembly and configured to control the light receiving assembly to receive an echo light signal reflected by a target object. The emission light signal is transmitted by the light scanning assembly to the target object, and the echo light signal is transmitted by the light scanning assembly to the light receiving assembly. The electronic control board is disposed independently of the mainboard and electrically connected to the mainboard, and is electrically connected to the light scanning assembly to control movements of the light scanning assembly.
The present disclosure provides a scanning apparatus placement method, an apparatus and a storage medium. The method includes: establishing a calculation model of a receiving cross section of a second scanning surface; based on the calculation model of a receiving cross section, within a preset rotation range of a first scanning apparatus and an allowable range of a first distance, obtaining a distribution set of sizes of cross sections corresponding to a size of the receiving cross section, an angle of the first scanning apparatus, and a first distance; and selecting a corresponding first distance from the distribution set of sizes of cross sections, when the sizes of the receiving cross sections are symmetrically distributed relative to an angle of the first scanning apparatus.
Embodiments of this application disclose a LiDAR and a manufacturing method of the same, where the LiDAR includes a main body and a vibration damping structure, the main body includes a fixing base, and an optical system and a scanning system mounted on the fixing base, the vibration damping structure includes multiple vibration damping units, each vibration damping unit is connected to the fixing base, each vibration damping unit is configured to mount the fixing base onto a to-be-mounted member, and an elastic center of the vibration damping structure overlaps with a barycenter of the main body.
This application provides a detection method and a LiDAR detection apparatus. The detection method includes: outputting detection laser beams with a preset time delay between two adjacent emissions; receiving the detection laser beam and emitting the detection laser beam to a preset region, scanning the preset region in a preset scanning mode, and further receiving an echo laser beam reflected from the preset region, and outputting the echo laser beam; receiving the echo laser beam and converting the echo laser beam into an electrical signal; and collecting the electrical signal, and processing the electrical signal to obtain detection information of the preset region.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/88 - Systèmes lidar, spécialement adaptés pour des applications spécifiques
This application provides a LiDAR and a LiDAR design method. The LiDAR includes at least one laser beam emission module and at least one laser beam receiving module. Each laser beam emission module includes a light emission device and an emission lens, and each laser beam receiving module includes a detection device and a receiving lens. A focal length of an emission lens of the at least one laser beam emission module is set to be less than a first focal length value, so that a total emission angle of view of all laser beam emission modules is greater than a first preset value.
This application discloses a point cloud densification method and apparatus, a storage medium, and a LiDAR. The method is applied to the LiDAR, the LiDAR includes an emitter group and a scanning apparatus, and the method includes: obtaining a point cloud densification multiple of a detection field of view at each level; obtaining an interval between scanning lines corresponding to two adjacent emissions based on the point cloud densification multiple of the detection field of view at each level; and performing scanning based on the interval between the scanning lines corresponding to the two adjacent emissions.
This application discloses a LiDAR, where the LiDAR includes: an emission apparatus, configured to emit a detection laser beam; a scanning apparatus, configured to receive the detection laser beam and emit the detection laser beam to a detection field of view, and to receive an echo laser beam and deflect the echo laser beam to the receiving apparatus; and a receiving apparatus, configured to receive the echo laser beam.
This application provides a LiDAR including a laser beam emission module and a beam adjustment module. The laser beam emission module includes at least two emitters arranged at intervals, where the emitter is configured to emit the laser beam. The beam adjustment module is configured to adjust the laser beam. A diameter of a light spot formed by the laser beam within a first preset distance is greater than a first preset value, and an angle interval between emission channels of two adjacent emitters that simultaneously emit laser beams is greater than a preset angle.
G01S 17/36 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées avec comparaison en phase entre le signal reçu et le signal transmis au même moment
G01S 17/86 - Combinaisons de systèmes lidar avec des systèmes autres que lidar, radar ou sonar, p.ex. avec des goniomètres
G01S 7/4911 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés Émetteurs
A method and a device for adjusting parameters of LiDAR and a LiDAR are provided. The method includes: acquiring 3D environment information around the LiDAR; identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information; determining a parameter adjusting strategy of the LiDAR based on the scenario type and the drivable area; and adjusting current operating parameters of the LiDAR based on the parameter adjusting strategy.
A control method and device for multichannel laser emission, and a computer readable storage medium are disclosed. The method includes: controlling the emission of secondary emergent lasers of a plurality of channels of a multichannel LiDAR in a time-sharing manner during an operation cycle of the multichannel LiDAR; and emitting a primary emergent laser at a preset reference moment of each channel or encoding and modulating the emission of the primary emergent laser according to the detection result of the secondary emergent lasers of the plurality of channels.
The present application relates to a method and device for laser detection, and a non-transitory computer-readable storage medium. The method includes: emitting a secondary emergent laser in a current detection cycle; receiving and analyzing an echo laser corresponding to the secondary emergent laser to obtain a detection result; determining an operation mode of a primary emergent laser in a next detection cycle according to the detection result; and emitting the primary emergent laser in the next detection cycle according to the operation mode of the primary emergent laser.
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
Embodiments of this application disclose a laser diode drive circuit and a LiDAR. The laser diode drive circuit includes a laser diode and a charging and discharging circuit. A cathode of the laser diode is grounded. The charging and discharging circuit is in a one-to-one correspondence with the laser diode, and includes an energy storage element, a first switch element, and a second switch element. The energy storage element is connected to an anode of the laser diode via the first switch element, and the energy storage element is grounded via the first switch element and the second switch element in sequence.
The present application discloses an optical receiving device, including: a receiving sensor; an optical assembly arranged on a side where a photosensitive surface of the receiving sensor is located. The optical assembly includes a first prism having a first end surface, a second end surface, and a plurality of sides connected between the first end surface and the second end surface. The plurality of sides include a first side and a second side. At least a portion of laser signals reflected by a detecting target is refracted by the first side and enter the first prism. At least a portion of laser signals refracted by the first side is refracted by the second side and emitted from the first prism to reach the receiving sensor.
Embodiments of this application disclose a laser beam emission module and a LiDAR. The laser beam emission module includes: multiple light emission modules, where each light emission module is configured to emit an emission laser beam group, and the emission laser beam group includes multiple emission laser beams; an emission lens module, located on a light outgoing side of the multiple light emission modules, configured to reduce a divergence angle of the emission laser beams emitted by the multiple light emission modules, and further configured to increase an emission angle of view of the emission laser beams; and a light beam adjustment module, located on a light outgoing side of the emission lens module and configured to adjust an interval between angles of view of emission laser beams output by the emission lens module.
A lidar is provided. The lidar includes a lidar body, where the lidar body includes an axis connecting portion, a base plate, a lens bracket, a connecting vertical plate, a counterweight piece, a laser emitter board, and a laser receiver board.
This application discloses a receiving drive circuit, a laser beam receiving circuit, and a LiDAR. The receiving drive circuit includes a drive voltage output module, and the drive voltage output module includes: an anode drive voltage output terminal is configured to output a negative anode drive voltage; and a cathode drive voltage output terminal, connected to a cathode of the laser beam detector in the laser beam detection module and configured to output a positive cathode drive voltage, so that the laser beam detector converts the received laser beam signal into a current signal.
A LiDAR detection method, apparatus, and a LiDAR are provided. The LiDAR detection method includes: obtaining ambient information of the LiDAR; determining a detection mode of the LiDAR based on the ambient information; determining a target detection region of the LiDAR based on the detection mode; determining a working parameter of the LiDAR based on the target detection region; and running, by the LiDAR, the working parameter to perform regional detection.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
55.
LIDAR RECEIVING APPARATUS, LIDAR SYSTEM AND LASER RANGING METHOD
The present application provides a lidar receiving apparatus, a lidar system, a laser ranging method, a laser ranging controller, and a computer readable storage medium. The lidar receiving apparatus includes: a photodetector, which is configured to receive a reflected laser signal and to convert the reflected laser signal into a current signal when a bias voltage of the photodetector is greater than a breakdown voltage of the same; a ranging circuit, which is connected with the photodetector and configured to calculate distance data according to the current signal; and a power control circuit, which is connected with the photodetector and configured to control the bias voltage applied to the photodetector according to a predefined rule.
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 7/489 - Récepteurs le gain du récepteur variant automatiquement pendant la période de récurrence des impulsions
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
This application provides an optical device and a method of adjusting an optical device. The optical device includes an emitting assembly, a beam splitting assembly, and a receiving assembly. The emitting assembly is configured to emit an outgoing light signal. The beam splitting assembly is configured to pass the outgoing light signal from the emitting assembly to a detection region, receive a reflected light signal from the detection region, and modify a transmission direction of the reflected light signal. The receiving assembly is configured to receive the reflected light signal from the beam splitting assembly after the direction modification and generate an electrical signal in response to the reflected light signal.
The present disclosure provides a LiDAR device and a ranging adjustment method of the same. The ranging adjustment method includes: obtaining position information of a receiving unit corresponding to a to-be-scanned emission unit, and querying a table to obtain an attenuation coefficient matching the receiving unit; calculating a number of continuous laser beam emissions or an emission power of the emission unit corresponding to the receiving unit in a frame of a scanning image based on the attenuation coefficient; driving the emission unit to emit a laser beam based on the number of emissions or the emission power, simultaneously driving the receiving unit corresponding to the emission unit to receive a corresponding echo laser beam signal, and superimposing the echo laser beam signal into corresponding histogram data; and determining distance information of a to-be-detected object based on the histogram data.
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
G01S 7/4865 - Mesure du temps de retard, p.ex. mesure du temps de vol ou de l'heure d'arrivée ou détermination de la position exacte d'un pic
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
58.
METHOD, CIRCUIT AND RADAR FOR DETECTING A REGISTER
This application relates to a method, circuit, and radar for detecting a register. The method for detecting the register includes: performing a signature operation on a first data to obtain a first signature; storing the first data in a data register; performing a signature operation on a second data stored in the data register, to obtain a second signature; and comparing the first signature and the second signature to detect the data register.
G06F 21/78 - Protection de composants spécifiques internes ou périphériques, où la protection d'un composant mène à la protection de tout le calculateur pour assurer la sécurité du stockage de données
G01S 13/931 - Radar ou systèmes analogues, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G06F 21/64 - Protection de l’intégrité des données, p.ex. par sommes de contrôle, certificats ou signatures
This application discloses a laser emission module and a LIDAR. The laser emission module includes: a laser emitter, a heat conduction substrate including a first board surface, and a first support board including a third board surface facing toward the laser emitter. The first board surface is configured to connect the laser emitter. The third board surface has a mounting region. The heat conduction substrate corresponding to the mounting region is mounted on the first support board.
H01S 3/04 - Dispositions pour la gestion thermique
H01S 3/10 - Commande de l'intensité, de la fréquence, de la phase, de la polarisation ou de la direction du rayonnement, p.ex. commutation, ouverture de porte, modulation ou démodulation
The present disclosure provides a galvanometer motor, including a stator, a rotor, and a sensor board. The stator includes a housing and a drive coil mounted inside the housing. The rotor includes a rotating shaft and a galvanometer lens. A pair of radially magnetized magnetic poles are at the middle of the rotating shaft, two ends of the rotating shaft are rotatably mounted inside the housing, and one end of the rotating shaft extends outside the housing and is connected to the galvanometer lens. The sensor board is fixed on an inner wall of the housing and is at one end of the housing farther away from the galvanometer lens. The sensor board is mounted with one or more magnetic sensors configured to sense a magnetic field signal generated by the pair of magnetic poles, to obtain absolute positions of the rotating shaft and the galvanometer lens.
G01R 5/04 - Appareils à bobine mobile avec aimant extérieur à la bobine
H02K 11/215 - Dispositifs utilisant un effet magnétique, p.ex. des éléments à effet Hall ou magnéto-résistifs
H02K 21/20 - Moteurs synchrones à aimants permanents; Génératrices synchrones à aimants permanents avec des induits fixes et des aimants tournants avec des aimants tournant à l'intérieur des induits avec bobinage dont chaque spire n'est influencée que par des pôles d'une seule polarité, p.ex. machine homopolaire
H02P 6/16 - Dispositions de circuits pour détecter la position
The present application discloses a laser emitting circuit and a LiDAR. The laser emitting circuit includes an energy charging circuit, an energy transfer circuit, and a plurality of energy release circuits. The plurality of energy release circuits are connected in parallel. The energy charging circuit is connected to the energy transfer circuit to store electrical energy. The energy transfer circuit is connected to the energy charging circuit and the plurality of energy release circuits to transfer the electrical energy stored in the energy charging circuit to the energy transfer circuit. The energy transfer circuit includes an energy storage capacitor and a floating-ground diode. Each energy release circuit is configured to drive a laser diode to emit light by using the electrical energy stored in the energy transfer circuit, and the energy release circuit includes an energy release switch element, the laser diode, and a clamping diode.
An opto-mechanical system is provided. The opto-mechanical system includes a light emission assembly, a light receiving assembly, and a light scanning assembly. The light emission assembly is configured to emit an emission light signal to a target object. The light receiving assembly is configured to receive an echo light signal reflected by the target object. The light scanning assembly includes a first light scanning element and a second light scanning element. The emission light signal emitted by the light emission assembly is sequentially transmitted by the first light scanning element and the second light scanning element to the target object, and the echo light signal reflected by the target object is sequentially transmitted by the second light scanning element and the first light scanning element to the light receiving assembly.
The present disclosure provides a LiDAR device and a ranging adjustment method of the same. The ranging adjustment method includes: turning off a laser beam emission module and turning on a laser beam receiving module, to obtain histogram data of ambient light; adjusting detection efficiency of the laser beam receiving module based on the histogram data of the ambient light; turning on the laser beam emission module and the laser beam receiving module, to obtain histogram data of a current optical signal; and comparing the histogram data of the current optical signal with the histogram data of the ambient light, and determining histogram data of an echo signal and distance information of a to-be-detected object, based on a result of the comparison.
G01S 7/295 - Moyens pour transformer des coordonnées ou pour évaluer des données, p.ex. en utilisant des calculateurs
G01S 7/52 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
Disclosed in the present application is a frequency-modulated continuous wave laser radar (1b), comprising a frequency modulation light source (100b), a transceiving module (200b) and an optical chip module. The frequency modulation light source (100b) is used for emitting a laser beam; the optical chip module is connected between the frequency modulation light source (100b) and the transceiving module (200b), and comprises a light splitting module and a coherent receiving module (400b), the light splitting module being used for splitting the received laser beam into at least one beam of detection light and at least one beam of local oscillation light; the transceiving module (200b) is used for receiving the detection light, shaping and collimating the detection light, and then controlling the detection light to scan a target object, and is also used for receiving an echo signal reflected by the target object, and transmitting the echo signal to the optical chip module; and the coherent receiving module (400b) is respectively connected to the light splitting module and the transceiving module (200b), and the coherent receiving module (400b) is used for receiving the local oscillation light output by the light splitting module and the echo signal output by the transceiving module (200b), combining the local oscillation light and the echo signal, and performing a coherent beat frequency. The frequency-modulated continuous wave laser radar (1b) provided in the present application has a small size and a high integration level.
G01S 17/00 - Systèmes utilisant la réflexion ou la reradiation d'ondes électromagnétiques autres que les ondes radio, p.ex. systèmes lidar
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
This application provides a target detection method, a LiDAR; and a storage medium. The method includes: obtaining an echo signal, where the echo signal is obtained by sampling a reflected wave received by the LiDAR; performing a matching operation on the echo signal and a preamble signal, to obtain a valid echo signal for a target object, where the preamble signal is obtained by sampling a reflected wave corresponding to a window; determining a threshold for the valid echo signal; determining a leading edge moment and a trailing edge moment based on the threshold; and determining a distance between the LiDAR and the target object based on the leading edge moment and the trailing edge moment.
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
A laser receiving circuit and a LiDAR are provided. The laser receiving circuit includes a controller, a voltage switching circuit, n voltage sources, and a receiving sensor. The voltage switching circuit includes a control terminal, n power source input terminals, and a power source output terminal. The n voltage sources generate reverse bias signals of different voltage values, respectively, and are connected to the n power source input terminals in a one-to-one manner. The controller is connected to the control terminal of the voltage switching circuit and is configured to send voltage switching signals to the voltage switching circuit via the control terminal. The power source output terminal is connected to a cathode of the receiving sensor. The voltage switching circuit is configured to select one power source input terminal from the n power source input terminals to be turned on, in response to the voltage switching signals.
The present application discloses an optical signal processing circuit for a Lidar. The optical signal processing circuit includes an optical processing circuit, a gain control circuit connected to the optical processing circuit, and a controller connected to the gain control circuit. The optical processing circuit includes an optical sensor and an amplification circuit. The optical sensor is configured to convert an optical signal to a photocurrent signal, and the amplification circuit is configured to convert and amplify the photocurrent signal to a voltage signal. The controller adjusts a gain of the optical processing circuit via the gain control circuit and based on an amplitude of the voltage signal.
A detection circuit of clock anomaly and method, a clock circuit, a chip, and a radar are provided. The detection circuit of clock anomaly includes: a first clock frequency determining unit, configured to determine a first clock frequency of a received first clock signal; a reference determining unit, configured to determine a reference corresponding to the first clock signal, where the reference is determined based on a second clock signal or a timestamp; and a clock anomaly detection unit, connected to the first clock frequency determining unit and the reference determining unit separately and configured to perform anomaly detection on the first clock signal based on the first clock frequency and the reference. This application can improve reliability of the clock signal, thereby improving personal safety and property safety of a user.
This application relates to a calibration apparatus, a laser beam emission circuit and an electronic device. The calibration apparatus is applied to the laser beam emission circuit, where the laser beam emission circuit includes N lasers, and the calibration apparatus includes: a detection module, configured to detect optical power of an ith laser; and a control module, configured to adjust an ith control signal based on a detection result of the detection module. The control module is further configured to establish a mapping relationship between the ith laser and the ith control signal when the ith optical power is equal to the target optical power.
Embodiments of the present application disclose an optical grating disk, a method for identifying a Z-phase signal, a photoelectric encoder, and a LiDAR. At least two Z-phase etched lines are arranged on a circular disk of an optical grating disk. The method includes determining positions of a plurality of Z-phase signals collected within preset duration; identifying an abnormal Z-phase signal in the plurality of Z-phase signals based on position is of the at least two Z-phase etched lines and the positions of the Z-phase signals; and determining a position of an abnormal Z-phase etched line on the optical grating disk based on the position of the abnormal Z-phase signal when there is the abnormal Z-phase signal.
G01D 5/347 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c. à d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en utilisant le déplacement d'échelles de codage
This application provides a laser receiving system, which includes a receiver, a transimpedance amplification circuit, and at least one measurement circuit. The at least one measurement circuit includes a first measurement circuit, where the receiver is connected to a terminal of the transimpedance amplification circuit, and is configured to receive an echo laser beam and output an echo signal. The transimpedance amplification circuit has a terminal connected to the receiver and another terminal separately connected to each of the at least one measurement circuit, and is configured to perform transimpedance amplification on the echo signal. The first measurement circuit is configured to output a sampling signal after shaping the echo signal.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
73.
DATA TRANSMISSION APPARATUS, LIDAR, AND INTELLIGENT DEVICE
A LiDAR system is provided. The LiDAR system includes a first data transmission apparatus, a second data transmission apparatus, a rotator, and a central shaft. The first data transmission apparatus and the second data transmission apparatus are located in the LiDAR system. The rotator is connected with the central shaft through a bearing, the rotator is connected to a bearing rotor, and the central shaft is connected to a bearing stator. The first data transmission apparatus includes a first optical module and a second optical module. The second data transmission apparatus includes a third optical module, a coupling optical system, and a fourth optical module.
B62D 6/00 - Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p.ex. circuits de commande
A01D 34/00 - Faucheuses; Appareils de fauchage des moissonneuses
74.
Method, device and system for perceiving multi-site roadbed network and terminal
A method, a device and a system for perceiving a multi-site roadbed network are provided. The method includes: constructing a global grid map of the roadbed network that is marked with a position of the system for perceiving at least two roadbed base stations and a perceived range of the system; receiving the detected target list transmitted by each of the systems for perceiving at least two roadbed base stations, where the detected target list is the set of the preset detected targets; according to the position of each system for perceiving the roadbed base station, indexing into the global grid map the detected target list transmitted by each system for perceiving the roadbed base station to generate a global tracking list; and tracking the preset detected target in the detected target list transmitted by the system for perceiving the roadbed base station according to the global tracking list.
This application discloses a galvanometer and a LiDAR. The galvanometer includes a first shaft and a second shaft. A first shaft drive voltage is used to control the galvanometer to vibrate around the first shaft, a second shaft drive voltage is used to control the galvanometer to vibrate around the second shaft, and the first shaft drive voltage and the second shaft drive voltage are superimposed to drive the galvanometer. There are N working intervals in a second shaft drive period, and in the N working intervals, the second shaft drive voltage and the first shaft drive voltage jointly drive the galvanometer to form N scanning tracks. The N scanning tracks do not coincide and N is a positive integer.
G02B 26/08 - Dispositifs ou dispositions optiques pour la commande de la lumière utilisant des éléments optiques mobiles ou déformables pour commander la direction de la lumière
77.
INTERFERENCE POINT DETERMINING METHOD AND APPARATUS, STORAGE MEDIUM, AND MULTI-CHANNEL LIDAR
An interference point determining method is provided. The method includes: obtaining a target point cloud corresponding to a highly reflective object from a target channel; obtaining a to-be-determined point cloud at the same pixel position as the target point cloud from each channel other than the target channel based on the target point cloud; based on a distance value and a reflectivity of each to-be-determined point cloud, and distance values and reflectivities respectively corresponding, to other point clouds in a neighborhood of each to-be-determined point cloud, determining whether each to-be-determined point cloud is a suspected interference point; and based on a variance between distance values of the other point clouds in the neighborhood of one to-be-determined point cloud and the one to-be-determined point cloud, or based on an interference point range determined for the one to-be-determined point cloud, determining whether the one to-be-determined point cloud is the interference point.
A waveguide assembly, an integrated chip, and a LiDAR are provided. The waveguide assembly includes a plurality of single-mode waveguides arranged with intervals. The effective refractive index of at least one single-mode waveguide is not equal to that of another adjacent single-mode waveguide.
G01S 17/02 - Systèmes utilisant la réflexion d'ondes électromagnétiques autres que les ondes radio
G02B 6/12 - OPTIQUE ÉLÉMENTS, SYSTÈMES OU APPAREILS OPTIQUES - Détails de structure de dispositions comprenant des guides de lumière et d'autres éléments optiques, p.ex. des moyens de couplage du type guide d'ondes optiques du genre à circuit intégré
79.
TIME-OF-FLIGHT MEASUREMENT METHOD, APPARATUS, AND SYSTEM
This application discloses a time-of-flight measurement method, apparatus, and system. The method includes obtaining histogram data of a target object. The histogram data includes m counts, m is an integer greater than 1, and each of the m counts is associated with a time. The method also includes performing digital filtering on the m counts to obtain m filtered values respectively corresponding to the m counts, and determining a time of flight of the target object based on a time corresponding to a peak value in the m filtered values.
This application discloses a LiDAR anti-interference method and apparatus, a storage medium, and a LiDAR. The method is applied to a LiDAR, and the LiDAR includes a laser emission array and a laser receiving array. The method includes determining at least two laser emission units to be turned on in a measurement period, controlling the at least two laser emission units to emit laser beams based on a preset rule, and controlling respectively corresponding laser receiving units of the at least two laser emission units to receive echo beams, to detect a target object. The at least two laser emission units to be turned on are in different laser emission groups, and the at least two laser emission units to be turned on satisfy a physical condition of no optical crosstalk.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
This application discloses an anode addressing drive circuit, an addressable drive circuit, and a laser emission circuit. The anode addressing drive circuit includes: an anode addressing switch circuit, including an anode addressing switch element, where a first end is connected to an emission power supply, a second end of the anode addressing switch element is connected to an anode energy storage circuit, an anode addressing enabling end of the anode addressing switch element receives an anode addressing signal, and the anode addressing switch element is turned on or off under the control of the anode addressing signal; and an anode energy storage circuit, including an anode energy storage element and a current limiting element, where the anode energy storage element is configured to be charged through an output current of the emission power supply when the anode addressing switch circuit is turned on, and the current limiting element is configured to limit a current for charging the anode energy storage element.
H03K 17/687 - Commutation ou ouverture de porte électronique, c. à d. par d'autres moyens que la fermeture et l'ouverture de contacts caractérisée par l'utilisation de composants spécifiés par l'utilisation, comme éléments actifs, de dispositifs à semi-conducteurs les dispositifs étant des transistors à effet de champ
82.
RANGING METHOD AND DEVICE, STORAGE MEDIUM, AND LIDAR
This application discloses a ranging method and device, a storage medium, and a LiDAR. The method includes: determining an edge field of view and a central field of view; acquiring a light emission power for the edge field of view and a light emission power for the central field of view; compensating the light emission power for the edge field of view based on a difference between the light emission power for the edge field of view and the light emission power for the central field of view, and detecting a target object based on the light emission power for the central field of view and the compensated light emission power for the edge field of view.
This application provides a data processing method and apparatus and a storage medium. The data processing method includes: obtaining K idle calculation blocks in real time, where K is greater than or equal to 1; invoking first K pieces of detected data from a cache stack in a preset priority sequence of detected data, and inputting the detected data into the K idle calculation blocks; sequentially processing K pieces of detected data on the K idle calculation blocks in the preset priority sequence; and integrating sensing calculation results of the K pieces of detected data in real time based on a boundary relationship between detection ranges of the K pieces of detected data, and outputting a sensing result.
G01S 17/89 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour la cartographie ou l'imagerie
G01S 17/931 - Systèmes lidar, spécialement adaptés pour des applications spécifiques pour prévenir les collisions de véhicules terrestres
G06V 20/58 - Reconnaissance d’objets en mouvement ou d’obstacles, p.ex. véhicules ou piétons; Reconnaissance des objets de la circulation, p.ex. signalisation routière, feux de signalisation ou routes
84.
METHOD AND APPARATUS FOR NONLINEARLY CALIBRATING LINEAR FREQUENCY MODULATION OF OPTICAL SIGNAL, AND MEDIUM AND DEVICE THEREOF
This disclosure provides a method for nonlinearly calibrating linear frequency modulation of an optical signal, an apparatus for nonlinearly calibrating linear frequency modulation of an optical signal, a computer-readable storage medium, and an electronic device. The method includes: in an ith frequency modulation cycle, obtaining a relationship between a modulation voltage signal Vi(t) input into a light source and an actual frequency signal fi(t) of an optical signal output by the light source, to obtain an actual association relationship fi(V) corresponding to the ith frequency modulation cycle, where i is a positive integer; based on a target frequency modulation signal fg(t) and the actual association relationship fi(V), determining a modulation voltage signal Vj(t) corresponding to a jth frequency modulation cycle, where j is i+1; and inputting a modulation voltage signal Vj(t) into the light source, to implement frequency modulation of the optical signal in the jth frequency modulation cycle.
Embodiments of this application disclose a LiDAR system, an echo signal processing method and apparatus, and an electronic device, pertaining to the field of LiDAR sensors. The system includes: M emission units, M receiving units, N×M comparison units. N×M timing units, and a processing unit. N is a positive integer greater than 1 and M is a positive integer greater than 0. The method includes: obtaining at least two digital signals and at least two timing results respectively corresponding to echo signals based on at least two thresholds, where the thresholds, the digital signals, and the timing results are in one-to-one correspondence; and processing the echo signal based on the at least two digital signals and the at least two timing results.
G01S 7/493 - Extraction des signaux d'écho désirés
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
86.
LiDAR controlling method and device, electronic apparatus and storage medium
The present application discloses a LiDAR controlling method and device, an electronic apparatus, and a storage medium. The method includes: in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, where the emitting group includes at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk; controlling the at least two emitting units to emit laser beams asynchronously based on a preset rule; and controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes, where the laser echoes refer to echoes formed after the laser beams are reflected by a target object.
G01S 17/14 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues dans lesquels une impulsion de tension ou de courant est initiée et terminée en fonction respectivement de l'émission d'impulsions et de la réception d'écho, p.ex. en utilisant des compteurs
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/4861 - Circuits pour la détection, d'échantillonnage, d'intégration ou de lecture des circuits
The present application is applicable to the technical field of a LiDAR, and provides a LiDAR control method, a terminal apparatus, and a computer-readable storage medium. The LiDAR control method includes the following steps: acquiring first echo data; when an oversaturated region is determined to exist according to the first echo data, controlling LiDAR to measure a scanning region according to a second preset scanning mode to obtain second echo data; performing data fusion processing based on the first echo data and the second echo data to obtain target data. The LiDAR is controlled to measure according to the first preset scanning mode and a second preset scanning mode, and then fusion is performed based on the measured first echo data and second echo data, thereby effectively eliminating a problem of signal crosstalk caused by too high reflection energy of an object with high reflectivity, and effectively improving measurement accuracy.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 7/493 - Extraction des signaux d'écho désirés
The present disclosure provides a laser emitting module and a LiDAR apparatus. The laser emitting module includes at least two groups of laser emitting circuits. Each group of the laser emitting circuits includes one charging energy storage circuit and at least one energy releasing circuit. The energy releasing circuit includes an energy releasing switch and at least one laser. The energy releasing switch is turned on to drive at least one laser to work correspondingly. The charging energy storage circuit and the energy releasing circuit are arranged one-to-one or one-to-multiple. Any two adjacent emissions correspond to different groups of the laser emitting circuits.
G01S 7/4863 - Réseaux des détecteurs, p.ex. portes de transfert de charge
H01L 49/02 - Dispositifs à film mince ou à film épais
H01S 3/00 - Lasers, c. à d. dispositifs utilisant l'émission stimulée de rayonnement électromagnétique dans la gamme de l’infrarouge, du visible ou de l’ultraviolet
89.
Optical receiving device and optical sensing device comprising a reflecting surface having a second portion arranged along an outer boundary of a first portion with different reflectivity
The present application discloses an optical receiving device and an optical sensing device. The optical receiving device includes a lens assembly, a reflecting member, and a photosensitive member. The lens assembly includes at least one lens. The reflecting member is located on a transmission path of light passing through the lens assembly. The reflecting member has a reflecting surface. The reflecting surface is configured to reflect the light passing through the lens assembly. The photosensitive member has a photosensitive surface. The photosensitive surface is configured to receive light reflected by the reflecting surface. After passing through the lens assembly, a detecting echo light beam reflected back from a target object is reflected by the reflecting surface of the reflecting member, so that the light is transmitted to the photosensitive surface of the photosensitive member intensively.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01J 1/42 - Photométrie, p.ex. posemètres photographiques en utilisant des détecteurs électriques de radiations
90.
Laser receiving circuit and LiDAR wherein the reverse DC voltage signals from a DC bias circuit and the AC voltage signals from an amplifier circuit are superimposed
The present application discloses a laser receiving circuit and a LiDAR. The laser receiving circuit includes an amplifying circuit, a DC bias circuit, and an analog-to-digital converter. The amplifying circuit is connected to the analog-to-digital converter and configured to amplify input first voltage signals to obtain second voltage signals, and the second voltage signals are AC voltage signals. The DC bias circuit is connected to the analog-to-digital converter and configured to generate reverse DC voltage signals, and the reverse DC voltage signals and the second voltage signals are superimposed to obtain third voltage signals. The analog-to-digital converter is configured to sample the third voltage signals.
G01S 7/48 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe
91.
METHOD AND DEVICE FOR IMPROVING LASER RANGING CAPABILITY OF RADAR SYSTEM AND STORAGE MEDIUM
A method and device for improving laser ranging capability of a radar system and a storage medium. The method comprises: acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor (S401); determining a cancellation residual on the basis of the first current signal and the second current signal (S402); determining, on the basis of the cancellation residual, whether there is strong light noise in echo light (S403); and when there is strong light noise in the echo light, adjusting a bias voltage of a receiving end of the radar system (S404). In the method, whether there is strong light noise in the echo light can be detected by providing the receiving sensor and the reference sensor on the receiving end of the radar system, and if there is strong light noise, the bias voltage of the receiving end is reduced, so as to reduce the average current of the receiving sensor and reduce noise excitation, thereby improving the accuracy of ranging capability of the radar system.
G01S 7/483 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails de systèmes à impulsions
92.
Method and device for adjusting parameters of LiDAR, and LiDAR
An embodiment of the present application relates to the field of radar technology, and discloses a method and a device for adjusting parameters of LiDAR, and a LiDAR. The method includes: acquiring 3D environment information around the LiDAR; identifying a scenario type where the LiDAR is positioned and a drivable area based on the 3D environment information; determining a parameter adjusting strategy of the LiDAR based on the scenario type and the drivable area; and adjusting current operating parameters of the LiDAR based on the parameter adjusting strategy.
A mirror adjusting device, a reflecting assembly, a LiDAR, and an intelligent driving apparatus are provided. The mirror adjusting device includes a mounting bracket, a fixing bracket, and an elastic assembly. The mounting bracket includes a mirror mounting structure for mounting a mirror at one side and an adjusting part at the opposite side. The adjusting part includes a first curved wall protruding in a direction away from the mirror mounting structure, and the middle of the first curved wall is provided with a connecting structure. The fixing bracket includes a groove at one side and a through hole on the other side. The groove includes a second curved wall recessed toward the other side of the fixing bracket, and the first curved wall abuts against the second curved wall. The elastic assembly includes an elastic member and a connecting member.
A method and apparatus for improving laser beam ranging capability of a LiDAR system and a storage medium are provided. The method includes: acquiring a first current signal output by a receiving sensor and a second current signal output by a reference sensor; determining a cancellation residue based on the first current signal and the second current signal; determining whether glare noise exists in echo lights based on the cancellation residue; and adjusting a bias voltage at a receiving end of the LiDAR system in a case that the glare noise exists in the echo lights.
G01S 7/487 - Extraction des signaux d'écho désirés
G01S 17/10 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes à modulation d'impulsion interrompues
95.
LASER RECEIVING DEVICE, LIDAR, AND INTELLIGENT INDUCTION APPARATUS
A laser receiving device includes a laser receiving plate, a laser receiving unit, and a first emitting optical adjustment unit. The laser receiving unit is arranged on the surface of the laser receiving plate for receiving echo laser signals. The first emitting optical adjustment unit is arranged on one side of the laser receiving unit for adjusting emission directions of laser beams entering an optical surface of the first receiving optical adjustment unit to the laser receiving unit.
This application discloses a point cloud motion compensation method and apparatus, a storage medium, and a LiDAR. The method includes: obtaining a millimeter-wave point cloud data frame by a millimeter-wave radar through scanning a preset working region, where each millimeter-wave point cloud data frame includes multiple pieces of millimeter-wave point cloud data, and each piece of millimeter-wave point cloud data includes a timestamp and a motion parameter of a target object; obtaining a LiDAR point cloud data frame by the LiDAR through scanning a preset working region, where each LiDAR point cloud data frame includes multiple pieces of LiDAR point cloud data, and each piece of LiDAR point cloud data includes a timestamp and spatial position coordinates of the target object; fusing the millimeter-wave point cloud data with the LiDAR point cloud data; and performing attitude compensation on the LiDAR point cloud data based on the fused data.
A radar data processing method, a terminal device, and a computer-readable storage medium are provided. The method includes: obtaining a target receiving unit group corresponding to an emission unit; obtaining echo data received by the target receiving unit group; converging the echo data to obtain a convergence result; and determining a distance of a target object based on the convergence result.
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 7/4913 - Circuits de détection, d'échantillonnage, d'intégration ou de lecture des circuits
A laser radar and a laser radar control method, the laser radar comprising a frequency modulation light source (111), an optical amplifier (112), at least one circulator (113), a light beam control module (114) corresponding to each circulator, and a data processing module (115), the data processing module (115) being integrated with at least one detection optical path (1151). In the laser radar, devices comprised in the detection optical path (1151) are integrated into the data processing module (115), no longer using multiple individual devices and connecting the devices by means of optical fibers or spatial light as in the related art. Thus, the laser radar can achieve a highly integrated system architecture, thereby reducing the size of the laser radar and reducing costs.
G01S 7/481 - Caractéristiques de structure, p.ex. agencements d'éléments optiques
G01S 7/491 - DÉTERMINATION DE LA DIRECTION PAR RADIO; RADIO-NAVIGATION; DÉTERMINATION DE LA DISTANCE OU DE LA VITESSE EN UTILISANT DES ONDES RADIO; LOCALISATION OU DÉTECTION DE LA PRÉSENCE EN UTILISANT LA RÉFLEXION OU LA RERADIATION D'ONDES RADIO; DISPOSITIONS ANALOGUES UTILISANT D'AUTRES ONDES - Détails des systèmes correspondant aux groupes , , de systèmes selon le groupe - Détails des systèmes non pulsés
G01S 17/32 - Systèmes déterminant les données relatives à la position d'une cible pour mesurer la distance uniquement utilisant la transmission d'ondes continues, soit modulées en amplitude, en fréquence ou en phase, soit non modulées
G01S 17/58 - Systèmes de détermination de la vitesse ou de la trajectoire; Systèmes de détermination du sens d'un mouvement
99.
OBSTACLE RECOGNITION METHOD AND APPARATUS, STORAGE MEDIUM, AND ELECTRONIC DEVICE
Disclosed in embodiments of the present application are an obstacle recognition method and apparatus, a storage medium, and an electronic device. The method comprises: performing first obstacle detection on point cloud data corresponding to a blocked object, and determining a first confidence level of the type of the blocked object being a target obstacle type; performing blocking calculation on the point cloud data corresponding to the blocked object, and determining the blocking rate of the blocked object; according to the blocking rate of the blocked object and the first confidence level, determining a second confidence level of the type of the blocked object being the target obstacle type; and if the second confidence level is greater than a preset confidence level threshold, determining that the type of the blocked object is the target obstacle type. By using the embodiments of the present application, the accuracy of obstacle recognition can be enhanced.
Disclosed in the embodiments of the present application are a shielding relationship determination method and apparatus, and a storage medium and an electronic device. The method comprises: acquiring point cloud data of a target point cloud, and point cloud data which respectively corresponds to other point clouds in a neighborhood of the target point cloud, wherein each piece of point cloud data comprises a distance value; acquiring a shielding point cloud, the absolute value of the difference between the distance value of which and the distance value of the target point cloud is greater than or equal to a first threshold value, and which does not belong to the same object as the target point cloud, wherein the other point clouds in the neighborhood of the target point cloud comprise the shielding point cloud, and the number of shielding point clouds is greater than 0; and determining that there is a shielding relationship between an obstacle which corresponds to the shielding point cloud and a target obstacle which corresponds to the target point cloud. By using the embodiments of the present application, the determination of a shielding relationship can be more efficient and reliable, thereby reducing the possibility of missed judgement or misjudgement, and effectively improving the driving safety and reliability.
