WO2022188279A1 - 一种探测方法、装置和激光雷达 - Google Patents

一种探测方法、装置和激光雷达 Download PDF

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Publication number
WO2022188279A1
WO2022188279A1 PCT/CN2021/098421 CN2021098421W WO2022188279A1 WO 2022188279 A1 WO2022188279 A1 WO 2022188279A1 CN 2021098421 W CN2021098421 W CN 2021098421W WO 2022188279 A1 WO2022188279 A1 WO 2022188279A1
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WIPO (PCT)
Prior art keywords
lidar
detection
detection mode
determining
area
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PCT/CN2021/098421
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English (en)
French (fr)
Inventor
李一鹏
张汉魁
Original Assignee
深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to EP21929749.6A priority Critical patent/EP4307006A1/en
Priority to CN202180093854.7A priority patent/CN116964485A/zh
Publication of WO2022188279A1 publication Critical patent/WO2022188279A1/zh
Priority to US18/244,297 priority patent/US20230417878A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • Embodiments of the present invention relate to the technical field of radar, and in particular, to a detection method, a device, and a laser radar.
  • lidar has been widely used in the fields of automatic driving and assisted driving.
  • lidars generally maintain fixed working parameters and do not have the ability to dynamically adjust working parameters, so that no matter what type of scene is working, lidars maintain the same parameters and cannot achieve the flexibility of detection.
  • One object of the embodiments of the present invention is to provide a detection method, device, and solid-state laser radar, which can automatically adjust the working parameters of the laser radar according to different scenarios.
  • a detection method including: acquiring information about the environment where the lidar is located; determining a detection mode of the lidar based on the environment information; determining the detection mode according to the detection mode The target detection area of the lidar; the scanning parameters of the lidar are determined based on the target detection area; the lidar runs the scanning parameters to perform area detection.
  • a detection device comprising: an acquisition unit, configured to acquire information about the environment where the lidar is located; and a determination unit, configured to determine the information of the lidar based on the environment information detection mode; the determination unit is further configured to determine the target detection area of the lidar according to the detection mode; the determination unit is further configured to determine the scanning parameter of the lidar based on the target detection area; run The unit is used for running the scanning parameters for area detection.
  • a solid-state lidar system characterized by comprising: a transmitting device, a receiving device, an optical scanning device, a processor, a memory, a communication interface and a communication bus, the processor , the memory and the communication interface communicate with each other through the communication bus; the transmitting module is used to transmit the detection laser; the receiving module is used to receive the echo laser; the optical scanning device is used to deflect the detection laser Scanning is achieved, and is also used for receiving the echo laser and deflecting it to the receiving module; the memory is used for storing at least one executable instruction, and the executable instruction enables the processor to perform the detection according to the first aspect of the claim The steps of the method enable the lidar to realize area detection.
  • a computer storage medium stores at least one executable instruction, and the executable instruction causes a processor to perform the steps of the detection method according to the first aspect .
  • the information of the environment where the lidar is located is obtained, the detection mode of the lidar is determined based on the environmental information, the target detection area of the lidar is determined according to the detection mode, and the scanning parameters of the lidar are determined based on the target detection area. , and run the scan parameters to achieve area detection. It can determine the detection mode of the radar according to different environmental information, adjust the target detection area of the lidar according to the detection mode, and automatically adjust the working parameters of the lidar according to the target detection area, so that the working state of the lidar can be automatically adjusted to suit the current environment. It can improve the flexibility of lidar detection, and at the same time improve the detection accuracy of the radar target detection area and the work efficiency of the radar.
  • FIG. 1 shows a schematic structural diagram of an application scenario provided by an embodiment of the present invention
  • FIG. 2 shows a schematic diagram of an installation position of a laser radar according to an embodiment of the present invention
  • FIG. 3 shows a schematic flowchart of a detection method in an embodiment of the present invention
  • FIG. 4a shows a schematic diagram of a detection area corresponding to a far-field detection mode in an embodiment of the present invention
  • FIG. 4b shows a schematic diagram of a detection area corresponding to a near-field detection mode in an embodiment of the present invention
  • Fig. 5a shows a schematic diagram of the optical path for reducing the vertical field of view of the emitted light beam of the lidar in an embodiment of the present invention
  • Fig. 5b shows a schematic diagram of the optical path for reducing the optical axis direction of the emitted light beam of the lidar in an embodiment of the present invention
  • FIG. 6 shows a schematic structural diagram of a solid-state laser radar provided by an embodiment of the present invention
  • FIG. 7 shows a schematic flowchart of a detection method based on a solid-state lidar provided by an embodiment of the present invention
  • FIG. 8 shows a schematic structural diagram of a lidar detection device provided by an embodiment of the present invention.
  • FIG. 9 shows a schematic structural diagram of a laser radar according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an application scenario of a detection method provided by an embodiment of the present application.
  • the schematic diagram of the application scenario includes a lidar 10 and a lidar carrier 20.
  • the detection method provided by the present application is applied on LiDAR 10.
  • the lidar 10 is mounted on the lidar carrier 20 .
  • FIG. 2 is a schematic diagram of an installation position of a lidar 10 provided by an embodiment of the present application.
  • the lidar 10 may include a micro-electromechanical system (Micro-Electro-Mechanical System, MEMS) solid-state lidar, a rotating mechanical scanning lidar, or other types of lidar.
  • MEMS Micro-Electro-Mechanical System
  • the automatic driving perception system may be composed of a lidar 10, wherein, as shown in FIG. 2 , when the lidar 10 collects point cloud data, it may be installed at the position shown in A. It is understandable that Yes, the lidar 10 can also be installed in the position shown in B. In this embodiment of the present application, the specific installation position of the lidar 10 is not limited.
  • the detection system in the embodiments of the present application may include one lidar or multiple lidars, and the detection method in the present application may be implemented on all lidars in the detection system, or may be implemented on some lidars.
  • the present application does not limit the number of laser radars that implement this method.
  • the lidar carrier 20 can work for various traffic.
  • the lidar carrier 20 may include a car, a passenger car, a semi-trailer, an off-road vehicle, a special purpose vehicle, a truck, a tractor, a dump truck or any other vehicle.
  • Kind, type or model is restricted.
  • FIG. 3 is a schematic flowchart of a detection method in an embodiment of the present application.
  • the method includes:
  • the lidar may be a rotating mechanical lidar or a solid-state lidar. It is understandable that when the lidar is a rotating mechanical lidar, the 3D environment information covers a 360-degree field of view around the lidar. When the lidar is a solid-state lidar, the 3D environment information covers a certain angle range in front of the lidar, for example The detection range is 120° horizontal market angle and 25° vertical field angle (-12.5° ⁇ +12.5°).
  • the information on the environment where the radar is located includes the running speed information of the lidar carrier and the attribute information of the object detected by the lidar.
  • the attribute information of the object includes geometric position information of the object, speed information of the object, category information of the object, quantity information of the object, and the like.
  • the detection modes of the lidar include a far-field detection mode and a near-field detection mode.
  • the determining the detection mode of the lidar based on the environmental information includes: acquiring the operating speed information of the lidar carrier; When the duration of the running speed information greater than or equal to the first preset value reaches the preset duration, adjust the lidar to the far-field detection mode; when the running speed information of the carrier is less than the first preset value, the duration reaches the preset duration , adjust the lidar to the near-field detection mode.
  • determining the detection mode of the lidar based on the environmental information includes: determining the operation scene of the lidar based on attribute information of the object detected by the lidar; A detection mode of the lidar is determined based on the operating scenario.
  • determining the operation scene of the lidar based on the attribute information of the object detected by the lidar includes: acquiring the category information of the object detected by the lidar; inputting the category information of the object into the trained neural network model , determine the scene output value; determine the operation scene of the lidar according to the scene output value.
  • the determining the detection mode of the lidar based on the operating scene includes: when the operating scene is a highway, determining that the detection mode of the lidar is a far-field detection mode; When the operating scene is an urban road, it is determined that the detection mode of the lidar is a near-field detection mode.
  • the determining the detection mode of the lidar based on the environment information includes: acquiring attribute information of an object detected by the lidar; determining the detection mode according to the attribute information of the object.
  • the number of obstacles within the preset distance around the lidar and the speed of the obstacles within the preset distance; the running speed of the lidar carrier is obtained; if the running speed is greater than or equal to the first preset value, the The number of obstacles within the preset distance is less than the second preset value and the speed of the obstacles within the preset distance is greater than or equal to the first preset value, it is determined that the lidar is in the far-field detection mode; if the operation When the speed is greater than or equal to a first preset value, the number of obstacles within the preset distance is greater than or equal to a second preset value, or the speed of obstacles within the preset distance is less than the first preset value, determine the The lidar is in the near-field detection mode; if the running speed is less than the first preset value, the number of obstacles within the
  • determining the target detection area of the lidar according to the detection mode includes: if the lidar is in a far-field detection mode, determining that the target detection area is a first detection area; wherein, the first detection The area is the detection area corresponding to the medium and far detection field of view; if the lidar is in the near-field detection mode, the target detection area is determined to be the second detection area, wherein the second detection area is near the vehicle body and close to the ground. detection area.
  • Figure 4a shows the vertical field of view 401 corresponding to the target detection area in the far-field detection mode
  • Figure 4b shows the corresponding target detection area 402 in the near-field detection mode .
  • the working parameters of the lidar include, but are not limited to: the vertical field of view of the emitted beam of the lidar, the emitted beam of the lidar One or more of the horizontal field of view angle of the laser radar, the optical axis direction of the laser beam emitted by the laser radar, the scanning density of the laser radar, the scanning frequency of the laser radar, and the pulse transmission power of the laser radar.
  • the laser radar is a mechanical laser radar
  • the target detection area is determined to be the first detection area, that is, the detection area corresponding to the mid- and long-range detection field of view, the mechanical The vertical field of view of the lidar, the reduction of the pulse emission frequency of the emitted beam of the lidar, and the increase of the scanning frequency of the lidar.
  • reducing the vertical field of view of the emitted beam as shown in Figure 5a, for example, the vertical field of view can be compressed by 20%, or the vertical field of view of the lidar can be adjusted from +15° ⁇ -25° to +12° ⁇ -20°, can concentrate more wire beams in the horizontal direction, increase the front and rear detection distance of the lidar, and thus detect long-distance targets.
  • reducing the pulse emission frequency such as adjusting the pulse emission frequency from 50,000 per second to 10,000 per second, can increase the charging time of the pulse laser transmitter, increase the laser energy, and detect farther distance.
  • increasing the scanning frequency such as adjusting the scanning frequency from 10Hz to 15Hz, can detect changes in moving objects faster, so as to improve the safety of autonomous driving.
  • the target detection area is determined to be the second detection area, that is, the detection area corresponding to the near-field detection field of view.
  • the pulse emission frequency of the lidar is increased, the optical axis direction of the emitted beam of the lidar is decreased, and the scanning frequency of the lidar is increased.
  • the pulse emission frequency of lidar is increased, for example, the pulse emission frequency is adjusted from 10,000 pulses per second to 50,000 pulses per second, so that changes in surrounding moving objects can be obtained faster.
  • the optical axis direction of the emitted beam can be moved down by 20°. With a downward deflection of 20°, the detection range of the emitted beam will be closer to the ground, which can reduce the detection distance of the lidar, so as to focus on detecting short-range targets.
  • the scanning frequency of lidar can be increased, for example, the scanning frequency can be adjusted from 10Hz to 15Hz, which can detect changes in moving objects faster.
  • the target detection method is based on the target detection method. Determining the working parameters of the lidar in the area includes: determining the range of the field of view of the target detection area; reducing the scanning speed of the optical scanning device within the range of the field of view according to the range of the field of view; or The scanning time of the optical scanning device within the field of view angle range is increased according to the field of view angle range.
  • the optical scanning element is used to deflect the detection laser to realize scanning.
  • the optical scanning element may be, for example, a rotating mirror, a rotating prism, a one-dimensional micro-galvo mirror, or a two-dimensional micro-galvanizing mirror, and the application does not limit the specific form of the optical scanning element.
  • the lidar runs the working parameters to perform area detection.
  • the method further includes: acquiring attribute information of objects in the target area; and further adjusting the working parameters according to the attribute information of objects in the target area.
  • the working parameters of the lidar can also be determined based on the number of obstacles in the actual target detection area and the speed information of the obstacles. further adjustment.
  • the determined target detection area may be divided into N detection sub-areas, and the working parameters of the radar may be further adjusted based on the number of obstacles in each detection sub-area and the speed information of the obstacles.
  • the lidar can also determine a drivable area according to the acquired point cloud data, and correspond to the detection mode based on the drivable area.
  • the target detection area can be further adjusted.
  • the detection mode of the lidar is determined based on the environmental information
  • the target detection area of the lidar is determined according to the detection mode
  • the operation of the lidar is determined based on the target detection area. parameters, and run the working parameters to achieve area detection. It can determine the detection mode of the radar according to different environmental information, adjust the target detection area of the lidar according to the detection mode, and automatically adjust the working parameters of the lidar according to the target detection area, so that the working state of the lidar can be automatically adjusted to suit the current environment. It can improve the flexibility of lidar detection, and at the same time improve the detection accuracy of the radar target detection area and the work efficiency of the radar.
  • the execution subject of the detection method is described by taking the solid-state laser radar shown in FIG. 6 as an example.
  • the solid-state lidar includes at least one transceiver assembly 60, and the transceiver assembly 60 includes: a transmitting module 601, a beam splitting module (not shown in the figure), and a receiving module 602.
  • the transmitting module 601 is used to emit the detection laser and shoot it to the beam splitting module; the beam splitting module is used to make the detection laser pass through the beam splitting module and then exit out, and is also used to deflect the coaxially incident echo laser.
  • the receiving module 602 is used for receiving the echo laser from the beam splitting module.
  • the detection laser emitted by the transmitting module 601 is emitted into the field of view after passing through the beam splitting module; the echo laser is received by the receiving module 602 after being deflected by the beam splitting module.
  • the solid-state laser radar also includes a micro-galvanometer scanning module 603. Both the detection laser and the echo laser are directed to the micro-galvanometer scanning module 603.
  • the micro-galvanometer scanning module 603 is realized by two-dimensional vibration deflection of the detection laser and the echo laser. Detection of the field of view.
  • the detection laser from the transceiver component is directed to the micro-galvanometer scanning module 603, and the micro-galvanometer scanning module 603 reflects and deflects the detection laser and emits it to realize scanning; the echo laser returned after the object is reflected is scanned by the micro-galvo mirror After the group 603 receives it, it shoots toward the transceiver component, and the transceiver component receives the echo laser.
  • the micro-galvanometer scanning module 603 includes a two-dimensional galvanometer, and the two-dimensional galvanometer vibrates around the fast axis and the slow axis to achieve two-dimensional deflection.
  • the detection laser is directed to the two-dimensional galvanometer, and the two-dimensional galvanometer reflects the detection laser and emits it outward, covering the vertical and horizontal field of view angle ranges, and realizing the scanning of the two-dimensional field of view.
  • the two-dimensional galvanometer vibrates around the fast axis so that the detection laser covers the horizontal field of view range
  • the two-dimensional galvanometer vibrates around the slow axis so that the detection laser covers the vertical field of view range.
  • the solid-state lidar may include one transceiver component 60, or may include multiple transceiver components 60, and the specific number of the transceiver components 60 may be determined according to actual usage requirements, which is not limited here. Whether it is one transceiver assembly 60 or multiple transceiver assemblies 60 , the same micro-galvanometer scanning module 103 is shared.
  • FIG. 7 shows a schematic flowchart of a detection method provided by another embodiment of the present invention. This method is applied to the solid-state lidar in Figure 6. As shown in Figure 7, the method includes:
  • the information on the environment where the radar is located includes the running speed information of the lidar carrier and the attribute information of the object detected by the lidar.
  • the attribute information of the object includes geometric position information of the object, speed information of the object, category information of the object, quantity information of the object, and the like.
  • the detection modes of the lidar include a far-field detection mode and a near-field detection mode.
  • the determining the detection mode of the lidar based on the environmental information includes: acquiring the operating speed information of the lidar carrier; When the duration of the running speed information greater than or equal to the first preset value reaches the preset duration, adjust the lidar to the far-field detection mode; when the running speed information of the carrier is less than the first preset value, the duration reaches the preset duration , adjust the lidar to the near-field detection mode.
  • determining the detection mode of the lidar based on the environmental information includes: determining the operation scene of the lidar based on attribute information of the object detected by the lidar; A detection mode of the lidar is determined based on the operating scenario.
  • determining the operation scene of the lidar based on the attribute information of the object detected by the lidar includes: acquiring the category information of the object detected by the lidar; inputting the category information of the object into the trained neural network model , determine the scene output value; determine the operation scene of the lidar according to the scene output value.
  • the determining the detection mode of the lidar based on the operating scene includes: when the operating scene is a highway, determining that the detection mode of the lidar is a far-field detection mode; When the operating scene is an urban road, it is determined that the detection mode of the lidar is a near-field detection mode.
  • the determining the detection mode of the lidar based on the environment information includes: acquiring attribute information of an object detected by the lidar; determining the detection mode according to the attribute information of the object.
  • the number of obstacles within the preset distance around the lidar and the speed of the obstacles within the preset distance; the running speed of the lidar carrier is obtained; if the running speed is greater than or equal to the first preset value, the The number of obstacles within the preset distance is less than the second preset value and the speed of the obstacles within the preset distance is greater than or equal to the first preset value, it is determined that the lidar is in the far-field detection mode; if the operation When the speed is greater than or equal to a first preset value, the number of obstacles within the preset distance is greater than or equal to a second preset value, or the speed of obstacles within the preset distance is less than the first preset value, determine the The lidar is in the near-field detection mode; if the running speed is less than the first preset value, the number of obstacles within the
  • determining the target detection area of the lidar according to the detection mode includes:
  • the target detection area is determined to be the first detection area; wherein, as shown in 401 in Figure 4a, the first detection area is the first vertical field of view angle corresponding to the mid-range detection market;
  • the target detection area is determined to be the second detection area; wherein, as shown in 402 in FIG. 4b , the second detection area is the area close to the radar carrier and the surrounding ground.
  • S704. Determine the vertical field of view of the target detection area, and reduce the slow-axis scanning speed of the micro-galvanometer when it is monitored that the micro-galvanometer scans to the vertical field of view area corresponding to the target detection area.
  • the scanning speed of the slow axis of the micro-galvanometer is adjusted to a preset normal scanning speed.
  • the detection range of the solid-state laser radar is a horizontal field of view angle of 120° (-60° to +60°), and a vertical field of view angle of 25° (-12.5° to +12.5°).
  • the vertical market angle corresponding to the target detection area is within the range of 25° (-12.5° ⁇ +12.5°).
  • the method further includes: determining a lower boundary and an upper boundary corresponding to a vertical field of view angle corresponding to the target detection area; determining a first vertical field of view angle corresponding to the upper boundary, and determining a second vertical field of view corresponding to the lower boundary It can be understood that the vertical field of view angle corresponding to the target detection area is the first vertical field of view angle minus the second vertical field of view angle.
  • the method further includes: acquiring attribute information of objects in the target area; and further adjusting the working parameters according to the attribute information of objects in the target area.
  • the working parameters of the lidar can also be determined based on the number of obstacles in the actual target detection area and the speed information of the obstacles. further adjustment.
  • the determined target detection area may be divided into N detection sub-areas, and the working parameters of the radar may be further adjusted based on the number of obstacles in each detection sub-area and the speed information of the obstacles.
  • the lidar can also determine a drivable area according to the acquired point cloud data, and correspond to the detection mode based on the drivable area.
  • the target detection area can be further adjusted.
  • the detection mode of the lidar is determined based on the environmental information
  • the target detection area of the lidar is determined according to the detection mode
  • the operation of the lidar is determined based on the target detection area. parameters, and run the working parameters to achieve area detection. It can determine the detection mode of the radar according to different environmental information, adjust the target detection area of the lidar according to the detection mode, and automatically adjust the working parameters of the lidar according to the target detection area, so that the working state of the lidar can be automatically adjusted to suit the current environment. It can improve the flexibility of lidar detection, and at the same time improve the detection accuracy of the radar target detection area and the work efficiency of the radar.
  • FIG. 8 shows a schematic structural diagram of a detection device provided by an embodiment of the present invention.
  • the device can be applied to the lidar or lidar system in the above embodiments.
  • the apparatus 800 includes: an environment information acquisition unit 810 , a determination unit 820 and an operation unit 830 .
  • an obtaining unit 810 configured to obtain information about the environment where the lidar is located
  • the environment information includes the running speed information of the lidar carrier and the attribute information of the object detected by the lidar;
  • a first determining unit 820 configured to determine a detection mode of the lidar based on the environmental information
  • the detection mode includes a far-field detection mode and a near-field detection mode.
  • a second determining unit 830 configured to determine the target detection area of the lidar according to the detection mode
  • a third determining unit 840 configured to determine the scanning parameters of the lidar based on the target detection area
  • the running unit 850 is configured to run the scanning parameters to perform area detection.
  • the first determining unit 820 is further configured to: acquire the operating speed information of the lidar carrier; when the operating speed information of the lidar carrier is greater than or equal to a first preset value When the duration reaches the preset duration, the lidar is adjusted to be in the far-field detection mode; when the running speed information of the carrier is less than the first preset value and the duration reaches the preset duration, the lidar is adjusted to be in the near-field detection mode.
  • the first determining unit 820 is further configured to: determine the operation scene of the lidar based on the attribute information of the object detected by the lidar; determine the operation scene of the lidar based on the operation scene Lidar detection mode.
  • the first determining unit 820 is further configured to: when the operation scene is a highway, determine that the detection mode of the lidar is a far-field detection mode; when the operation scene is a highway When it is an urban road, it is determined that the detection mode of the lidar is a near-field detection mode.
  • the first determining unit 820 is further configured to: acquire attribute information of an object detected by the lidar; and determine, according to the attribute information of the object, within a preset distance around the lidar the number of obstacles and the speed of obstacles within a preset distance;
  • the operating speed of the lidar carrier if the operating speed is greater than or equal to a first preset value, the number of obstacles within the preset distance is less than the second preset value and the obstacles within the preset distance If the speed of the object is greater than or equal to the first preset value, it is determined that the lidar is in the far-field detection mode; if the operating speed is greater than or equal to the first preset value, the number of obstacles within the preset distance is greater than or equal to the second When the preset value or the speed of the obstacle within the preset distance is less than the first preset value, it is determined that the lidar is in the near-field detection mode; if the running speed is less than the first preset value, the preset When the number of obstacles within the distance is greater than or equal to the second preset value or the speed of the obstacles within the preset distance is less than the first preset value, it is determined that the lidar is in the near-field detection mode; if the operating speed is less than the first preset value, the number of obstacles within the
  • the second determining unit 830 is further configured to: if the lidar is in the far-field detection mode, determine that the target detection area is the first detection area; In the near-field detection mode, the target detection area is determined to be the second detection area.
  • the working parameters include scanning parameters of an optical scanning device of the lidar;
  • the third determining unit 840 is specifically further configured to: determine the the range of the vertical angle of view of the target detection area; reduce the scanning speed of the optical scanning device within the range of the vertical angle of view according to the range of the vertical angle of view; or increase the scanning speed of the optical scanning device according to the range of the vertical angle of view The scanning time of the scanning device within the vertical field of view.
  • the working parameters are the emission frequency of the pulse, the optical axis direction of the emitted beam, the scanning frequency of the radar, and the vertical direction of the mechanical lidar.
  • the field of view angle; the third determining unit 840 is specifically configured to determine the target detection area as the first detection area when the lidar operates in the far-field detection mode, that is, the detection area corresponding to the mid- and long-range detection field of view , reduce the vertical field of view of the lidar, reduce the pulse emission frequency of the emitted beam of the lidar, and increase the scanning frequency of the lidar; when the lidar operates in the near-field detection mode, determine the The target detection area is the second detection area, that is, the detection area corresponding to the near-field detection field of view.
  • the pulse emission frequency of the lidar is increased, the optical axis direction of the emitted beam of the lidar is reduced, and the lidar is increased. scan frequency.
  • the detection device provided by the embodiment of the present invention is a device capable of executing the detection method shown in FIG. 3 , and all the above-mentioned detection methods are applicable to the device, and can achieve the same or similar benefits. Effect.
  • the detection mode of the lidar is determined based on the environmental information
  • the target detection area of the lidar is determined according to the detection mode
  • the operation of the lidar is determined based on the target detection area. parameters, and run the working parameters to achieve area detection. It can determine the detection mode of the radar according to different environmental information, adjust the target detection area of the lidar according to the detection mode, and automatically adjust the working parameters of the lidar according to the target detection area, so that the working state of the lidar can be automatically adjusted to suit the current environment. It can improve the flexibility of lidar detection, and at the same time improve the detection accuracy of the radar target detection area and the work efficiency of the radar.
  • An embodiment of the present invention further provides a computer storage medium, where at least one executable instruction is stored in the storage medium, and the executable instruction causes the processor to execute the laser radar parameter adjustment method in any of the foregoing method embodiments.
  • An embodiment of the present invention also provides a computer program product, the computer program product includes a computer program stored on a computer storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the The computer executes the laser radar parameter adjustment method in any of the above method embodiments.
  • FIG. 9 shows a schematic structural diagram of a laser radar provided by an embodiment of the present invention.
  • the specific embodiment of the present invention does not limit the specific implementation of the laser radar.
  • the lidar may include: a transmitting device 901, a receiving device 902, a processor (processor) 903, a communication interface (Communications Interface) 904, a memory (memory) 905, a communication bus 906, a scanning device 907 and a program 908.
  • the transmitting device 901 is used for transmitting outgoing laser light to the detection area, and the receiving device 902 is used for receiving echo laser light reflected by objects in the detection area.
  • the transmitting device 901 is specifically configured to scan and transmit the outgoing laser light to the detection area, so as to scan the objects in the detection area.
  • the scanning device 907 is used to deflect the detection laser to realize scanning
  • the scanning device 907 is a rotary driving device; the scanning device 907 is used to drive the transmitting device 901 and the receiving device 902 to rotate to realize scanning.
  • the scanning device 907 is the optical scanning device, and the optical scanning device is used to deflect the detection laser to realize scanning, and is also used to receive the echo laser and deflect it to a the receiving module.
  • the optical scanning device 907 may be, for example, a micro-galvanometer scanning device.
  • the processor 903 , the communication interface 904 , and the memory 905 communicate with each other through the communication bus 906 .
  • the communication interface 904 is used to communicate with network elements of other devices such as clients or other servers.
  • the processor 903 is connected to the transmitting device 901 through the communication interface 904, and is used for executing the program 908, and specifically, the detection method in any of the above method embodiments may be executed.
  • the program 908 may include program code including computer operating instructions.
  • the processor 903 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention.
  • the one or more processors included in the computing device may be the same type of processors, such as one or more CPUs; or may be different types of processors, such as one or more CPUs and one or more ASICs.
  • the memory 905 is used to store the program 908 .
  • Memory 905 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.
  • the detection mode of the lidar is determined based on the environmental information
  • the target detection area of the lidar is determined according to the detection mode
  • the operation of the lidar is determined based on the target detection area. parameters, and run the working parameters to achieve area detection. It can determine the detection mode of the radar according to different environmental information, adjust the target detection area of the lidar according to the detection mode, and automatically adjust the working parameters of the lidar according to the target detection area, so that the working state of the lidar can be automatically adjusted to suit the current environment. It can improve the flexibility of lidar detection, improve the detection accuracy of the radar target detection area and the working efficiency of the radar.
  • modules in the device in the embodiment can be adaptively changed and arranged in one or more devices different from the embodiment.
  • the modules or units or components in the embodiments may be combined into one module or unit or component, and further they may be divided into multiple sub-modules or sub-units or sub-assemblies. All features disclosed in this specification (including accompanying claims, abstract and drawings) and any method so disclosed may be employed in any combination, unless at least some of such features and/or procedures or elements are mutually exclusive. All processes or units of equipment are combined.
  • Each feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

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Abstract

一种激光雷达探测方法、装置和激光雷达（10）。其中，激光雷达探测方法包括：获取激光雷达（10）所处环境信息（S301）；基于环境信息确定激光雷达（10）的探测模式（S302）；根据探测模式确定激光雷达（10）的目标探测区域（S303）；基于目标探测区域确定激光雷达（10）的工作参数（S304）；激光雷达（10）运行工作参数进行区域探测。能够根据探测模式调整激光雷达（10）的工作参数，从而提高激光雷达（10）探测的灵活性，同时提高雷达（10）目标探测区域的探测准确性及雷达（10）的工作效率。

Description

一种探测方法、装置和激光雷达 技术领域
本发明实施例涉及雷达技术领域，具体涉及一种探测方法、装置及激光雷达。
背景技术
目前，激光雷达因为其优异的特性以及对外界环境的强适应性，在自动驾驶、辅助驾驶等领域取得了广泛的应用。
现有的激光雷达普遍保持固定的工作参数，不具备动态调整工作参数的能力，从而使得不管在什么类型的场景中工作时，激光雷达都保持相同的参数，无法实现探测的灵活性。
发明内容
本发明实施例一个目的旨在提供一种探测方法、装置及固态激光雷达，能够根据不同的场景自动调整激光雷达的工作参数。
根据本发明实施例的一个方面，提供了一种探测方法，包括：获取所述激光雷达所处环境信息；基于所述环境信息确定所述激光雷达的探测模式；根据所述探测模式确定所述激光雷达的目标探测区域；基于所述目标探测区域确定所述激光雷达的扫描参数；所述激光雷达运行所述扫描参数进行区域探测。
根据本发明实施例的另一方面，提供了一种探测装置，包括：获取单元，用于获取所述激光雷达所处环境信息；确定单元，用于基于所述环境信息确定所述激光雷达的探测模式；所述确定单元，还用于根据所述探测模式确定所述激光雷达的目标探测区域；所述确定单元，还用于基于所述目标探测区域确定所述激光雷达的扫描参数；运行单元，用于运行所述扫描参数进行区域探测。
根据本发明实施例的又一方面，提供了一种固态激光雷达***，其特征在于，包括：发射装置、接收装置、光学扫描装置、处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总线完成相互间的通信；发射模组，用于发射探测激光；接收模组，用于接收回波激光；光学扫描装置，用于偏转探测激光实现扫描，还用于接收回波激光并偏转至接收模组；所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行根据权利要求第一方面所述的探测方法的步骤，使所述激光雷达实现区域探测。
根据本发明实施例的另又一方面，提供了一种计算机存储介质，所述存储介质中存储有至少一可执行指令，所述可执行指令使处理器执行根据第一方面的探测方法的步骤。
在本申请实施例中，获取激光雷达所处环境信息，基于环境信息确定激光雷达的探测模式，根据探测模式确定激光雷达的目标探测区域，基于所述目标探测区域确定所述激光雷达的扫描参数，并运行所述扫描参数实现区域探测。能够根据不同的环境信息确定雷达 的探测模式，同时根据探测模式调整激光雷达的目标探测区域，同时根据目标探测区域自动调整激光雷达的工作参数，使激光雷达的工作状态自动调整到适合当前环境的工作状态，从而提高激光雷达探测的灵活性，同时提高雷达目标探测区域的探测准确性及雷达的工作效率。
附图说明
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1示出了本发明实施例提供的应用场景的结构示意图；
图2示出了本发明实施例提供的一种激光雷达安装位置示意图；
图3示出了本发明实施例中一种探测方法的流程示意图；
图4a示出了本发明实施例中的远场探测模式对应的探测区域示意图；
图4b示出了本发明实施例中的近场探测模式对应的探测区域示意图；
图5a示出了本发明实施例中减小激光雷达的发射光束的垂直视场角的光路示意图；
图5b示出了本发明实施例中降低激光雷达的发射光束的光轴方向的光路示意图；
图6示出了本发明实施例提供的一种固态激光雷达的结构示意图；
图7示出了本发明实施例提供的一种基于固态激光雷达的探测方法的流程示意图；
图8示出了本发明实施例提供的一种激光雷达探测装置的结构示意图；
图9示出了本发明实施例提供的一种激光雷达的结构示意图。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面将结合附图对本申请的具体实施方式做详细说明。
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”等是用于区别不同对象，而不是用于描述特定顺序。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。
请参考图1及图2所示，图1是本申请实施例提供的一种探测方法的应用场景示意图，该应用场景示意图包括激光雷达10和激光雷达承载体20，本申请提供的探测方法应用于激光雷达10。其中，激光雷达10安装在激光雷达承载体20上。如图2所示，图2是本申请实施例提供的一种激光雷达10的安装位置示意图。
其中，激光雷达10可以包括微机电***(Micro-Electro-Mechanical System，MEMS) 固态激光雷达、旋转机械式扫描激光雷达等类型的激光雷达。在本申请实施例中，自动驾驶感知***可以由一个激光雷达10组成，其中，如图2所示，当激光雷达10进行点云数据采集时，可以安装在A所示的位置，可以理解的是，激光雷达10也可以安装在B所示的位置。在本申请实施例中，不对激光雷达10的具体安装位置进行限制。
可以理解的是，本申请实施例中的探测***可以包括一个激光雷达也可以包括多个激光雷达，本申请中的探测方法可以在探测***中的全部激光雷达上实现，也可以在部分激光雷达上实现，本申请不对实现本方法的激光雷达的个数进行限制。
其中，激光雷达承载体20可以为各种交通工作。当所述激光雷达承载体20为车辆时，可以包括轿车、客车、半挂车、越野车、专用汽车、载货汽车、牵引车、自卸汽车或其他任何车等种类的车辆，这里不对车辆的种类、类型或者型号做限制。
接下来将全部结合图1出示的数据处理方法的应用场景示意图及图2出示的激光雷达安装位置示意图来介绍本申请实施例提供的数据处理方法。
请参考图3所示，图3是本申请实施例中的一种探测方法的流程示意图，所述方法包括：
S301、获取激光雷达所处环境信息。
其中，激光雷达可以为旋转式机械激光雷达或者固态激光雷达。可以理解的是，当激光雷达为旋转式机械激光雷达时，三维环境信息覆盖激光雷达周围360度视场范围，当激光雷达为固态激光雷达时，三维环境信息覆盖激光雷达前方一定角度范围，例如为水平市场角120度和垂直视场角25°(-12.5°～+12.5°)的探测范围。
其中，雷达所处环境信息包括所述激光雷达承载体的运行速度信息和所述激光雷达探测到的物体的属性信息。其中，所述物体的属性信息包括物体的几何位置信息、物体的速度信息、物体的类别信息、物体的数量信息等。
可以理解的是，激光雷达所处环境信息是实时获取的。
S302、基于所述环境信息确定所述激光雷达的探测模式。
其中，所述激光雷达的探测模式包括远场探测模式和近场探测模式。
其中，在一种可选的实施例中，所述基于所述环境信息确定所述激光雷达的探测模式，包括：获取所述激光雷达承载体的运行速度信息；当所述激光雷达承载体的运行速度信息大于等于第一预设值的时长达到预设时长时，调整所述激光雷达为远场探测模式；当所述承载体的运行速度信息小于第一预设值的时长达到预设时长时，调整所述激光雷达为近场探测模式。
其中，在另一种可选的实施例中，基于所述环境信息确定所述激光雷达的探测模式，包括：基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景；基于所述运行场景确定所述激光雷达的探测模式。
其中，基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景，包括：获取激光雷达探测到的物体的类别信息；将所述物体的类别信息输入训练好的神经网 络模型，确定所述场景输出值；根据所述场景输出值判断所述激光雷达的运行场景。
其中，可以理解的是，所述基于所述运行场景确定所述激光雷达的探测模式，包括：当所述运行场景为高速公路时，确定所述激光雷达的探测模式为远场探测模式；当所述运行场景为市区道路时，确定所述激光雷达的探测模式为近场探测模式。
在另一种可选的实施例中，所述基于所述环境信息确定所述激光雷达的探测模式，包括：获取所述激光雷达探测到物体的属性信息；根据所述物体的属性信息确定所述激光雷达周边预设距离内的障碍物的数量和预设距离内的障碍物的速度；获取所述激光雷达承载体的运行速度；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式。
S303、根据所述探测模式确定所述激光雷达的目标探测区域。
其中，根据所述探测模式确定所述激光雷达的目标探测区域，包括：若所述激光雷达为远场探测模式，则确定所述目标探测区域为第一探测区域；其中，所述第一探测区域为中远探测视场对应的探测区域；若所述激光雷达为近场探测模式，则确定所述目标探测区域为第二探测区域，其中，所述第二探测区域为车身附近及靠近地面的的探测区域。具体如图4a和图4b所示，其中图4a中示出了远场探测模式下的目标探测区域对应的垂直视场角401，图4b示出了近场探测模式下对应的目标探测区域402。
S304、基于所述目标探测区域确定所述激光雷达的工作参数。
其中，在一种可选的实施例中，当所述激光雷达为机械式激光雷达时，激光雷达的工作参数包括但不限于：激光雷达的发射光束的垂直视场角、激光雷达的发射光束的水平视场角、激光雷达的发射光束的光轴方向、激光雷达的扫描密度、激光雷达的扫描频率以及激光雷达的脉冲发射功率中的一种或多种。
其中，当所述激光雷达为机械式激光雷达，当机械式激光雷达运行在远场探测模式，确定目标探测区域为第一探测区域，即中远探测视场对应的探测区域，则减小机械式激光雷达的垂直视场角、降低激光雷达的发射光束的脉冲发射频率和提高激光雷达的扫描频率。其中，减小发射光束的垂直视场角，如图5a，例如可以压缩20％垂直视场角，或者，将激光雷达的垂直视场角从+15°～-25°调整到+12°～-20°，能够将更多线束集中在水平方向，增大激光雷达的前后探测距离，从而探测到远距离目标。其中，降低脉冲发射频率，例如将脉冲发射频率从每秒发射5万个调整到每秒发射1万个，能够增加脉冲激光发射器的充能时间，使得激光能量增增加，从而探测更远的距离。其中，提高扫描频率，例如将扫描频率从10Hz调整到15Hz，能够更快地探测到移动物体的变化，以提高自动驾驶的安全性。
其中，当所述激光雷达为机械式激光雷达，当机械式激光雷达运行在近场探测模式，确定目标探测区域为第二探测区域，即近场探测视场对应的探测区域，当检测到为十字路口场景时，则提高激光雷达的脉冲发射频率、降低激光雷达的发射光束的光轴方向以及提高激光雷达的扫描频率。其中，提高激光雷达的脉冲发射频率，例如将脉冲发射频率从每 秒发射1万个调整到每秒发射5万个，从而能够更快的获取周围移动物体的变化。其中，降低发射光束的光轴方向，如图5b，例如可以发射光束的光轴方向下移20°，在一具体应用实例中将发射光束的光轴方向从0°(也即水平出射)向下偏转20°，发射光束的探测范围将更靠近地面，能够减少激光雷达的探测距离，从而集中探测近距离目标。其中，提高激光雷达的扫描频率，例如可以将扫描频率从10Hz调整到15Hz，能够更快地探测到移动物体的变化。
其中，在另一种可选的实施例中，当所述激光雷达为带有光学扫描件的固态激光雷达，所述工作参数包括激光雷达的光学扫描装置的扫描参数，则基于所述目标探测区域确定所述激光雷达的工作参数，包括：确定所述目标探测区域的视场角范围；根据所述视场角范围降低所述光学扫描装置在所述视场角范围内的扫描速度；或根据所述视场角范围增加所述光学扫描装置在所述视场角范围内的扫描时间。
其中，此处光学扫描件用于偏转探测激光实现扫描。所述光学扫描件例如可以为旋转反射镜、旋转棱镜、一维微振镜、二维微振镜，本申请不对光学扫描件的具体形式进行限制。
S305、所述激光雷达运行所述工作参数进行区域探测。
在本申请另一种可选的实施例中，所述方法还包括：获取目标区域的物体的属性信息；根据所述目标区域的物体的属性信息对所述工作参数进行进一步调整。
可以理解的是，当确定了所述激光雷达的工作参数后，当雷达进行实际工作时，还可以基于实际目标探测区域中的障碍物的数量、障碍物的速度信息进行目标探测区域工作参数的进一步调整。
作为一种可选的方式，例如可以将确定的目标探测区域分成N个探测子区域，基于每个探测子区域中障碍物的数量及障碍物的速度信息对雷达的工作参数进行进一步调整。
可以理解的是，以固态激光雷达为例，若其中的第m个探测子区域中的障碍物的数量超过第三预设值，且所述障碍物的速度超过第四预设值时，进一步调低第m个探测子区域对应的光学扫描件的速度，或增加所述光学扫描件在第m个子区域对应的范围内的扫描时间。
可以理解的是，在本申请另一个可选实施例中，在实际应用中，所述激光雷达还可以根据获取的点云数据确定可行驶区域，基于所述可行驶区域对所述探测模式对应的目标探测区域进行进一步调整。
在本申请实施例中，通过获取激光雷达所处环境信息，基于环境信息确定激光雷达的探测模式，根据探测模式确定激光雷达的目标探测区域，基于所述目标探测区域确定所述激光雷达的工作参数，并运行工作参数实现区域探测。能够根据不同的环境信息确定雷达的探测模式，同时根据探测模式调整激光雷达的目标探测区域，同时根据目标探测区域自动调整激光雷达的工作参数，使激光雷达的工作状态自动调整到适合当前环境的工作状态，从而提高激光雷达探测的灵活性，同时提高雷达目标探测区域的探测准确性及雷达的工作效率。
在另一种可选的实施例中，所述探测方法的执行主体以如图6所示的固态激光雷达，为例进行说明。
该固态激光雷达包括至少一个收发组件60，该收发组件60包括：发射模组601、分束 模组(图中未示出)、接收模组602。发射模组601用于发射探测激光，并射向分束模组；分束模组用于使探测激光穿过分束模组后向外出射，还用于使同轴入射的回波激光偏转后射向接收模组602；接收模组602用于接收来自分束模组的回波激光。发射模组601发出的探测激光在穿过分束模组之后，发射到视场中；回波激光在经过分束模组偏转之后，由接收模组602接收。
该固态激光雷达还包括微振镜扫描模组603，探测激光和回波激光均射向微振镜扫描模组603，微振镜扫描模组603通过二维振动偏转探测激光和回波激光实现对视场的探测。来自收发组件的探测激光射向微振镜扫描模组603，微振镜扫描模组603将探测激光反射偏转后向外出射，实现扫描；物体反射后返回的回波激光由微振镜扫描模组603接收后，射向收发组件，收发组件接收回波激光。
探测激光的光路和回波激光的光路同轴，但方向相反。为了方便描述，此处以探测激光的光路为例进行说明。微振镜扫描模组603包括二维振镜，二维振镜绕快轴和慢轴振动实现二维偏转。探测激光射向二维振镜，二维振镜反射探测激光后向外出射，覆盖垂直视场角范围和水平视场角范围，实现对二维视场的扫描。其中，二维振镜绕快轴振动使探测激光覆盖水平视场角范围，二维振镜绕慢轴振动使探测激光覆盖垂直视场角范围。
固态激光雷达可以包括一个收发组件60，也可以包括多个收发组件60，其包括收发组件60的具体数量可以根据实际使用需求而定，此处不做限定。不论是一个收发组件60，还是多个收发组件60，均共用同一个微振镜扫描模组103。
图7示出了本发明另一实施例提供的一种探测方法的流程示意图。该方法应用于图6中的固态激光雷达。如图7所示，该方法包括：
S701、获取激光雷达所处环境信息；
其中，雷达所处环境信息包括所述激光雷达承载体的运行速度信息和所述激光雷达探测到的物体的属性信息。其中，所述物体的属性信息包括物体的几何位置信息、物体的速度信息、物体的类别信息、物体的数量信息等。
S702、基于所述环境信息确定所述激光雷达的探测模式；
其中，所述激光雷达的探测模式包括远场探测模式和近场探测模式。
其中，在一种可选的实施例中，所述基于所述环境信息确定所述激光雷达的探测模式，包括：获取所述激光雷达承载体的运行速度信息；当所述激光雷达承载体的运行速度信息大于等于第一预设值的时长达到预设时长时，调整所述激光雷达为远场探测模式；当所述承载体的运行速度信息小于第一预设值的时长达到预设时长时，调整所述激光雷达为近场 探测模式。
其中，在另一种可选的实施例中，基于所述环境信息确定所述激光雷达的探测模式，包括：基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景；基于所述运行场景确定所述激光雷达的探测模式。
其中，基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景，包括：获取激光雷达探测到的物体的类别信息；将所述物体的类别信息输入训练好的神经网络模型，确定所述场景输出值；根据所述场景输出值判断所述激光雷达的运行场景。
其中，可以理解的是，所述基于所述运行场景确定所述激光雷达的探测模式，包括：当所述运行场景为高速公路时，确定所述激光雷达的探测模式为远场探测模式；当所述运行场景为市区道路时，确定所述激光雷达的探测模式为近场探测模式。
在另一种可选的实施例中，所述基于所述环境信息确定所述激光雷达的探测模式，包括：获取所述激光雷达探测到物体的属性信息；根据所述物体的属性信息确定所述激光雷达周边预设距离内的障碍物的数量和预设距离内的障碍物的速度；获取所述激光雷达承载体的运行速度；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式。
S703、根据所述探测模式确定所述激光雷达的目标探测区域；
其中，所述根据所述探测模式确定所述激光雷达的目标探测区域，包括：
若所述激光雷达为远场探测模式，则确定所述目标探测区域为第一探测区域；其中，如图4a中401，第一探测区域为中远探测市场对应的第一垂直视场角；
若所述激光雷达为近场探测模式，则确定所述目标探测区域为第二探测区域；其中，如图4b中的402，第二探测区域为靠近雷达承载体及周边地面区域。
S704、确定所述目标探测区域的垂直视场角，当监测到所述微振镜扫描到所述目标探测区域对应的垂直视场角区域时，降低所述微振镜的慢轴扫描速度。当监测到所述微振镜扫描到的探测区域离开所述目标探测区域对应的垂直视场角范围时，调整所述微振镜的慢轴的扫描速度为预设的正常扫描速度。
其中，所述固态激光雷达的探测范围为水平视场角为120°(-60°～+60°)，垂直视场角为25°(-12.5°～+12.5°)。所述目标探测区域对应的垂直市场角在所述25°(-12.5°～+12.5°)范围内。
其中，所述方法还包括：确定所述目标探测区域对应的垂直视场角对应的下边界和上边界；确定上边界对应的第一垂直视场角，确定下边界对应的第二垂直视场角；可以理解的是，所述目标探测区域对应的垂直视场角为所述第一垂直视场角减去第二垂直视场角。
在本申请另一种可选的实施例中，所述方法还包括：获取目标区域的物体的属性信息；根据所述目标区域的物体的属性信息对所述工作参数进行进一步调整。
可以理解的是，当确定了所述激光雷达的工作参数后，当雷达进行实际工作时，还可 以基于实际目标探测区域中的障碍物的数量、障碍物的速度信息进行目标探测区域工作参数的进一步调整。
作为一种可选的方式，例如可以将确定的目标探测区域分成N个探测子区域，基于每个探测子区域中障碍物的数量及障碍物的速度信息对雷达的工作参数进行进一步调整。
可以理解的是，以固态激光雷达为例，若其中的第m个探测子区域中的障碍物的数量超过第三预设值，且所述障碍物的速度超过第四预设值时，进一步调低第m个探测子区域对应的光学扫描件的速度，或增加所述光学扫描件在第m个子区域对应的范围内的扫描时间。
可以理解的是，在本申请另一个可选实施例中，在实际应用中，所述激光雷达还可以根据获取的点云数据确定可行驶区域，基于所述可行驶区域对所述探测模式对应的目标探测区域进行进一步调整。
在本申请实施例中，通过获取激光雷达所处环境信息，基于环境信息确定激光雷达的探测模式，根据探测模式确定激光雷达的目标探测区域，基于所述目标探测区域确定所述激光雷达的工作参数，并运行工作参数实现区域探测。能够根据不同的环境信息确定雷达的探测模式，同时根据探测模式调整激光雷达的目标探测区域，同时根据目标探测区域自动调整激光雷达的工作参数，使激光雷达的工作状态自动调整到适合当前环境的工作状态，从而提高激光雷达探测的灵活性，同时提高雷达目标探测区域的探测准确性及雷达的工作效率。
图8示出了本发明实施例提供的一种探测装置的结构示意图。该装置可以应用于上述实施例中的激光雷达或激光雷达***。如图8所示，该装置800包括：环境信息获取单元810、确定单元820和运行单元830。
获取单元810，用于获取所述激光雷达所处环境信息；
其中，所述环境信息包括所述激光雷达承载体的运行速度信息和所述激光雷达探测到的物体的属性信息；
第一确定单元820，用于基于所述环境信息确定所述激光雷达的探测模式；
其中，所述探测模式包括远场探测模式和近场探测模式。
第二确定单元830，用于根据所述探测模式确定所述激光雷达的目标探测区域；
第三确定单元840，用于基于所述目标探测区域确定所述激光雷达的扫描参数；
运行单元850，用于运行所述扫描参数进行区域探测。
在一些可选的实施例中，第一确定单元820，具体还用于：获取所述激光雷达承载体的运行速度信息；当所述激光雷达承载体的运行速度信息大于等于第一预设值的时长达到预设时长时，调整所述激光雷达为远场探测模式；当所述承载体的运行速度信息小于第一预设值的时长达到预设时长时，调整所述激光雷达为近场探测模式。
在另一些可选的实施例中，第一确定单元820，具体还用于：基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景；基于所述运行场景确定所述激光雷达的探测模式。
在另一些可选的实施例中，第一确定单元820，具体还用于：当所述运行场景为高速公路时，确定所述激光雷达的探测模式为远场探测模式；当所述运行场景为市区道路时，确定所述激光雷达的探测模式为近场探测模式。
在另一些可选的实施例中，第一确定单元820，具体还用于：获取所述激光雷达探测到物体的属性信息；根据所述物体的属性信息确定所述激光雷达周边预设距离内的障碍物的数量和预设距离内的障碍物的速度；
获取所述激光雷达承载体的运行速度；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式；若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式。
在另一些可选的实施例中，第二确定单元830，具体还用于：若所述激光雷达为远场探测模式，则确定所述目标探测区域为第一探测区域；若所述激光雷达为近场探测模式，则确定所述目标探测区域为第二探测区域。
在另一些可选的实施例中，当所述激光雷达为固态激光雷达时，所述工作参数包括激光雷达的光学扫描装置的扫描参数；第三确定单元840，具体还用于：确定所述目标探测区域的垂直视场角范围；根据所述垂直视场角范围降低所述光学扫描装置在所述垂直视场角范围内的扫描速度；或根据所述垂直视场角范围增加所述光学扫描装置在所述垂直视场角范围内的扫描时间。
在另一些可选的实施例中，当所述激光雷达为机械式激光雷达时，所述工作参数为脉冲的发射频率、发射光束的光轴方向、雷达的扫描频率、机械式激光雷达的垂直视场角；第三确定单元840，具体用于当所述激光雷达运行在所述远场探测模式，确定所述目标探测区域为所述第一探测区域，即中远探测视场对应的探测区域，减小所述激光雷达的垂直视场角、降低所述激光雷达的发射光束的脉冲发射频率和提高所述激光雷达的扫描频率；当所述激光雷达运行在近场探测模式，确定所述目标探测区域为所述第二探测区域，即近场探测视场对应的探测区域，提高所述激光雷达的脉冲发射频率、降低所述激光雷达的发射光束的光轴方向以及提高所述激光雷达的扫描频率。
需要说明的是，本发明实施例提供的探测装置是能够执行上述图3所示的探测方法的装置，则上述探测方法的所有实施例均适用于该装置，且均能达到相同或相似的有益效果。
在本申请实施例中，通过获取激光雷达所处环境信息，基于环境信息确定激光雷达的探测模式，根据探测模式确定激光雷达的目标探测区域，基于所述目标探测区域确定所述激光雷达的工作参数，并运行工作参数实现区域探测。能够根据不同的环境信息确定雷达的探测模式，同时根据探测模式调整激光雷达的目标探测区域，同时根据目标探测区域自动调整激光雷达的工作参数，使激光雷达的工作状态自动调整到适合当前环境的工作状态，从而提高激光雷达探测的灵活性，同时提高雷达目标探测区域的探测准确性及雷达的工作效率。
本发明实施例还提供了一种计算机存储介质，所述存储介质中存储有至少一可执行指令，所述可执行指令使处理器执行上述任意方法实施例中的激光雷达参数调整方法。
本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在计算机存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行 时，使所述计算机执行上述任意方法实施例中的激光雷达参数调整方法。
图9示出了本发明实施例提供的一种激光雷达的结构示意图，本发明具体实施例并不对激光雷达的具体实现做限定。
如图9所示，该激光雷达可以包括：发射装置901、接收装置902、处理器(processor)903、通信接口(Communications Interface)904、存储器(memory)905、通信总线906、扫描装置907以及程序908。
其中，发射装置901用于发射出射激光至探测区域，接收装置902用于接收探测区域内的物体反射的回波激光。其中，发射装置901具体用于将出射激光扫描发射至探测区域，以扫描探测区域内的物体。
其中，扫描装置907，用于偏转探测激光实现扫描；
其中，当所述激光雷达为机械式激光雷达时，所述扫描装置907为旋转驱动装置；所述扫描装置907用来驱动所述发射装置901和所述接收装置902进行旋转以实现扫描。
其中，当所述激光雷达为固态激光雷达时，所述扫描装置907为所述光学扫描装置，所述光学扫描装置用于偏转探测激光实现扫描，还用于接收所述回波激光并偏转至所述接收模组。其中，所述光学扫描装置907例如可以为微振镜扫描装置。
其中：处理器903、通信接口904、以及存储器905通过通信总线906完成相互间的通信。通信接口904，用于与其它设备比如客户端或其它服务器等的网元通信。处理器903，通过通信接口904与发射装置901连接，用于执行程序908，具体可以执行上述任意方法实施例中的探测方法。
具体地，程序908可以包括程序代码，该程序代码包括计算机操作指令。
处理器903可能是中央处理器CPU，或者是特定集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。计算设备包括的一个或多个处理器，可以是同一类型的处理器，如一个或多个CPU；也可以是不同类型的处理器，如一个或多个CPU以及一个或多个ASIC。
存储器905，用于存放程序908。存储器905可能包含高速RAM存储器，也可能还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。
在本申请实施例中，通过获取激光雷达所处环境信息，基于环境信息确定激光雷达的探测模式，根据探测模式确定激光雷达的目标探测区域，基于所述目标探测区域确定所述激光雷达的工作参数，并运行工作参数实现区域探测。能够根据不同的环境信息确定雷达的探测模式，同时根据探测模式调整激光雷达的目标探测区域，同时根据目标探测区域自动调整激光雷达的工作参数，使激光雷达的工作状态自动调整到适合当前环境的工作状态， 从而提高激光雷达探测的灵活性，同时提高雷达目标探测区域的探测准确性及雷达的工作效率。
在此提供的算法或显示不与任何特定计算机、虚拟***或者其它设备固有相关。各种通用***也可以与基于在此的示教一起使用。根据上面的描述，构造这类***所要求的结构是显而易见的。此外，本发明实施例也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本发明的内容，并且上面对特定语言所做的描述是为了披露本发明的最佳实施方式。
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明实施例的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如下面的权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内 并且形成不同的实施例。例如，在下面的权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。上述实施例中的步骤，除有特殊说明外，不应理解为对执行顺序的限定。

Claims (15)

  1. 一种探测方法，其特征在于，包括：
    获取激光雷达所处环境信息；
    基于所述环境信息确定所述激光雷达的探测模式；
    根据所述探测模式确定所述激光雷达的目标探测区域；
    基于所述目标探测区域确定所述激光雷达的工作参数；
    所述激光雷达运行所述工作参数进行区域探测。
  2. 根据权利要求1所述的方法，其特征在于，
    所述环境信息包括所述激光雷达承载体的运行速度信息和所述激光雷达探测到的物体的属性信息；
    所述探测模式包括远场探测模式和近场探测模式。
  3. 根据权利要求2所述的方法，其特征在于，所述基于所述环境信息确定所述激光雷达的探测模式，包括：
    获取所述激光雷达承载体的运行速度信息；
    当所述激光雷达承载体的运行速度信息大于等于第一预设值的时长达到预设时长时，调整所述激光雷达为远场探测模式；
    当所述承载体的运行速度信息小于第一预设值的时长达到预设时长时，调整所述激光雷达为近场探测模式。
  4. 根据权利要求2所述的方法，其特征在于，所述基于所述环境信息确定所述激光雷达的探测模式，包括：
    基于所述激光雷达探测到的物体的属性信息确定所述激光雷达的运行场景；
    基于所述运行场景确定所述激光雷达的探测模式。
  5. 根据权利要求4所述的方法，其特征在于，所述基于所述运行场景确定所述激光雷达的探测模式，包括：
    当所述运行场景为高速公路时，确定所述激光雷达的探测模式为远场探测模式；
    当所述运行场景为市区道路时，确定所述激光雷达的探测模式为近场探测模式。
  6. 根据权利要求2所述的方法，其特征在于，所述基于所述环境信息确定所述激光雷达的探测模式，包括：
    获取所述激光雷达探测到物体的属性信息；
    根据所述物体的属性信息确定所述激光雷达周边预设距离内的障碍物的数量和预设距离内的障碍物的速度；
    获取所述激光雷达承载体的运行速度；
    若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式；
    若所述运行速度大于等于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；
    若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量大于等于第二预设值或所述预设距离内的障碍物的速度小于第一预设值时，确定所述激光雷达为近场探测模式；
    若所述运行速度小于第一预设值，所述预设距离内的障碍物的数量小于第二预设值且所述预设距离内的障碍物的速度大于等于第一预设值，确定所述激光雷达为远场探测模式。
  7. 根据权利要求2所述的方法，其特征在于，根据所述探测模式确定所述激光雷达的目标探测区域，包括：
    若所述激光雷达为远场探测模式，则确定所述目标探测区域为第一探测区域；
    若所述激光雷达为近场探测模式，则确定所述目标探测区域为第二探测区域。
  8. 根据权利要求1所述的方法，其特征在于，
    当所述激光雷达为固态激光雷达时，所述工作参数包括激光雷达的光学扫描装置的扫描参数；
    所述基于所述目标探测区域确定所述激光雷达的扫描参数，包括：
    确定所述目标探测区域的垂直视场角范围；
    根据所述垂直视场角范围降低所述光学扫描装置在所述垂直视场角范围内的扫描速度；
    或根据所述垂直视场角范围增加所述光学扫描装置在所述垂直视场角范围内的扫描时间。
  9. 根据权利要求1所述的方法，其特征在于，
    当所述激光雷达为机械式激光雷达时，所述工作参数为脉冲的发射频率、发射光束的光轴方向、雷达的扫描频率、机械式激光雷达的垂直视场角；
    所述基于所述目标探测区域确定所述激光雷达的工作参数，包括：
    当所述激光雷达运行在所述远场探测模式，确定所述目标探测区域为所述第一探测区域，即中远探测视场对应的探测区域，减小所述激光雷达的垂直视场角、降低所述激光雷达的发射光束的脉冲发射频率和提高所述激光雷达的扫描频率；
    当所述激光雷达运行在近场探测模式，确定所述目标探测区域为所述第二探测区域，即近场探测视场对应的探测区域，提高所述激光雷达的脉冲发射频率、降低所述激光雷达的发射光束的光轴方向以及提高所述激光雷达的扫描频率。
  10. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    获取目标区域的物体的属性信息；
    根据所述目标区域的物体的属性信息对所述工作参数进行进一步调整。
  11. 一种探测装置，其特征在于，包括：
    获取单元，用于获取所述激光雷达所处环境信息；
    确定单元，用于基于所述环境信息确定所述激光雷达的探测模式；
    所述确定单元，还用于根据所述探测模式确定所述激光雷达的目标探测区域；
    所述确定单元，还用于基于所述目标探测区域确定所述激光雷达的扫描参数；
    运行单元，用于运行所述扫描参数进行区域探测。
  12. 一种激光雷达，其特征在于，包括：发射装置、接收装置、扫描装置、处理器、存储器、通信接口和通信总线，所述处理器、所述存储器和所述通信接口通过所述通信总 线完成相互间的通信；
    发射模组，用于发射探测激光；
    接收模组，用于接收回波激光；
    扫描装置，用于偏转探测激光实现扫描；
    所述存储器用于存放至少一可执行指令，所述可执行指令使所述处理器执行根据权利要求1-10任一项所述的探测方法的步骤，使所述激光雷达实现区域探测。
  13. 如权利要求12所述的激光雷达，其特征在于，
    当所述激光雷达为机械式激光雷达时，所述扫描装置为旋转驱动装置；
    所述扫描装置用来驱动所述发射装置和所述接收装置进行旋转以实现扫描。
  14. 如权利要求12所述的激光雷达，其特征在于，
    当所述激光雷达为固态激光雷达时，所述扫描装置为所述光学扫描装置，所述光学扫描装置用于偏转探测激光实现扫描，还用于接收所述回波激光并偏转至所述接收模组。
  15. 如权利要求14所述的激光雷达，其特征在于，所述光学扫描装置为微振镜扫描装置。
PCT/CN2021/098421 2021-03-11 2021-06-04 一种探测方法、装置和激光雷达 WO2022188279A1 (zh)

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