Abstract: Embodiments of this application disclose a mirror control method and device and a LiDAR, pertaining to the field of LiDAR. The method includes: outputting a control signal configured to control a mirror to scan; detecting a feedback signal of the scanning mirror; determining an actual amplitude gain of the mirror based on the feedback signal, and determining an error of the actual amplitude gain relative to a preset amplitude gain threshold; and determining a frequency adjustment based on the error, adjusting frequency based on the frequency adjustment, and obtaining an output signal. In the embodiments of this application, stability of a scanning angle of the mirror can be maintained when resonance frequency of the mirror deviates.

Abstract: Embodiments of this application disclose a method and a device thereof for converging sensed information of multiple sensors. The method includes: establishing a layered convergence topology structure based on a sensing range and a position relationship of at least one sensor; separately obtaining sensed information sensed by each sensor; and subjecting each piece of sensed information to layered convergence by using the layered convergence topology structure and generating target converged information. Applying the embodiments of this application can reduce a bandwidth need during convergence communication.

Abstract: This application provides an obstacle detection method and apparatus and a storage medium, where the method includes: obtaining point cloud data in an Nth detection sub-range of LiDAR in a preset sequence, wherein a detection range of the LiDAR in a detection cycle includes M detection sub-ranges, the Nth detection sub-range is any one of the M detection sub-ranges, M is an integer greater than or equal to 2, and N is an integer less than or equal to M; calculating confidence that the Nth detection sub-range includes a preset target object based on the obtained point cloud data in the Nth detection sub-range; and if the confidence is greater than or equal to the preset threshold, output an identification result of the preset target object. In the obstacle detection method provided in this application, real-time performance for detecting an obstacle by LiDAR is improved.

Abstract: This application discloses a LiDAR and an apparatus. The LiDAR includes: a casing, demarcating an emission chamber and a receiving chamber; a laser emission device, arranged in the emission chamber and configured to emit a laser beam to the first target region; and a plurality of laser receiving devices, arranged in the receiving chamber. The plurality of laser receiving devices receive a laser beam reflected from the second target region, and the first target region and the second target region are at least partially overlapped. The second target region includes a plurality of detection subregions, each detection subregion is smaller than the first target region and is at least partially overlapped with the first target region, and each laser receiving device receives, in a one-to-one correspondence manner, a laser beam reflected from each detection subregion.

Abstract: The present disclosure provides a lidar and a lidar control method. The lidar includes a plurality of laser transmitters configured to transmit laser light, and an oscillating mirror configured to change a direction of a light path of the transmitted laser light. The lidar control method includes transmitting, by a plurality of transmitters, laser light; and changing, by an oscillating mirror, a direction of a light path of the transmitted laser light. The plurality of laser transmitters constitute a laser transmitter array of M rows and N columns, where M is an integer greater than or equal to 2 and N is an integer greater than or equal to 2.

Abstract: Embodiments of this application disclose a method and a device thereof for converging sensed information of multiple sensors. The method includes: establishing a layered convergence topology structure based on a sensing range and a position relationship of at least one sensor; separately obtaining sensed information sensed by each sensor; and subjecting each piece of sensed information to layered convergence by using the layered convergence topology structure and generating target converged information. Applying the embodiments of this application can reduce a bandwidth need during convergence communication.

Abstract: Embodiments of this application disclose a laser ranging method, apparatus, and LiDAR, and pertain to the ranging field. The method includes: emitting a ranging laser signal; receiving a reflected laser signal formed after the ranging laser signal is reflected by a target object; determining a first measured distance value based on a time difference between an emitting time of the ranging laser signal and a receiving time of the reflected laser signal; determining a second measured distance value of an internal signal link; and obtaining an actual distance value of the target object based on the first measured distance value and the second measured distance value. In the embodiments of this application, stability of the measured actual distance value of the target object can be ensured when an environmental factor changes. Impact of the environmental factor on the laser ranging is reduced, and precision of the laser ranging is improved.

Abstract: This application discloses a LiDAR and a device. The LiDAR includes: a casing, demarcating an emission chamber and a receiving chamber; a laser emission device, arranged in the emission chamber and configured to emit a laser beam to the first target region; and a plurality of laser receiving devices, arranged in the receiving chamber, where the plurality of laser receiving devices are configured to receive a laser beam reflected from the second target region, and the first target region and the second target region are at least partially overlapped. The second target region includes a plurality of detection subregions, each detection subregion is smaller than the first target region and is at least partially overlapped with the first target region, and each laser receiving device receives, in a one-to-one correspondence manner, a laser beam reflected from each detection subregion.

Abstract: The present application discloses a method and device for measuring time of flight and a LiDAR, and belongs to the field of ranging. In the present application, because a shared device of a first transmission link and a second transmission link is a temperature-sensitive device, the delay time of the temperature-sensitive device may be eliminated according to the differential processing of first transmission time and second transmission time. Thus the measurement results of the time of flight are only related to the delay time of the non-temperature sensitive device, thereby reducing the problem of the inaccurate measurement of the time of flight of a target object caused by the temperature change of a device for measuring. Therefore, the accuracy of the measurement of the time of flight of the device for measuring is improved.

Abstract: The present application discloses a LiDAR, which includes a base including a bearing surface, an adjusting structure located on the bearing surface, and a laser transceiving module including a plurality of laser transceiving devices. A galvanometer module of the LiDAR is fixed on the bearing surface. Each laser transceiving device is fixed on the adjusting structure, respectively. Each laser transceiving device is able to generate an outgoing laser emitted to the galvanometer module, respectively. The adjusting structure is configured so that each of the laser transceiving devices has a corresponding distance from the bearing surface, and therefore, the outgoing lasers generated by each of the laser transceiving devices form a preset laser detection field of view outside the LiDAR.

Abstract: The present disclosure relates to a LiDAR. An embodiment of the present invention realizes a control function, a processing function, an emitting function, a receiving function, and an interface function of the LiDAR via each independent board to prevent components from causing a heat accumulation effect. In addition, according to the embodiments of the present disclosure, the digital plate for digital signal processing and the analog plate for analog signal processing are separately arranged to reduce electromagnetic interference between analog signals and digital signals, thereby further reducing the internal interference of the LiDAR.

Abstract: The present application discloses a laser emitting circuit and a LiDAR. In a one-driving-multiple emitting circuit, in an energy storage stage, a power supply stores energy for an energy storage element of the energy storage circuit, and a laser diode does not emit light. In an energy transfer stage, by setting a floating-ground diode D0, an energy charging current passes through an energy storage capacitor C2, the floating-ground diode D0 and the ground to form a loop. In an energy release stage, when the energy release switch element is in an off state, the energy release circuit where the energy release switch element is located is not the lowest impedance loop. A laser diode in the energy release circuit where the energy release switch element is located does not emit light.

Abstract: Embodiments of the present disclosure disclose an antenna array applied to an optical phased array, the optical phased array, and a LiDAR. The antenna array includes N phase compensation groups and N antenna groups, where each phase compensation group includes M phase compensation units, and each antenna group includes M antenna units, and where N and M are positive integers. An input end of a phase compensation unit in the phase compensation group is configured to receive an optical signal. An output end is connected to an antenna unit in the antenna group, is configured to transmit the received optical signal to the antenna unit, and performs phase compensation on the optical signal based on a phase shift caused by the antenna unit. The antenna unit is configured to transmit the optical signal.

Abstract: The present application discloses a method and a device for controlling a micro galvanometer of a solid-state LiDAR, and a solid-state LiDAR. The method includes acquiring a vertical angle range of a field of view scanned by the solid-state LiDAR, determining a first vertical angle of the field of view and a second vertical angle of the field of view corresponding to a preset ROI region of the solid-state LiDAR, reducing a slow axis scanning speed of the micro galvanometer to a first preset speed when it is monitored that the micro galvanometer scans the first vertical angle of the field of view, and adjusting the slow axis scanning speed of the micro galvanometer to a second preset speed when it is monitored that the micro galvanometer scans the second vertical angle of the field of view.

Abstract: An embodiment of this application discloses a laser emitting circuit and a LiDAR, and belongs to the field of the LiDAR. The structure of the laser emitting circuit is changed so that for the laser emitting circuit in an energy transfer stage, the energy transfer current from an energy storage element does not pass through a laser diode, and the laser diode is in a reverse-biased state relative to the energy transfer current. Therefore, the parasitic capacitance of an energy releasing switch element does not cause the laser diode to emit light in advance during an energy transfer charging process, which prevents the laser diode from emitting light at an unanticipated time, thereby solving the problem of laser leakage.

Abstract: The present application provides a LiDAR. A baffle fixing structure of the LiDAR is set between an inner housing of the LiDAR and a second housing for fixing a baffle that isolates an emitting laser from a reflected device. An angular displacement measuring device of the LiDAR includes a reflecting part and a light emitting part, wherein the reflecting part includes a plurality of reflecting teeth that extend downwardly and are spaced from each other, the light emitting part obtains a rotation angle of the reflecting part relative to the light emitting part by obtaining the number of the reflecting teeth passed by the measurement light. A rotating system in the LiDAR is arranged on one side of the laser transceiver system and is detachably connected to the laser transceiver system, so that modular production can be carried out, and the production efficiency is improved.

Abstract: A data transmission apparatus is applied to a LiDAR. The data transmission apparatus includes a first optical module, a second optical module, and a coupling optical system. The coupling optical system is arranged between the first optical module and the second optical module. The first optical module is communicatively connected to a LiDAR front-end apparatus, and the second optical module is communicatively connected to an upper application apparatus. The first optical module is configured to receive a first digital signal output by the LiDAR front-end apparatus and convert the first digital signal into an optical signal. The coupling optical system is configured to transmit the optical signal output by the first optical module to the second optical module. The second optical module is configured to convert the optical signal into the first digital signal and output the first digital signal to the upper application apparatus for processing.

Abstract: Embodiments of this application disclose a mirror control method and device and a LiDAR, pertaining to the field of LiDAR. The method includes: outputting a control signal configured to control a mirror to scan; detecting a feedback signal of the scanning mirror; determining an actual amplitude gain of the mirror based on the feedback signal, and determining an error of the actual amplitude gain relative to a preset amplitude gain threshold; and determining a frequency adjustment based on the error, adjusting frequency based on the frequency adjustment, and obtaining an output signal. In the embodiments of this application, stability of a scanning angle of the mirror can be maintained when resonance frequency of the mirror deviates.

Abstract: A LiDAR echo signal processing method is disclosed. The method includes: receiving an echo signal reflected by a to-be-detected object, where the echo signal includes multidimensional signal emission angles; buffering the echo signal based on the multidimensional signal emission angles to obtain buffered signals; when the number of buffered signals reaches a preset buffering number, extracting a target signal corresponding to a preset neighborhood window from the buffered signals; and performing non-coherent integration on the target signal and outputting the integrated target signal.

Abstract: A method, a device, and an apparatus for controlling laser emission are provided. A secondary emergent laser is emitted at a first time of a detection period. A primary emergent laser emitted at a second time of the detection period is adjusted according to a first detection echo corresponding to the secondary emergent laser.