Abstract: Methods, apparatus, computer-readable media, and systems for LiDAR detection are provided. In one aspect, a method for detection of a LiDAR having a plurality of lasers and a plurality of detectors, includes: dividing the plurality of lasers into a plurality of groups, with lasers within each group emitting light in parallel; detecting an echo using the plurality of detectors; determining an emission strategy for a next group of lasers configured to emit light in parallel based on detection results of the plurality of detectors and a light intensity of emitted lasers, the emission strategy allowing lasers emitted in parallel to have different light intensities; and controlling the next group of lasers to emit light based on the emission strategy.

Abstract: A control method of a lidar is provided. The lidar includes a laser emitter array with N laser emitters. The control method includes: controlling n laser emitters to emit a first detection laser beam, and controlling k laser emitters among the n laser emitters to emit a second detection laser beam; receiving echoes, reflected by a target object, of the first detection laser beam and the second detection laser beam; calculating a distance of the target object according to the echoes; and reducing, in a case that the target object is detected in a preset distance, an emission intensity of the first detection laser beam emitted by at least parts of the n laser emitters in a range corresponding to the target object in a next detection period.

Abstract: Methods, devices, and systems for a dynamic threshold based echo signal detection for LiDARs are provided. In one aspect, a detection method includes: determining at least one feature parameter that represents a working condition of a LiDAR; determining an echo signal collected by the LiDAR, the echo signal including at least a noise signal; selecting a processing mode for the echo signal based on the at least one feature parameter, detecting the noise signal in the processing mode, and determining a detection threshold based on the noise signal; and comparing the echo signal with the detection threshold, and outputting a target signal reflected from a target object in the echo signal.

Abstract: This disclosure discloses control methods and apparatuses for LiDAR. In an implementation, a method comprises: determining, for a group of channels in the LiDAR, a first light-emitting time sequence and a second light-emitting time sequence for lasers of the group of channels, wherein the first light-emitting time sequence is different from the second light-emitting time sequence, the lasers of the group of channels are configured to emit light in parallel, and each channel of the group of channels comprises a laser and a detector, controlling the lasers of the group of channels to emit a second group of detection pulses based on the second light-emitting time sequence in the second detection orientation, and determining, for a channel in the group of channels, an effective echo pulse of the channel based on the first group of echo pulses and the second group of echo pulses of the channel.

Abstract: A LiDAR, a detection method thereof, and a readable storage medium are disclosed. The LiDAR includes multiple lasers and multiple detectors to form multiple channels, and the detection method includes: performing detection by group for all channels, where the detection includes: emitting, by a laser, an optical signal, receiving, by a detector, an echo signal reflected by an obstacle, and determining detection information on the obstacle based on the echo signal; emitting, by each group of lasers, light in parallel; a single detection of each channel including a first sub-detection and a second sub-detection; and correspondingly changing a light-emitting strategy of a laser of a parallel light-emitting channel in at least one of the second sub-detection or a first sub-detection of a subsequent round based on an echo signal in the first sub-detection. Solutions of embodiments of this disclosure can reduce crosstalk between parallel light-emitting channels and improve detection quality.

Abstract: This disclosure provides a control method for a LiDAR, where the LiDAR includes n channels, n?32, each channel being formed by at least one laser and at least one detector, the control method including: S11: determining a light emission mode of lasers that are to emit light; and S12: controlling the channels to emit light in groups, lasers of channels within each group emitting light in parallel, where pulses emitted by the lasers of the group of channels are encoded in accordance with the light emission mode, at least one of pulses emitted by each laser serving as a ranging pulse, where the light emission mode is configured to cause ranging echo pulses of at least part of channels emitting light in parallel to be temporally staggered from each other.

Abstract: A method for controlling a lidar and a lidar are provided. The method includes: emitting a first sequence of laser pulses, the first sequence of laser pulses including at least a first detection pulse and a second detection pulse coded at a time interval T; receiving a plurality of echo pulses; determining whether an overlay is present among the plurality of echo pulses; and controlling the lidar to emit a second sequence of laser pulses to perform re-detection based on a determination of whether the overlay is present among the plurality of echo pulses.

Abstract: A method, a processor, and a laser radar system for filtering out interstitial points in a radar point cloud includes: for a to-be-recognized point in a point cloud, acquiring, from point cloud information, ranging information of the to-be-recognized point, ranging information of one or more auxiliary points at the first side of the to-be-recognized point, and ranging information of one or more auxiliary points at the second side of the to-be-recognized point; determining, based on the ranging information of the to-be-recognized point, whether the to-be-recognized point is an interstitial point; and filtering out the to-be-recognized point if the to-be-recognized point is the interstitial point.

Abstract: A control method of a lidar is provided. The lidar includes a laser emitter array with N laser emitters. The control method includes: controlling n laser emitters to emit a first detection laser beam, and controlling k laser emitters among the n laser emitters to emit a second detection laser beam; receiving echoes, reflected by a target object, of the first detection laser beam and the second detection laser beam; calculating a distance of the target object according to the echoes; and reducing, in a case that the target object is detected in a preset distance, an emission intensity of the first detection laser beam emitted by at least parts of the n laser emitters in a range corresponding to the target object in a next detection period.