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 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 optimizing an area of a ternary FPRM circuit using population migration algorithm, the method including: 1) establishing an area estimation model of the ternary FPRM circuit; 2) establishing a corresponding relationship between the ternary FPRM circuit and population migration algorithm; 3) setting an attraction function for calculating the attraction of the population location in population migration algorithm; 4) setting relevant parameters of population migration algorithm; and 5) employing population migration algorithm to calculate and obtain the greatest attractive site and the greatest attraction.

Abstract: A method for optimizing an area of a ternary FPRM circuit using population migration algorithm, the method including: 1) establishing an area estimation model of the ternary FPRM circuit; 2) establishing a corresponding relationship between the ternary FPRM circuit and population migration algorithm; 3) setting an attraction function for calculating the attraction of the population location in population migration algorithm; 4) setting relevant parameters of population migration algorithm; and 5) employing population migration algorithm to calculate and obtain the greatest attractive site and the greatest attraction.