DETECTION SYSTEM, TERMINAL DEVICE, AND DETECTION CONTROL METHOD
A detection system, a terminal device, and a detection control method are provided, to resolve a problem of low detection accuracy of a detection system in the conventional technology, and are used in fields such as autonomous driving, intelligent driving, assisted driving, or networked vehicles. The detection system includes a transmit module, a receive module, a first scanning module, and a second scanning module. An included angle between a first normal vector of a first reflective surface of the first scanning module and a second normal vector of a second reflective surface of the second scanning module is a first angle greater than 0 degrees. The first reflective surface and the second reflective surface are adjacent reflective surfaces. An included angle between an optical axis of the transmit module and an optical axis of the receive module is a second angle greater than 0 degrees.
1 . A detection system, comprising a transmitter, a receiver, a first scanner, and a second scanner, wherein
the transmitter is configured to transmit signal light;
the first scanner is configured to reflect the signal light from the transmitter;
the second scanner is configured to reflect a received echo signal to the receiver, and the echo signal comprises reflected light obtained by reflecting the signal light by at least one target;
the receiver is configured to receive the echo signal; and
an included angle between a first normal vector of a first reflective surface of the first scanner and a second normal vector of a second reflective surface of the second scanner is a first angle, the first reflective surface and the second reflective surface are adjacent reflective surfaces, an included angle between an optical axis of the transmitter and an optical axis of the receiver is a second angle, and both the first angle and the second angle are greater than 0 degrees.
2 . The system according to claim 1 , wherein the detection system further comprises a detector, and the echo signal comprises a first echo signal;
the second scanner is configured to reflect the first echo signal to the receiver, or is configured to reflect the first echo signal to an area outside the receiver, and the first echo signal is reflected light obtained by reflecting the signal light by a first target in the at least one target; and
the receiver is configured to propagate the first echo signal to a first area of the detector or an area outside the detector, and the first area is a currently non-gated area in the detector.
3 . The system according to claim 1 , wherein the detection system further comprises the detector, and the echo signal comprises a second echo signal;
the second scanner is configured to reflect the second echo signal to the receiver, and the second echo signal is reflected light obtained by reflecting the signal light by a second target that is in the at least one target and that is located in a detection area;
the receiver is configured to propagate the second echo signal to a second area of the detector, and the second area is a currently gated area in the detector; and
the detector is configured to perform optical-to-electrical conversion on the second echo signal to obtain an electrical signal, and the electrical signal is used to determine association information of the second target.
4 . The system according to claim 1 , wherein the first scanner and the second scanner share a first scanning axis; and
the first reflective surface and the second reflective surface are adjacent in a direction parallel to the first scanning axis.
5 . The system according to claim 1 , wherein a scanning axis of the first scanner is a second scanning axis, a scanning axis of the second scanner is a third scanning axis, and a direction of the second scanning axis is parallel to a direction of the third scanning axis, or an extension line of the second scanning axis coincides with an extension line of the third scanning axis; and
the first reflective surface and the second reflective surface are adjacent in a direction parallel to the second scanning axis or in a direction parallel to the third scanning axis.
6 . The system according to claim 1 , wherein the second angle is twice the first angle.
7 . The system according to claim 1 , wherein the first scanner comprises any one of the following: a rotation mirror, a swing mirror, and a micro electro-mechanical system MEMS mirror; and/or
the second scanner comprises any one of the following: a mirror, a swing mirror, and a micro electro-mechanical system MEMS mirror.
8 . The system according to claim 2 , wherein the transmitter comprises a light source array, and the detector comprises a pixel array; and
the light source array gates light sources in a time division manner by column, and the pixel array gates pixels in a time division manner by column.
9 . The system according to claim 8 , wherein the first area of the detector is at least one column of non-gated pixels, and the second area is at least one column of gated pixels.
10 . The system according to claim 8 , wherein the first angle is greater than or equal to a first angular resolution of the detection system, and the first angular resolution is an angular resolution of the detection system in a direction corresponding to a column of the pixel array.
11 . The system according to claim 2 , wherein the transmitter comprises a light source array, and the detector comprises a pixel array; and
the light source array gates light sources in a time division manner by row, and the pixel array gates pixels in a time division manner by row.
12 . The system according to claim 11 , wherein the first area of the detector is at least one row of non-gated pixels, and the second area is at least one row of gated pixels.
13 . The system according to claim 11 , wherein the first angle is greater than or equal to a second angular resolution of the detection system, and the second angular resolution is an angular resolution of the detection system in a direction corresponding to a row of the pixel array.
14 . The system according to claim 3 , wherein the detection system further comprises a processor; and
the processor is configured to: receive the electrical signal from the detector, and determine the association information of the second target based on the electrical signal.
15 . A terminal device, comprising a detection system, wherein the detection system comprises a transmitter, a receiver, a first scanner, and a second scanner, wherein
the transmitter is configured to transmit signal light;
the first scanner is configured to reflect the signal light from the transmitter;
the second scanner is configured to reflect a received echo signal to the receiver, and the echo signal comprises reflected light obtained by reflecting the signal light by at least one target;
the receiver is configured to receive the echo signal; and
an included angle between a first normal vector of a first reflective surface of the first scanner and a second normal vector of a second reflective surface of the second scanner is a first angle, the first reflective surface and the second reflective surface are adjacent reflective surfaces, an included angle between an optical axis of the transmitter and an optical axis of the receiver is a second angle, and both the first angle and the second angle are greater than 0 degrees.
16 . A detection control method, wherein the method comprises:
controlling a transmitter to transmit signal light;
controlling a first scanner to reflect the signal light from the transmitter; and
controlling a second scanner to reflect a received echo signal to a receiver, wherein the echo signal comprises reflected light obtained by reflecting the signal light by at least one target; and
an included angle between a first normal vector of a first reflective surface of the first scanner and a second normal vector of a second reflective surface of the second scanner is a first angle, the first reflective surface and the second reflective surface are adjacent reflective surfaces, an included angle between an optical axis of the transmitter and an optical axis of the receiver is a second angle, and both the first angle and the second angle are greater than 0 degrees.
17 . The method according to claim 16 , wherein the echo signal comprises a first echo signal; and
the controlling a second scanner to reflect a received echo signal to a receiver comprises:
controlling the second scanner to reflect the first echo signal to the receiver, or controlling the second scanner to reflect the first echo signal to an area outside the receiver, wherein the first echo signal is reflected light that is of the signal light and that is reflected by a first target in the at least one target, the first echo signal is propagated to a first area of a detector by the receiver, and the first area is a currently non-gated area in the detector.
18 . The method according to claim 16 , wherein the echo signal comprises a second echo signal;
the controlling a second scanner to reflect a received echo signal to a receiver comprises:
controlling the second scanner to reflect the second echo signal to the receiver, wherein the second echo signal is reflected light obtained by reflecting the signal light by a second target that is in the at least one target and that is located in a detection area; and
the method further comprises:
controlling the detector to gate a second area, wherein the gated second area is used to perform optical-to-electrical conversion on the received second echo signal, to obtain an electrical signal, and the electrical signal is used to determine association information of the second target.
19 . The method according to claim 18 , wherein the detector comprises a pixel array; and
the controlling the detector to gate a second area comprises:
controlling the pixel array to gate the second area by column.
20 . The method according to claim 19 , wherein the transmitter comprises a light source array; and
the controlling a transmitter to transmit signal light comprises:
controlling the light source array to gate light sources in a time division manner by column.