CONTROL METHOD, LIDAR, AND TERMINAL DEVICE
The present disclosure relates to control methods, lidars, and terminal devices. In an example method, a control apparatus controls a receiving optical system to receive a first echo signal reflected by a target object, and controls a detector to convert the first echo signal into an electrical signal by using a first pixel configuration, where in the first pixel configuration, different regions of the detector have different pixel configurations, or the detector has different pixel configurations in different time periods.
1 . A control method, comprising:
controlling a receiving optical system to receive a first echo signal reflected by a target object; and
controlling a detector to convert the first echo signal into an electrical signal by using a first pixel configuration, wherein in the first pixel configuration, at least one of different regions of the detector have different pixel configurations or the detector has different pixel configurations in different time periods.
2 . The method according to claim 1 , wherein the first echo signal is presented as a linear spot or a staggered spot, and the staggered spot is at least one of a spot staggered in a horizontal direction or a vertical direction of the detector.
3 . The method according to claim 1 , wherein the different regions of the detector include a region corresponding to a central field of view region of a lidar in the detector and a region corresponding to a non-central field of view region, and the central field of view region is a region within a preset angle range in front of the lidar.
4 . The method according to claim 3 , wherein a quantity of cells corresponding to each pixel in a pixel configuration corresponding to the central field of view region is less than a quantity of cells corresponding to each pixel in a pixel configuration corresponding to the non-central field of view region.
5 . The method according to claim 1 , wherein the different regions of the detector include a region in which the target object is presented in the detector and a region other than the region in which the target object is presented; and
wherein before the controlling a detector to convert the first echo signal into an electrical signal by using a first pixel configuration, the method further comprises:
controlling the detector to convert a second echo signal into a second electrical signal by using a second pixel configuration, wherein for the region in which the target object is presented in the detector, a quantity of cells corresponding to each pixel in the first pixel configuration is less than a quantity of cells corresponding to each pixel in the second pixel configuration, and for the region other than the region in which the target object is presented in the detector, a quantity of cells corresponding to each pixel in the first pixel configuration is equal to a quantity of cells corresponding to each pixel in the second pixel configuration.
6 . The method according to claim 1 , wherein the different time periods comprise a first time period and a second time period, the first time period corresponds to a pixel configuration 1, the second time period corresponds to a pixel configuration 2, quantities of cells corresponding to all pixels in the pixel configuration 1 and the pixel configuration 2 are the same, a region comprising cells in a working state in the pixel configuration 1 and a region comprising cells in a working state in the pixel configuration 2 are staggered in at least one of a horizontal direction or a vertical direction of the detector, and a staggered distance is less than a cell distance corresponding to one pixel.
7 . The method according to claim 1 , wherein the different time periods comprise a first time period and a second time period, the first time period corresponds to a pixel configuration 1, the second time period corresponds to a pixel configuration 2, cells in a working state in the pixel configuration 1 and the pixel configuration 2 are the same, and a quantity of cells corresponding to each pixel in the pixel configuration 1 is greater than a quantity of cells corresponding to each pixel in the pixel configuration 2.
8 . The method according to claim 1 , wherein;
the different regions of the detector are different sub-regions, on the detector, in a region on which the first echo signal is focused; or
the different time periods are any one of the following time periods:
time periods corresponding to different first echo signals returned through detection of a same region of the target object;
a time period corresponding to a first echo signal returned through detection of different regions of the target object; or
time periods corresponding to first echo signals returned through different times of detection of the entire target object.
9 . The method according to claim 1 , wherein the method further comprises:
receiving an upgrade instruction, wherein the upgrade instruction comprises a third pixel configuration; and
controlling the detector to convert a third echo signal into a third electrical signal by using the third pixel configuration.
10 . A lidar, comprising a controller, a receiving optical system, and a detector, wherein the controller is configured to perform operations comprising:
controlling the receiving optical system to receive a first echo signal reflected by a target object; and
controlling the detector to convert the first echo signal into a first electrical signal by using a first pixel configuration, wherein:
in the first pixel configuration, at least one of different regions of the detector have different pixel configurations or the detector has different pixel configurations in different time periods;
the receiving optical system is configured to receive an echo signal; and
the detector is configured to convert the echo signal into an electrical signal.
11 . The lidar according to claim 10 , further comprising a transmitter and a transmitting optical system, wherein:
the transmitter is configured to emit a detection signal under control of the controller; and
the transmitting optical system is configured to transmit the detection signal.
12 . The lidar according to claim 10 , wherein the detector comprises a single photon avalanche diode (SPAD) detector array.
13 . The lidar according to claim 10 , wherein the lidar further comprises a scanning mechanism, and the scanning mechanism comprises one or more of a multi-faceted rotating mirror, an oscillating mirror, a micro-electro-mechanical system (MEMS) scanning mirror, or a prism.
14 . The lidar according to claim 10 , further comprising a processor, wherein the processor is configured to process the electrical signal to obtain point cloud data.
15 . The lidar according to claim 14 , wherein the processor is further configured to determine a target feature based on the point cloud data.
16 . The lidar according to claim 14 , wherein the controller and the processor are integrated into a system on chip (SOC).
17 . The lidar according to claim 10 , wherein the first echo signal is presented as a linear spot or a staggered spot, and the staggered spot is a spot staggered in at least one of a horizontal direction or a vertical direction of the detector.
18 . The lidar according to claim 10 , wherein the different regions of the detector include a region corresponding to a central field of view region of a lidar in the detector and a region corresponding to a non-central field of view region, and the central field of view region is a region within a preset angle range in front of the lidar.
19 . The lidar according to claim 18 , wherein a quantity of cells corresponding to each pixel in a pixel configuration corresponding to the central field of view region is less than a quantity of cells corresponding to each pixel in a pixel configuration corresponding to the non-central field of view region.
20 . The lidar according to claim 10 , wherein the different regions of the detector include a region in which the target object is presented in the detector and a region other than the region in which the target object is presented; and
wherein before the controlling a detector to convert the first echo signal into an electrical signal by using a first pixel configuration, the operations further comprise:
controlling the detector to convert a second echo signal into a second electrical signal by using a second pixel configuration, wherein for the region in which the target object is presented in the detector, a quantity of cells corresponding to each pixel in the first pixel configuration is less than a quantity of cells corresponding to each pixel in the second pixel configuration, and for the region other than the region in which the target object is presented in the detector, a quantity of cells corresponding to each pixel in the first pixel configuration is equal to a quantity of cells corresponding to each pixel in the second pixel configuration.