US 11,947,012 B2
LiDAR controlling method and device, electronic apparatus and storage medium
Changsheng Gong, Shenzhen (CN); and Xi Feng, Shenzhen (CN)
Assigned to SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SUTENG INNOVATION TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Dec. 20, 2022, as Appl. No. 18/085,523.
Claims priority of application No. 202111595865.3 (CN), filed on Dec. 23, 2021.
Prior Publication US 2023/0204771 A1, Jun. 29, 2023
Int. Cl. G01S 17/14 (2020.01); G01S 7/481 (2006.01); G01S 7/4861 (2020.01); G01S 7/497 (2006.01)
CPC G01S 17/14 (2020.01) [G01S 7/4815 (2013.01); G01S 7/4861 (2013.01); G01S 7/497 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A LiDAR controlling method for controlling a LiDAR, wherein the LiDAR comprises a laser emitting array and a laser receiving array, and the method comprises:
in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, wherein the emitting group comprises at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk;
according to a time coding sequence corresponding to one of the at least two emitting units that is for a Kth emission, controlling the emitting unit of the Kth emission to emit a laser beam at a first corresponding time, wherein K is an integer greater than or equal to 1;
after a first preset duration threshold expires, according to a time coding sequence corresponding to one of the at least two emitting units that is for a (K+1)th emission, controlling the emitting unit for the (K+1)th emission to emit a laser beam at a second corresponding time;
controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes formed after the laser beams are reflected by a target object;
wherein a method for determining a time coding sequence corresponding to any one of the emitting units in the emitting group comprises:
based on a first preset sequence, generating a series of pseudo-random sequences via a linear feedback shift register to obtain a plurality of pseudo-random sequences;
determining an autocorrelation function of each of the plurality of pseudo-random sequences;
determining, according to the autocorrelation functions and from the plurality of pseudo-random sequences, a pseudo-random sequence whose autocorrelation coefficient is less than a first specified threshold; and
selecting one pseudo-random sequence from the determined pseudo-random sequence as the time coding sequence corresponding to any one of the emitting units.