| CPC G01S 7/4802 (2013.01) [G01S 7/4817 (2013.01); G01S 7/4876 (2013.01); G01S 7/493 (2013.01)] | 6 Claims |
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1. A LiDAR control method, comprising:
acquiring first echo data, the first echo data being collected by a receiving array after a LiDAR emits a laser beam according to a first preset scanning mode to measure a scanning region;
when an oversaturated region is determined to exist based on the first echo data, controlling the LiDAR to measure the scanning region according to a second preset scanning mode to obtain second echo data, wherein the second preset scanning mode comprises:
controlling emitting units corresponding to non-oversaturated regions to emit laser beams in parallel;
receiving in parallel, by receiving units, the laser beams; and
performing data fusion processing based on the first echo data and the second echo data to obtain target data,
wherein after acquiring the first echo data, the method further comprises:
determining whether there are oversaturated regions according to the first echo data;
when it is determined based on the first echo data that there are no oversaturated regions, determining whether a plurality of measurements are required according to a configuration condition of the LiDAR;
when it is determined that the plurality of measurements are required, controlling the LiDAR to perform the plurality of measurements according to the first preset scanning mode to obtain a plurality of measurement results; and
determining the target data according to the plurality of measurement results.
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