Detection method and apparatus and lidar

Abstract

A LiDAR detection method, apparatus, and a LiDAR are provided. The LiDAR detection method includes: obtaining ambient information of the LiDAR; determining a detection mode of the LiDAR based on the ambient information; determining a target detection region of the LiDAR based on the detection mode; determining a working parameter of the LiDAR based on the target detection region; and running, by the LiDAR, the working parameter to perform regional detection.

What is claimed is: 
     
         1 . A detection method, comprising:
 obtaining ambient information of a LiDAR;   determining a detection mode of the LiDAR based on the ambient information;   determining a target detection region of the LiDAR based on the detection mode;   determining a working parameter of the LiDAR based on the target detection region; and   running, by the LiDAR, the working parameter to perform regional detection.   
     
     
         2 . The method according to  claim 1 , wherein
 the ambient information comprises speed information of a vehicle carrying the LiDAR and characteristic information of an object detected by the LiDAR; and   the detection mode comprises a far-field detection mode and a near-field detection mode.   
     
     
         3 . The method according to  claim 2 , wherein determining the detection mode of the LiDAR based on the ambient information comprises:
 obtaining the speed information of the vehicle carrying the LiDAR; and   when a duration in which the speed information of the vehicle carrying the LiDAR is greater than or equal to a first preset value reaches preset duration, adjusting the LiDAR to enter the far-field detection mode; and   when the duration in which the speed information of the vehicle carrying the LiDAR is less than the first preset value reaches the preset duration, adjusting the LiDAR to enter the near-field detection mode.   
     
     
         4 . The method according to  claim 2 , wherein determining the detection mode of the LiDAR based on the ambient information comprises:
 determining an operating scenario of the LiDAR based on the characteristic information of the object detected by the LiDAR; and   determining the detection mode of the LiDAR based on the operating scenario.   
     
     
         5 . The method according to  claim 4 , wherein determining the detection mode of the LiDAR based on the operating scenario comprises:
 when the operating scenario is an expressway, determining that the detection mode of the LiDAR is the far-field detection mode; and   when the operating scenario is an urban road, determining that the detection mode of the LiDAR is the near-field detection mode.   
     
     
         6 . The method according to  claim 2 , wherein determining the detection mode of the LiDAR based on the ambient information comprises:
 obtaining the characteristic information of the object detected by the LiDAR;   determining a number of obstacles within a preset distance around the LiDAR and a speed of the obstacle within the preset distance based on the characteristic information of the object;   obtaining an operating speed of the vehicle of the LiDAR; and   when the operating speed is greater than or equal to a first preset value, and when the number of obstacles within the preset distance is less than a second preset value, and the speed of the obstacle within the preset distance is greater than or equal to the first preset value, determining that the LiDAR is in the far-field detection mode;   when the operating speed is greater than or equal to the first preset value, and when the number of obstacles within the preset distance is greater than or equal to the second preset value, or the speed of the obstacle within the preset distance is less than the first preset value, determining that the LiDAR is in the near-field detection mode;   when the operating speed is less than the first preset value, and when the number of obstacles within the preset distance is greater than or equal to the second preset value, or the speed of the obstacle within the preset distance is less than the first preset value, determining that the LiDAR is in the near-field detection mode; and   when the operating speed is less than the first preset value, and when the number of obstacles within the preset distance is less than the second preset value, and the speed of the obstacle within the preset distance is greater than or equal to the first preset value, determining that the LiDAR is in the far-field detection mode.   
     
     
         7 . The method according to  claim 2 , wherein determining the target detection region of the LiDAR based on the detection mode comprises:
 when the LiDAR is in the far-field detection mode, determining that the target detection region is a first detection region; or   when the LiDAR is in the near-field detection mode, determining that the target detection region is a second detection region.   
     
     
         8 . The method according to  claim 1 , wherein
 when the LiDAR is a solid-state LiDAR, the working parameter comprises a scanning parameter of an optical scanning apparatus of the LiDAR; and   determining the scanning parameter of the LiDAR based on the target detection region comprises:   determining a vertical view range in the target detection region; and   reducing a scanning speed of the optical scanning apparatus within the vertical view range based on the vertical view range; or   increasing scanning time of the optical scanning apparatus within the vertical view range based on the vertical view range.   
     
     
         9 . The method according to  claim 1 , wherein
 when the LiDAR is a mechanical LiDAR, working parameters are pulse emitting frequency, an optical direction of an emitted laser beam, scanning frequency of the LiDAR, and a vertical view angle of the mechanical LiDAR; and   determining the working parameter of the LiDAR based on the target detection region comprises:   when the LiDAR operates in a far-field detection mode, determining that the target detection region is a first detection region, that is, a detection region corresponding to a middle-to-far detection field of view, reducing a vertical view angle of the LiDAR, reducing pulse emitting frequency of the emitted laser beam of the LiDAR, and increasing scanning frequency of the LiDAR; or   when the LiDAR operates in a near-field detection mode, determining that the target detection region is a second detection region, that is, a detection region corresponding to a near detection field of view, increasing the pulse emitting frequency of the LiDAR, lowering the optical direction of the emitted laser beam of the LiDAR, and increasing the scanning frequency of the LiDAR.   
     
     
         10 . The method according to  claim 1 , further comprising:
 obtaining characteristic information of an object in the target region; and   further adjusting working parameters based on the characteristic information of the object in the target region.   
     
     
         11 . A detection apparatus, comprising:
 an obtaining unit, configured to obtain ambient information of a LiDAR;   a determining unit, configured to determine a detection mode of the LiDAR based on the ambient information, wherein   the determining unit is further configured to determine a target detection region of the LiDAR based on the detection mode; and   the determining unit is further configured to determine a scanning parameter of the LiDAR based on the target detection region; and   a running unit, configured to run the scanning parameter to perform regional detection.   
     
     
         12 . A LiDAR, comprising: an emission apparatus, a receiving apparatus, a scanning apparatus, a processor, a memory, a communication interface, and a communication bus, wherein
 the processor, the memory, and the communication interface complete mutual communication with each other via the communication bus;   the emission apparatus is configured to emit a detection laser beam;   the receiving apparatus is configured to receive an echo laser beam;   the scanning apparatus is configured to deflect a detection laser beam to implement scanning; and   the memory is configured to store at least one executable instruction, and the executable instruction enables the processor to perform steps of the detection method according to  claim 1 .   
     
     
         13 . The LiDAR according to  claim 12 , wherein
 when the LiDAR is a mechanical LiDAR, the scanning apparatus is a rotary drive apparatus; and   the scanning apparatus is configured to drive the emission apparatus and the receiving apparatus to rotate to implement scanning.   
     
     
         14 . The LiDAR according to  claim 12 , wherein
 when the LiDAR is a solid-state LiDAR, the scanning apparatus is an optical scanning apparatus, and the optical scanning apparatus is configured to deflect the detection laser beam to implement scanning, and also configured to receive the echo laser beam and deflect the echo laser beam to the receiving apparatus.   
     
     
         15 . The LiDAR according to  claim 14 , wherein the optical scanning apparatus is a galvanometer scanning apparatus.