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1. 发明公开

EP4372410A1 LIDAR RANGING METHOD, LIDAR AND COMPUTER-READABLE STORAGE MEDIUM 审中-实审
公开(公告)号：EP4372410A1
公开(公告)日：2024-05-22
申请号：EP22840964.5
申请日：2022-03-17
申请人： Hesai Technology Co., Ltd.
发明人： XU, Shuaiqi , ZHANG, Hongyan , YANG, Jin , XIANG, Shaoqing
IPC分类号： G01S7/4865 , G01S17/89
CPC分类号： G01S17/42 , G01S7/48 , G01S17/89 , G01S7/4865
摘要： Provided are a ranging method for a LiDAR, a LiDAR, and a computer-readable storage medium. The ranging method (10) includes: S101: acquiring multiple frames of detection data of a three-dimensional environment; S102: predicting, based on at least part of previous k frames of the detection data, a position where an obstacle is located in the three-dimensional environment during the (k + 1)th detection, where k is an integer, and k ≥ 1; S103: when performing the (k + 1)th detection, changing, based on predicted position information of the obstacle, a range of a detection window for at least one point on the obstacle; and S104: calculating ranging information of the at least one point only based on echo information within the changed detection window. The range of the detection window is changed based on the feedback of a detection result, and detection is performed only within a distance range where an obstacle is present, thereby saving storage space and reducing calculation requirements or power consumption.

2. 发明公开

EP4332619A1 CONTROL METHOD FOR LASER RADAR, AND LASER RADAR 审中-实审
公开(公告)号：EP4332619A1
公开(公告)日：2024-03-06
申请号：EP21939066.3
申请日：2021-12-15
申请人： Hesai Technology Co., Ltd.
发明人： LIU, Kui , XIANG, Shaoqing
IPC分类号： G01S7/484 , G01S17/48
摘要： A control method (10) for a LiDAR (100). The method comprises: transmitting a multi-pulse sequence with a time interval encoding (S101); receiving LiDAR echoes to determine whether the LiDAR echoes include a valid echo pulse sequence corresponding to the multi-pulse sequence (S102); when the LiDAR echoes includes the valid echo pulse sequence corresponding to the multi-pulse sequence, determining whether the valid echo pulse sequence is interfered with according to a pulse characteristic of the valid echo pulse sequence (S103); and when the valid echo pulse sequence is interfered with, adjusting the time interval encoding at a next transmission according to a distribution of an interference signal in the LiDAR echoes. (S104). According to the consistency of the pulse characteristic of the valid echo pulse sequence (or the degree to which the expectation is met), whether the valid echo pulse sequence is interfered with is determined and the setting of time interval encoding is adjusted at the next transmission according to the distribution of the interference signal in the LiDAR echoes.

3. 发明公开

EP4332616A1 METHOD FOR MEASURING REFLECTIVITY OF TARGET OBJECT BY USING LIDAR, AND LIDAR 审中-实审
公开(公告)号：EP4332616A1
公开(公告)日：2024-03-06
申请号：EP21939067.1
申请日：2021-12-15
申请人： Hesai Technology Co., Ltd.
发明人： HU, Tianjian , CHEN, Jie , KUANG, Jie , LI, Li , LI, Yanfang , WANG, Yizun , XIANG, Shaoqing
IPC分类号： G01S7/48
摘要： Methods and apparatuses for measuring reflectivity of a target object by using laser radar (LIDAR) are provided. In an implementation, a method comprising: a detector of the LIDAR receives an echo of a detection beam reflected by a target object, and converts the echo into an electrical signal to obtain an echo photocurrent integral. The reflectivity of the target object is determined based on a predetermined reflectivity calibration curve and a photocurrent integral of the echo.

4. 发明公开

EP4321904A1 LASER RADAR AND DISTANCE MEASURING METHOD 审中-实审
公开(公告)号：EP4321904A1
公开(公告)日：2024-02-14
申请号：EP21935875.1
申请日：2021-12-15
申请人： Hesai Technology Co., Ltd.
发明人： YANG, Jin , GU, Tianchang , WANG, Chongyang , XIANG, Shaoqing
IPC分类号： G01S17/48 , G01S7/484 , G01S7/4865 , G01S7/487
摘要： A laser radar and a distance measuring method. The laser radar comprises: a laser emitting device (11), a control device (12), a detection device (13) and a data processing device (14), the control device (12) is configured to be capable of generating a trigger signal on the basis of a time sequence random number; the laser emitting device (11) comprises at least one laser (111) and a driver (112) coupled to the laser (111), the driver (112) is configured to drive, according to the trigger signal, the laser (111) to emit a laser pulse signal; the detection device (13) is configured to receive an echo signal after the laser pulse signal is reflected by a target object, and convert the echo signal into an electrical signal; and the data processing device (14) determines distance information of the target object on the basis of the time when emitting the laser pulse signal and the time when receiving the echo signal. The laser radar uses the solution of random light emission, such that interference points which interfere with the laser radar do not have a spatial correlation; and the time sequence and amplitude of multiple pulses are then modulated by using multi-pulse coding, so as to determine whether an echo code is the same as an emitted pulse sequence code and identify an echo signal, thereby further improving the anti-interference effect.

5. 发明公开

EP4321903A1 SOLID-STATE LASER RADAR AND METHOD FOR DETECTING BY USING SAME 审中-实审
公开(公告)号：EP4321903A1
公开(公告)日：2024-02-14
申请号：EP21935874.4
申请日：2021-12-15
申请人： Hesai Technology Co., Ltd.
发明人： LIU, Hao , ZHU, Xuezhou , XU, Sen , LIU, Xugang , XIANG, Shaoqing
IPC分类号： G01S17/48 , G01S7/484
摘要： A solid-state laser radar (100), including: a plurality of emission modules (110), each emission module (110) including at least one light-emitting unit (111), and the light-emitting unit (111) including a plurality of lasers configured to emit detection beams at the same time; and a receiving module (120), including at least one detection unit (121), the detection unit (121) including a plurality of photodetectors configured to receive echos, reflected by a target object, of the detection beams, the plurality of emission modules (110) are disposed around the receiving module (120), the light-emitting units (111) of the plurality of emission modules (110) are located on a same plane, and one detection unit (121) is configured to receive echos, reflected by the target object, of the detection beams emitted by the light-emitting units (111) of the plurality of emission modules (110). For a set range of field angles, the lengths of the linear array light-emitting units (111) emitting light at the same time are greatly reduced by providing the plurality of emission modules (110), thereby greatly reducing the light-emitting non-uniformity of the light-emitting units (111), reducing a ranging error of the solid-state laser radar (100) within the set field angles, and improving the ranging performanceLiDAR.

6. 发明公开

EP4318831A1 LASER AND LASER RADAR COMPRISING SAME 审中-实审
公开(公告)号：EP4318831A1
公开(公告)日：2024-02-07
申请号：EP21934637.6
申请日：2021-12-06
申请人： Hesai Technology Co., Ltd.
发明人： LI, Wei , CHEN, Jie , XIAO, Yong , XIANG, Shaoqing
IPC分类号： H01S5/042 , H01S5/00 , H01S5/183 , H01S5/42 , G01S7/48 , G01S7/481
摘要： Provided in the present disclosure is a laser for use in a LiDAR, the laser comprising: a plurality of light-emitting units, each light-emitting unit comprising a plurality of light-emitting points, wherein the plurality of light-emitting units share a cathode or an anode; and each light-emitting unit is respectively provided with a wiring unit; and each wiring unit is electrically connected to an unshared anode or cathode of its corresponding light-emitting unit. The area of a laser provided with a plurality of light-emitting units does not increase, and echo light beams generated from detection light beams emitted by the plurality of light-emitting units are received by the same detector, thereby improving the vertical angular resolution and point cloud density of a LiDAR.

7. 发明公开

EP4202483A1 DETECTION METHOD USING LIDAR AND LIDAR 审中-实审
公开(公告)号：EP4202483A1
公开(公告)日：2023-06-28
申请号：EP21857207.1
申请日：2021-04-25
申请人： Hesai Technology Co., Ltd.
发明人： SUN, Kai , XIANG, Shaoqing
IPC分类号： G01S7/497
摘要： The present disclosure provides a detection method (100) of a lidar (300). The lidar (300) includes a detection part, and the detection part includes a plurality of detection units (320), where the plurality of detection units (320) may form one or more output regions. The method (100) includes the following steps: selecting an output region from the detection part according to current ambient light information (S101); the output region including one or more detection units (320); obtaining echo information of the selected output region (S102); and performing detection according to the echo information of the selected output region (S103). The signal-to-noise ratio at a receiving end of the lidar (300) is increased, and performance of the lidar (300) is improved.

8. 发明公开

EP3995851A1 TRANSMITTING UNIT OF LASER RADAR, LASER RADAR, AND DISTANCE MEASUREMENT METHOD 审中-公开
公开(公告)号：EP3995851A1
公开(公告)日：2022-05-11
申请号：EP20914833.7
申请日：2020-12-01
申请人： Hesai Technology Co., Ltd.
发明人： LIANG, Feng , WANG, Rui , XIANG, Shaoqing
IPC分类号： G01S7/484
摘要： An emitting unit (100) of a lidar (10) is provided, including a laser emitter array (101) capable of emitting detection light beams (L1, L2), and an emitting controller (102) that is coupled to the laser emitter array (101), controls the laser emitter array (101) to emit a first detection light beam (L1) in a first mode, and emit a second detection light beam (L2) in a second mode before or after emitting the first detection light beam in the first mode. The first mode includes: controlling n laser emitters (1011) in the laser emitter array (101) to emit light, where n is less than or equal to N. The second mode includes: controlling k laser emitters (1011) in the laser emitter array (101) to emit light, where the k laser emitters (1011) is selected from the n laser emitters (1011), and k is less than n. A solution that independently and alternately performs long-distance measurement and short-distance measurement of the lidar is provided. During long-distance measurement, all channels or most of channels operate to measure target objects (OB) at middle and long distances. During short-distance measurement, only a subset of channels operate, so that short-distance optical crosstalk may be greatly reduced while ensuring the resolution of the long-distance measurement.

9. 发明公开

EP3919937A1 LIDAR AND PROBE APPARATUS THEREOF 审中-公开
公开(公告)号：EP3919937A1
公开(公告)日：2021-12-08
申请号：EP19926538.0
申请日：2019-08-30
申请人： Hesai Technology Co., Ltd.
发明人： CHEN, Jie , MU, Yongji , DING, Linsen , XIANG, Shaoqing
IPC分类号： G01S17/48 , G01S7/481
摘要： A lidar includes: a main shaft (2), a radar rotor (17), an upper cartridge plate (7), a top cover (15), and a base (1). The upper cartridge plate (7) is fixedly disposed relative to the radar rotor (17). The upper cartridge plate (7) is closer to the base (1) than to the top cover (15) in an axial direction of the lidar. The main shaft (2) is disposed perpendicular to the base (1) and is located between the upper cartridge plate (7) and the base (1). The lidar can shorten wiring of every module, is convenient to install and maintain, and has an improved mechanical reliability.

10. 发明公开

EP4390451A1 METHOD AND APPARATUS FOR IMPROVING RESOLUTION OF LIDAR, AND LIDAR 审中-实审
公开(公告)号：EP4390451A1
公开(公告)日：2024-06-26
申请号：EP22857222.8
申请日：2022-02-24
申请人： Hesai Technology Co., Ltd.
发明人： YE, Liangchen , XIANG, Shaoqing
IPC分类号： G01S7/486 , G01S13/02
CPC分类号： G01S17/66 , G01S17/02 , G01S7/486 , G01S13/02
摘要： A method and an apparatus for improving the resolution of a LiDAR, and a LiDAR, the LiDAR including a plurality of actual channels, wherein one actual channel corresponds to one emitter unit at a emitting end and one detector unit at a detecting end, the method including: determining at least one interpolation channel to be generated; separately determining, for each interpolation channel to be generated, one or more associated channels among the plurality of actual channels that are related to the interpolation channel to be generated; determining weights of the one or more associated channels with respect to the interpolation channel to be generated; and generating a waveform of the interpolation channel based on waveform information of the one or more associated channels and the weights thereof, and determining point cloud data of the LiDAR based on the obtained waveform information of each actual channel and each interpolation channel. The solution of this disclosure can effectively improve the resolution of the existing LiDAR without increasing the hardware load thereon.

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