Patent ID: 11947012
Assignee: SUTENG INNOVATION TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC G

Claim 0:
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.