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

Claim 5:
6. A LiDAR controlling device for controlling a LiDAR, wherein the LiDAR comprises a laser emitting array and a laser receiving array, and the LiDAR controlling device comprises:
a determining module, configured to determine, in a measurement period, an emitting group to be started in the measurement period from the 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;
a first control module, configured to according to a time coding sequence corresponding to one of the at least two emitting units that is for a Kth emission, control 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, control the emitting unit for the (K+1)th emission to emit a laser beam at a second corresponding time; and
a second control module, configured to control 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 the determining module is configured to:
determine a time coding sequence corresponding to any one of the emitting units in the emitting group;
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;
determine an autocorrelation function of each of the plurality of pseudo-random sequences;
determine, 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
select one pseudo-random sequence from the determined pseudo-random sequence as the time coding sequence corresponding to any one of the emitting units.