CN112585491A - Laser radar signal receiving circuit, laser radar signal gain control method and laser radar - Google Patents
Laser radar signal receiving circuit, laser radar signal gain control method and laser radar Download PDFInfo
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- CN112585491A CN112585491A CN201980050274.2A CN201980050274A CN112585491A CN 112585491 A CN112585491 A CN 112585491A CN 201980050274 A CN201980050274 A CN 201980050274A CN 112585491 A CN112585491 A CN 112585491A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
Abstract
The invention relates to a laser radar signal receiving circuit, a laser radar signal gain control method and a laser radar. The laser radar signal receiving circuit includes: the optical signal processing circuit (10) is used for receiving the echo optical signal and converting the echo optical signal into an analog voltage signal; a gain control circuit (20) connected to the optical signal processing circuit for controlling the gain of the optical signal processing circuit; an analog-to-digital conversion circuit (30) for converting the analog voltage signal into a digital voltage signal; a digital processing circuit (40) which is connected with the analog-to-digital conversion circuit (30) and the gain control circuit (20) respectively and is used for detecting whether the digital voltage signal is saturated or not and controlling the gain control circuit (20) to reduce the gain of the optical signal processing circuit when the digital voltage signal is saturated or detecting whether the digital voltage signal is under-compensated or not and controlling the gain control circuit (20) to increase the gain of the optical signal processing circuit when the digital voltage signal is under-compensated; the problems caused by signal saturation or under compensation can be solved.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar signal receiving circuit, a laser radar signal gain control method and a laser radar.
Background
The laser radar has the advantages of high resolution, small interference from environmental factors and the like, and has important application in the fields of unmanned driving, robots and the like; generally, the method is used for measuring the distance of a target and detecting reflection information such as the reflectivity of the target.
In a laser radar detection range, due to the difference of the reflectivity and the distance of a target, the energy of an echo light signal can fluctuate from an nW level to an mW level, and the laser radar has a very high dynamic range; therefore, after the echo optical signal is converted into an electrical signal and amplified, a scene that the electrical signal is saturated is common. In the scene of electric signal saturation, because the electronic device works in a nonlinear area, signal distortion is easy to generate, and the distortion can cause a plurality of problems of inaccurate distance measurement and reflection information, and the like.
Disclosure of Invention
In view of the above, it is necessary to provide a laser radar signal receiving circuit, a laser radar signal gain control method, and a laser radar that can solve the problems of inaccurate measurement of a ranging distance and reflection information due to signal saturation.
In view of the above, it is necessary to provide a laser radar signal receiving circuit, a laser radar signal gain control method, and a laser radar that can solve the problems of inaccurate measurement of a ranging distance and reflection information due to signal saturation.
In a first aspect, a lidar signal receiving circuit includes:
the optical signal processing circuit is used for receiving the echo optical signal and converting the echo optical signal into an analog voltage signal;
the gain control circuit is connected with the optical signal processing circuit and is used for controlling the gain of the optical signal processing circuit;
the analog-to-digital conversion circuit is connected with the optical signal processing circuit and is used for converting the analog voltage signal into a digital voltage signal;
and the digital processing circuit is respectively connected with the analog-to-digital conversion circuit and the gain control circuit and is used for detecting whether the digital voltage signal is saturated or not and controlling the gain control circuit to reduce the gain of the optical signal processing circuit when the digital voltage signal is saturated or detecting whether the digital voltage signal is under-compensated or not and controlling the gain control circuit to improve the gain of the optical signal processing circuit when the digital voltage signal is under-compensated.
In a second aspect, a laser radar signal gain control method includes:
receiving an echo optical signal, and converting the echo optical signal into an analog voltage signal through an optical signal processing circuit;
converting the analog voltage signal into a digital voltage signal;
detecting whether the digital voltage signal is saturated, and reducing the gain of the optical signal processing circuit when the digital voltage signal is saturated, or detecting whether the digital voltage signal is under-compensated, and controlling the gain control circuit to increase the gain of the optical signal processing circuit when the digital voltage signal is under-compensated.
In a third aspect, a lidar comprising a lidar signal transmission circuit and a lidar signal reception circuit as defined in any of the first aspects; and the digital processing circuit in the laser radar signal receiving circuit is connected with the laser radar signal transmitting circuit and used for controlling the laser radar signal transmitting circuit to transmit laser radar signals.
According to the laser radar signal receiving circuit, the laser radar signal gain control method and the laser radar, when the digital processing circuit detects that the digital voltage signal is saturated, the data processing circuit can control the gain control circuit to reduce the gain of the optical signal processing circuit, and the effect of automatically reducing the gain is achieved; it can be understood that after the gain is reduced, if the digital voltage signal is detected to be still saturated, the data processing circuit can control the gain control circuit to continue to reduce the gain of the optical signal processing circuit until the digital voltage signal is detected to be unsaturated, so that the problems of inaccurate measurement of the ranging distance and the reflection information caused by signal saturation are solved, and the accuracy of measurement of the ranging distance and the reflection information is improved. In addition, when the digital processing circuit detects that the digital voltage signal is under-compensated, the data processing circuit can control the gain control circuit to improve the gain of the optical signal processing circuit, so that the effect of automatically improving the gain is achieved; it can be understood that after the gain is increased, if the digital voltage signal is detected to be still under-compensated, the data processing circuit can control the gain control circuit to continue increasing the gain of the optical signal processing circuit until the digital voltage signal is detected not to be under-compensated, so that the problems of too short ranging distance, too low sensitivity and the like caused by signal under-compensation are solved, and the ranging distance and the sensitivity are increased.
Drawings
FIG. 1a is a schematic diagram of a lidar signal receiving circuit in one embodiment;
FIG. 1b is a diagram illustrating the gain effect of a lidar signal receiving circuit according to an embodiment;
FIG. 1c is a second schematic diagram illustrating the gain effect of the laser radar signal receiving circuit according to an embodiment;
FIG. 2 is a schematic diagram of an exemplary lidar signal receiving circuit;
FIG. 3 is a schematic diagram of an exemplary lidar signal receiving circuit;
FIG. 4a is a schematic diagram of an embodiment of a transimpedance amplifier;
FIG. 4b is a diagram of an embodiment of an analog-to-digital conversion circuit;
FIG. 5a is a schematic diagram illustrating a lidar signal receiving circuit configured in a second configuration in accordance with an embodiment;
FIG. 5b is a diagram illustrating an exemplary lidar signal receiving circuit configured in a second configuration in an embodiment;
FIG. 6a is a schematic diagram illustrating a lidar signal receiving circuit configured in a second configuration in accordance with an embodiment;
FIG. 6b is a diagram illustrating an exemplary lidar signal receiving circuit configured in a second configuration in an embodiment;
FIG. 7a is a schematic diagram illustrating a third exemplary lidar signal receiving circuit;
FIG. 7b is a diagram illustrating an exemplary lidar signal receiving circuit in a third configuration in an embodiment;
FIG. 7c is a diagram showing an exemplary laser radar signal receiving circuit having a third structure in one embodiment;
FIG. 8 is a schematic diagram of a lidar according to an embodiment;
FIG. 9 is a flowchart illustrating a method for controlling a laser radar signal gain according to an embodiment.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Exemplarily, a laser radar signal receiving circuit shown in fig. 1a includes a light sensor, a transimpedance amplification circuit, an analog-to-digital conversion circuit, and a digital processing circuit, which are connected in sequence. In the detection range of the laser radar, the energy of the echo light signal may fluctuate between the nW level and the mW level; correspondingly, when the optical sensor at the front stage of the laser radar signal receiving circuit works under a constant bias voltage, a photocurrent signal output by the optical sensor may fluctuate from the uA level to the mA level, which requires that the post-stage devices such as a transimpedance amplification circuit and an analog-to-digital conversion circuit at the post-stage of the laser radar signal receiving circuit all have a very high dynamic range; however, due to the problems of cost and device supply, the latter devices cannot satisfy the dynamic range. In this case, the system dynamic range of the entire lidar signal receiving circuit can only be reduced, and generally, the system gain of the entire radar lidar signal receiving circuit can be set to a fixed value, as shown in fig. 1b, and the system gain can ensure that the echo optical signal can still be detected and identified by the digital processing circuit after passing through the entire radar lidar signal gain when the echo optical signal is weak (for example, when the photocurrent signal of the optical sensor may be in the level of μ a). However, correspondingly, as shown in fig. 1c, when the echo optical signal is strong (for example, when the optical current signal of the optical sensor may be in a mA level), the echo optical signal passes through the whole radar laser radar signal gain to cause signal saturation, which causes waveform distortion, generates a nonlinear amplified waveform, and directly causes that the signal receiving time T2 (generally, the signal peak time) cannot be accurately obtained, thereby causing many problems such as inaccurate measurement of the ranging distance and the reflection information. In addition, as shown in fig. 1b, when the echo signal is too weak, the echo optical signal may still be too weak to be detected and identified by the digital processing circuit (for example, the signal is too weak to distinguish the echo optical signal from the noise signal) after passing through the entire radar laser radar signal gain, that is, the signal is under-compensated, so as to cause the problems of too short ranging distance, too low sensitivity, and the like.
Referring to fig. 2, a structure of a lidar signal receiving circuit of the present embodiment is shown, including: an optical signal processing circuit 10, a gain control circuit 20, an analog-to-digital conversion circuit 30, and a digital processing circuit 40; the optical signal processing circuit is used for receiving the echo optical signal and converting the echo optical signal into an analog voltage signal; the gain control circuit is connected with the optical signal processing circuit and is used for controlling the gain of the optical signal processing circuit; the analog-to-digital conversion circuit is connected with the optical signal processing circuit and is used for converting the analog voltage signal into a digital voltage signal; and the digital processing circuit is respectively connected with the analog-to-digital conversion circuit and the gain control circuit and is used for detecting whether the digital voltage signal is saturated or not and controlling the gain control circuit to reduce the gain of the optical signal processing circuit when the digital voltage signal is saturated or detecting whether the digital voltage signal is under-compensated or not and controlling the gain control circuit to improve the gain of the optical signal processing circuit when the digital voltage signal is under-compensated. Of course, the lidar signal receiving circuit of this embodiment may detect whether the digital voltage signal is saturated and under-compensated at the same time, and implement a corresponding gain control strategy.
For example, the manner of the digital processing circuit determining whether the voltage signal is saturated may be: judging whether the maximum amplitude of the voltage signal is higher than a preset voltage amplitude upper limit, judging whether the integral area of the voltage signal to time in a time period when the echo optical signal is detected is higher than a preset integral area threshold upper limit, and the like; the present embodiment does not limit this. Accordingly, the manner of the digital processing circuit determining whether the voltage signal is under-compensated may be: judging whether the maximum amplitude of the voltage signal is lower than a preset voltage amplitude lower limit, judging whether the integral area of the voltage signal to time in the time period of detecting the echo light signal is lower than a preset integral area threshold lower limit, and the like. The parameters such as the upper limit of the preset voltage amplitude and the lower limit of the preset voltage amplitude depend on the electrical performance of each component in the laser radar signal receiving circuit, and can be obtained through testing.
It will be appreciated that the gain control circuit corresponds to the optical signal processing circuit. For example, if the optical signal processing circuit includes M-stage gain structures, the gain control circuit may include a gain control structure associated with at least one of the M-stage gain structures, and the gain control structure may control the gain of the associated gain structure; wherein M is an integer greater than 0. It can be understood that the gain control circuit may include a gain control structure associated with each gain structure in the M gain structures, that is, corresponding M gain control structures, and may be capable of controlling the gain of each gain structure, so as to achieve flexible control of the gain in a wide range. But generally limited to cost and the like, the gain control structure can only control part of the gain structure; for example, the gain control circuit may include a gain control structure associated with one of the M-stage gain structures.
Several possible gain configurations of the optical signal processing circuit and the corresponding gain control circuit are exemplified below, but are not to be construed as limiting the optical signal processing circuit and the gain control circuit of the present embodiment.
In a first structure of an example of the present invention, the optical signal processing circuit may include: a photosensor and a transimpedance circuit; wherein the optical sensor is used for responding to the echo optical signal and generating a photocurrent signal; and the transimpedance circuit is connected with the optical sensor and is used for converting the photocurrent signal into an analog voltage signal. Accordingly, the gain control circuit may comprise at least one of: a bias voltage control circuit and a resistance control circuit; the bias voltage control circuit is connected with the optical sensor and used for controlling the bias voltage of the optical sensor; and the resistance control circuit is connected with the transimpedance circuit and used for controlling the resistance of the transimpedance circuit. Illustratively, the transimpedance circuit includes a plurality of selectable resistors, the resistance control circuit includes an analog switch, and the digital signal processing circuit can control the analog switch to switch the plurality of selectable resistors; or the transimpedance circuit comprises a dynamically adjustable resistor, and the digital signal processing circuit can adjust the resistance value of the resistor through the resistor control circuit; it can be understood that the resistance of the resistor in the transimpedance circuit is positively correlated with the gain of the transimpedance circuit.
In a second structure of the present example, the optical signal processing circuit may include: a photosensor and a transimpedance amplification circuit; the transimpedance amplification circuit is connected with the optical sensor and used for amplifying the photocurrent signal and converting the photocurrent signal into an analog voltage signal. Accordingly, the gain control circuit comprises at least one of: a bias voltage control circuit, a primary amplification control circuit; the primary amplification control circuit is connected with the transimpedance amplification circuit and used for controlling the amplification gain of the transimpedance amplification circuit.
In a third structure of the present example, referring to fig. 3, the optical signal processing circuit may include: a photosensor 11, a transimpedance amplifier circuit 12, and a secondary amplifier circuit 13; the secondary amplifying circuit 13 is connected between the transimpedance amplifying circuit 12 and the analog-to-digital conversion circuit 30, and is configured to amplify an analog voltage signal to obtain an amplified voltage signal. Accordingly, the gain control circuit may comprise at least one of: a bias voltage control circuit 21, a primary amplification control circuit 22, and a secondary amplification control circuit 23; the bias voltage control circuit 21 is connected to the optical sensor 11 and is configured to control a bias voltage of the optical sensor 11; the primary amplification control circuit 22 is connected with the transimpedance amplification circuit 12 and is used for controlling the amplification gain of the transimpedance amplification circuit 12; and a secondary amplification control circuit 23 connected to the secondary amplification circuit 13, for controlling the amplification gain of the secondary amplification circuit 13. Meanwhile, the data processing circuit 40 may use different control strategies to control different gain control circuits.
In a fourth structure of the present example, the optical signal processing circuit includes: the circuit comprises a light sensor, a transimpedance circuit and a secondary amplification circuit. Accordingly, the gain control circuit comprises at least one of: bias voltage control circuit, resistance control circuit, secondary amplification control circuit.
Here, the structures of the optical sensor, the transimpedance amplifier circuit, the analog-to-digital conversion circuit, and the digital processing circuit according to the present invention will be described as examples.
Illustratively, the light sensor may be the following devices, or an array of at least one type of the following devices: APD (Avalanche photodiode), SIPM (Silicon photomultiplier), SPAD (Single Photon Avalanche Diode), MPPC (Silicon photomultiplier), PMT (photomultiplier tube), and the like. The optical sensor can be a single photon array sensor, is composed of a plurality of single photon avalanche diodes, has a gain of more than 106, can detect an optical signal with extremely low power, and is suitable for being applied to a laser ranging radar. The gain G of the single photon avalanche diode is the ratio of the electric charge generated after the working unit is excited to the electronic charge, and the calculation formula is as follows:
wherein Ccell is the equivalent capacitance of the single-photon avalanche diode, Vov is overvoltage, Vbr is breakdown voltage, Vbias is bias voltage, and q is unit charge; under the condition that the temperature of the working environment is stable, the breakdown voltage is kept stable, and the gain of the single photon array sensor is positively correlated with the bias voltage.
Illustratively, the transimpedance amplifier circuit may be a transimpedance amplifier, and the transimpedance amplifier may include an operational amplifier device and a transimpedance amplifier resistor, which may be separate devices or may be integrated together. For example, referring to fig. 4a, the transimpedance amplifier may include an operational amplification device U1 and a transimpedance amplification resistor RT; wherein, the inverted triangle represents the grounding, and Vs is the supply voltage of U1; the transimpedance amplifier can convert and amplify the photocurrent signal Iop input from the input terminal into a voltage signal.
Illustratively, the analog-to-digital conversion circuit may include an analog-to-digital converter drive circuit and an analog-to-digital converter. For example, referring to fig. 4b, the analog-to-digital converter driver circuit 31 may be a single-ended signal to differential signal circuit, and may include U2 and R1 to R5, where U2 is a fully differential amplifier; the single-ended signal output by the front stage can be converted into a differential signal, conditioned in the input range of the analog-to-digital converter 32, and simultaneously the analog-to-digital converter 32 is driven to perform analog-to-digital conversion; the analog-to-digital converter 32 may include an analog-to-digital conversion device U3, and R6, R7, C1, C2, and C3, wherein a front end R6, R7, C1, C2, and C3 of the analog-to-digital converter 32 form an anti-aliasing filter, and may perform analog-to-digital conversion on a differential signal output by a front stage to output a digital signal.
Illustratively, the Digital Processing Circuit may be an FPGA chip (Field-Programmable Gate Array), a CPLD chip (Complex Programmable Logic Device), an ASIC chip (Application Specific Integrated Circuit), and the like, wherein the ASIC chip may be a DSP chip (Digital Signal Processing); the invention is not limited in this regard.
In this embodiment, when the digital processing circuit detects that the digital voltage signal is saturated, the data processing circuit may control the gain control circuit to reduce the gain of the optical signal processing circuit, so as to achieve the effect of automatically reducing the gain; it can be understood that after the gain is reduced, if the digital voltage signal is detected to be still saturated, the data processing circuit can control the gain control circuit to continue to reduce the gain of the optical signal processing circuit until the digital voltage signal is detected to be unsaturated, so that the problems of inaccurate measurement of the ranging distance and the reflection information caused by signal saturation are solved, and the accuracy of measurement of the ranging distance and the reflection information is improved. In addition, when the digital processing circuit detects that the digital voltage signal is under-compensated, the data processing circuit can control the gain control circuit to improve the gain of the optical signal processing circuit, so that the effect of automatically improving the gain is achieved; it can be understood that after the gain is increased, if the digital voltage signal is detected to be still under-compensated, the data processing circuit can control the gain control circuit to continue increasing the gain of the optical signal processing circuit until the digital voltage signal is detected not to be under-compensated, so that the problems of too short ranging distance, too low sensitivity and the like caused by signal under-compensation are solved, and the ranging distance and the sensitivity are increased. In a word, the effect of automatically adjusting the gain can be realized, and intelligent control is realized.
The second configuration will be described in detail with reference to fig. 5a as an example. Wherein the optical signal processing circuit may include: a photosensor 11 and a transimpedance amplifier circuit 12; accordingly, the gain control circuit may include: the bias voltage control circuit 21 is connected to the photosensor 11 and controls a bias voltage of the photosensor 11. Therefore, the digital processing circuit is used for determining the target bias voltage of the optical sensor according to the current bias voltage of the optical sensor and generating and outputting a bias voltage control signal according to the target bias voltage; the bias voltage control signal is used for indicating the bias voltage control circuit to control the bias voltage of the optical sensor to be a target bias voltage; when the digital voltage signal is saturated, the target bias voltage is smaller than the current bias voltage; when the digital voltage signal is under-compensated, the target bias voltage is larger than the current bias voltage. For example, the bias voltage control circuit may include a bias voltage control line for transmitting a bias voltage control signal to the optical sensor, and the bias voltage control signal may be directly used as a bias voltage to realize a small-range control of the bias voltage. When the optical signal processing circuit comprises a power supply for providing bias voltage for the optical sensor, the digital processing circuit can transmit a bias voltage control signal to the power supply through a bias voltage control line, control the output voltage of the power supply and realize the large-range control of the bias voltage.
Taking digital voltage signal saturation as an example, it can be understood that there is a positive correlation between the bias voltage on the photo sensor and the gain of the photo sensor, and therefore the gain of the photo sensor is reduced after the current bias voltage is adjusted to the target bias voltage. There are a variety of ways in which the digital processing circuit determines the target bias voltage from the current bias voltage. Illustratively, the digital processing circuit may take a value of a product between the current bias voltage and the bias voltage adjustment ratio as the target bias voltage; for example, the bias voltage adjustment ratio may be 5%, 8%, 20%, or the like. Illustratively, the digital processing circuit may take a difference between the current bias voltage and the bias voltage adjustment step size as the target bias voltage; the offset voltage adjustment step length may be fixed or may be dynamically changed. For example, the fixed bias voltage adjustment steps may be 1V, 2V, 5V, etc. For example, the dynamically changing offset voltage adjustment step size may be a preset proportion of the current offset voltage, such as 5%, 8%, 20%, etc.
Optionally, the digital processing circuit may calculate the saturation of the digital voltage signal according to the amplitude of the digital voltage signal and a preset saturation threshold, determine a current gain step corresponding to the digital voltage signal according to a positive correlation between the preset saturation and the gain step, and control the gain control circuit to decrease the gain of the optical signal processing circuit by the current gain step. For example, the digital processing circuit may calculate the saturation of the digital voltage signal when the digital voltage signal is saturated, and determine the bias voltage adjustment ratio according to the saturation and the corresponding relationship between the preset saturation and the bias voltage adjustment ratio, or determine the bias voltage adjustment step according to the saturation and the corresponding relationship between the preset saturation and the bias voltage adjustment step. The saturation may represent a degree that the maximum amplitude of the voltage signal exceeds the preset voltage amplitude upper limit, so a difference between the maximum amplitude of the voltage signal and the preset voltage amplitude upper limit may be used as the saturation, a ratio of the difference to the preset voltage amplitude upper limit may also be used as the saturation, and a difference or a ratio between an integral area of the voltage signal with respect to time and a preset integral area threshold upper limit in a time period when the echo light signal is detected may also be used as the saturation. It can be understood that the saturation is in a negative correlation with the bias voltage adjustment ratio, and the saturation is in a positive correlation with the bias voltage adjustment step.
Similarly, when the digital voltage signal is under-compensated, the digital processing circuit may calculate an under-compensation degree of the digital voltage signal according to the amplitude of the digital voltage signal and a preset under-compensation threshold, determine a current gain step corresponding to the digital voltage signal according to a positive correlation between the preset under-compensation degree and the gain step, and control the gain control circuit to increase the gain of the optical signal processing circuit by the current gain step. The under-compensation degree can represent the degree that the maximum amplitude of the voltage signal is lower than the lower limit of the preset voltage amplitude, so that the difference between the lower limit of the preset voltage amplitude and the maximum amplitude of the voltage signal can be used as the under-compensation degree, the ratio of the difference to the lower limit of the preset voltage amplitude can be used as the under-compensation degree, and the difference or the ratio of the integral area of the voltage signal to time in the time period when the echo optical signal is detected to the lower limit of the preset integral area threshold can be used as the under-compensation degree. When the digital voltage signal is under-compensated, the specific way how to control the gain may refer to the way when the digital voltage signal is saturated, and is not described herein again.
Referring to fig. 5b, a specific example of a lidar signal receiving circuit is shown, wherein the bias voltage control circuit 21 may include: a first digital-to-analog converter (see digital-to-analog converter 211 in fig. 5 b), a first amplifying and conditioning circuit (see amplifying and conditioning circuit 212 in fig. 5 b), and an output driver (see output driver 213 in fig. 5 b). The first digital-to-analog converter is used for converting the digital bias voltage control signal into an analog bias voltage control signal; the first amplifying and conditioning circuit is used for amplifying and conditioning the analog bias voltage control signal to obtain a target bias voltage signal; and the output driver is used for outputting a target bias voltage signal to the optical sensor so as to provide the target bias voltage for the optical sensor. Specifically, the digital processing circuit sends a digital bias voltage control signal to the first digital-to-analog converter and outputs an analog bias voltage control signal; the bias voltage control signal is amplified and conditioned to a proper range through a first amplifying and conditioning circuit and then transmitted to an output driver; the output driver provides a target bias voltage to supply power to the optical sensor; and large-range control of the bias voltage of the optical sensor is realized.
In this embodiment, when the digital processing circuit detects that the digital voltage signal is saturated, the data processing circuit reduces the bias voltage applied to the optical sensor through the bias voltage control circuit, so as to reduce the gain of the optical sensor and achieve the effect of automatically reducing the gain; meanwhile, when the digital voltage signal is detected to be under-compensated, the data processing circuit improves the bias voltage applied to the optical sensor through the bias voltage control circuit, so that the gain of the optical sensor is improved, and the effect of automatically improving the gain is achieved; by virtue of the high gain characteristic of the light sensor, the data processing circuit can achieve continuous, fine adjustment of the gain for a very high dynamic range; meanwhile, because the optical sensor is a signal source head, the amplitude of an output signal can be limited from the signal source head, the fact that subsequent links of a laser radar signal receiving circuit are not saturated or under-compensated is guaranteed, and efficient anti-saturation gain control and anti-under-compensation gain control are achieved; in addition, the signal-to-noise ratio and the bandwidth are not influenced, and the signal quality can be ensured.
Referring to fig. 6a, in addition to the laser radar signal receiving circuit shown in fig. 5a, the bias voltage control circuit may be replaced with a primary amplification control circuit 22, which is connected to the transimpedance amplification circuit 12 and is used for controlling the amplification gain of the transimpedance amplification circuit 12. Therefore, the digital processing circuit is used for determining a target transimpedance amplification resistor of the transimpedance amplification circuit according to the current transimpedance amplification resistor of the transimpedance amplification circuit, and generating and outputting a transimpedance amplification resistor control signal according to the target transimpedance amplification resistor; the transimpedance amplification resistor control signal is used for indicating the transimpedance amplification resistor of the transimpedance amplification circuit controlled by the primary amplification control circuit to be a target transimpedance amplification resistor; when the digital voltage signal is saturated, the target transimpedance amplification resistance is smaller than the current transimpedance amplification resistance; when the digital voltage signal is under-compensated, the target transimpedance amplification resistance is larger than the current transimpedance amplification resistance. It can be understood that a positive correlation exists between the transimpedance amplification resistor of the transimpedance amplification circuit and the gain of the transimpedance amplification circuit, and therefore the gain control of the transimpedance amplification circuit is realized after the current transimpedance amplification resistor is adjusted to the target transimpedance amplification resistor.
Illustratively, the transimpedance amplification resistor of the transimpedance amplification circuit may be a dynamically adjustable resistor, the digital signal processing circuit may adjust a resistance value of the resistor through the primary amplification control circuit, and the primary amplification control circuit may be a signal line. There are various ways for the digital processing circuit to determine the target transimpedance amplification resistance according to the current transimpedance amplification resistance, and reference may be made to the above determination way of the target bias voltage, which is not described herein again.
Referring to fig. 6b, a specific example of a laser radar signal receiving circuit is shown, wherein the transimpedance amplification circuit 12 may include a plurality of selectable transimpedance amplification resistors RT1, RT2, RT 3; the primary amplification control circuit may include an analog switch 221 for switching a plurality of selectable transimpedance amplification resistances. Correspondingly, the digital processing circuit 40 is configured to determine a target transimpedance amplification resistance of the transimpedance amplification circuit according to the current transimpedance amplification resistance corresponding to the analog switch 221 (U4 in fig. 6 b), and generate and output a transimpedance amplification resistance control signal according to the target transimpedance amplification resistance; the transimpedance amplification resistor control signal is used for controlling the analog switch to be switched from the current transimpedance amplification resistor to the target transimpedance amplification resistor; switching of different gain levels may be achieved. The primary amplification control circuit may further include an analog switch control line 222 for connecting the digital processing circuit and the analog switch to transmit the transimpedance amplification resistance control signal. Illustratively, the digital signal processing circuit stores a sorting relation from large to small among the resistance values of the selectable transimpedance amplification resistors, and takes the next transimpedance amplification resistor in the sorting relation relative to the transimpedance amplification resistor of the current period as a target transimpedance amplification resistor. For example, RT1 > RT2 > RT3, and when the on-time transimpedance amplification resistance is RT2, the target transimpedance amplification resistance is RT 3.
In this embodiment, when the digital processing circuit detects that the digital voltage signal is saturated, the data processing circuit reduces the transimpedance amplification resistance of the transimpedance amplification circuit through the primary amplification control circuit, thereby reducing the gain of the transimpedance amplification circuit and achieving the effect of automatically reducing the gain; when the digital voltage signal is detected to be under-compensated, the data processing circuit improves the transimpedance amplification resistance of the transimpedance amplification circuit through the primary amplification control circuit, so that the gain of the transimpedance amplification circuit is improved, and the effect of automatically improving the gain is achieved.
The third structure will be described in detail with reference to fig. 7 a. Wherein the optical signal processing circuit may include: the optical sensor 11, the transimpedance amplifier circuit 12 and the secondary amplifier circuit 13 are connected in sequence; the gain control circuit may include: and a secondary amplification control circuit 23 connected to the secondary amplification circuit 13, for controlling the amplification gain of the secondary amplification circuit 13. Therefore, the digital processing circuit 40 is configured to determine a target gain of the secondary amplifying circuit 13 according to the current gain of the secondary amplifying circuit 13, and generate and output a gain control signal according to the target gain; the gain control signal is used to instruct the secondary amplification control circuit 23 to control the amplification gain of the secondary amplification circuit 13 to be a target gain; when the digital voltage signal is saturated, the target gain is smaller than the current gain; when the digital voltage signal is under-compensated, the target gain is larger than the current gain.
Referring to fig. 7b, a specific example of a lidar signal receiving circuit is shown, in which the secondary amplification circuit 13 may include a programmable amplifier (U5 in fig. 7 b); the programmable amplifier has a plurality of gain stages. For the programmable gain amplifier, gain switching of different gears can be realized through programmable programming. Therefore, the digital processing circuit 40 may determine a target gain gear of the programmable amplifier according to the current gain gear of the programmable amplifier, and generate and output a gain gear control signal according to the target gain gear; the gain gear control signal is used for indicating the program control amplifier to be switched to a target gain gear; when the digital voltage signal is saturated, the gain corresponding to the target gain gear is smaller than the gain corresponding to the current gain gear; when the digital voltage signal is under-compensated, the gain corresponding to the target gain gear is larger than the gain corresponding to the current gain gear; the secondary amplification control circuit may include a control signal line 231 (programmable gain amplifier control line in fig. 7 b) for transmitting a gain step control signal of the programmable amplifier to the programmable amplifier.
Referring to fig. 7c, a specific example of a laser radar signal receiving circuit is shown, wherein the secondary amplifying circuit 13 may include a voltage controlled amplifier (U6 in fig. 7 c). Wherein, for a voltage controlled gain amplifier, its gain can be adjusted by giving the gain control voltage of the voltage controlled gain amplifier. Therefore, the digital processing circuit 40 may determine a target gain control voltage of the voltage-controlled amplifier according to the current gain control voltage of the voltage-controlled amplifier, and generate and output a gain control voltage control signal according to the target gain control voltage; the gain control voltage control signal is used for indicating the voltage-controlled amplifier to control the gain control voltage to be a target gain control voltage; when the digital voltage signal is saturated, the target gain control voltage is smaller than the current gain control voltage; when the digital voltage signal is under-compensated, the target gain control voltage is greater than the current gain control voltage. For example, the secondary amplification control circuit may include a gain control voltage control line for transmitting a gain control voltage control signal to the voltage-controlled amplifier, and the gain control voltage control signal may be directly used as the gain control voltage to realize the small-range control of the gain control voltage. When the secondary amplifying circuit comprises a power supply for providing gain control voltage for the voltage-controlled amplifier, the digital processing circuit can transmit a gain control voltage control signal to the power supply according to a gain control voltage control line, control the output voltage of the power supply and realize the large-range control of the gain control voltage.
Illustratively, referring to fig. 7c, the secondary amplification control circuit may include: a second digital-to-analog converter (see digital-to-analog converter 232 in fig. 7 c), and a second amplifying and conditioning circuit (see amplifying and conditioning circuit 233 in fig. 7 c). The second digital-to-analog converter is used for converting the digital gain control voltage control signal into an analog gain control voltage control signal; the second amplifying and conditioning circuit is used for amplifying and conditioning the analog gain control voltage control signal to obtain a target gain control voltage signal and outputting the target gain control voltage signal to the voltage-controlled amplifier so as to provide a target gain control voltage for the voltage-controlled amplifier; the wide-range control of the gain control voltage of the voltage-controlled amplifier is realized.
In this embodiment, when the digital processing circuit detects that the digital voltage signal is saturated, the data processing circuit reduces the gain of the secondary amplifying circuit through the secondary amplification control circuit, so as to achieve the effect of automatically reducing the gain; when the digital voltage signal is detected to be under-compensated, the data processing circuit improves the gain of the secondary amplifying circuit through the secondary amplifying control circuit, so that the effect of automatically improving the gain is achieved.
Referring to fig. 8, the present invention further shows a lidar including a lidar signal transmitting circuit 50 and the lidar signal receiving circuit described above; digital processing circuit 40 in lidar signal receiving circuitry may be connected to lidar signal transmitting circuitry 50 for controlling lidar signal transmitting circuitry 50 to transmit lidar signals. Exemplarily, laser radar signal transmitting circuit can include devices such as laser emitter, collimating mirror, the mirror that shakes that arrange in proper order on transmitting optical path, wherein, laser emitter can launch the laser radar signal, and the collimating mirror can carry out the collimation with the laser radar signal and handle for parallel laser radar signal, and the mirror that shakes can deflect parallel laser radar signal, with parallel laser signal outgoing to target location, realizes the scanning to target location. Accordingly, the digital processing circuit can perform ranging of the target position according to the transmitting time of the laser radar signal and the receiving time of the received echo light signal, and calculate the reflection characteristic of the target position according to the digital voltage signal corresponding to the echo light signal.
It will be understood by those skilled in the art that the configurations shown in fig. 1 a-8 are merely block diagrams of some configurations relevant to the inventive arrangements and do not constitute a limitation on the lidar signal receiving circuit or lidar to which the inventive arrangements may be applied, and that a particular lidar signal receiving circuit or lidar may include more or fewer components than those shown, or some components may be combined, or have a different arrangement of components.
Referring to fig. 9, the present invention further illustrates a laser radar signal gain control method, including:
s902, receiving the echo optical signal, and converting the echo optical signal into an analog voltage signal through an optical signal processing circuit;
s904, converting the analog voltage signal into a digital voltage signal;
s906, detecting whether the digital voltage signal is saturated, and reducing the gain of the optical signal processing circuit when the digital voltage signal is saturated, or detecting whether the digital voltage signal is under-compensated, and controlling the gain control circuit to increase the gain of the optical signal processing circuit when the digital voltage signal is under-compensated.
For the description of the laser radar signal gain control method, reference may be made to the description of the laser radar signal receiving circuit, which is not repeated here.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A lidar signal receiving circuit comprising:
the optical signal processing circuit is used for receiving the echo optical signal and converting the echo optical signal into an analog voltage signal;
the gain control circuit is connected with the optical signal processing circuit and is used for controlling the gain of the optical signal processing circuit;
the analog-to-digital conversion circuit is connected with the optical signal processing circuit and is used for converting the analog voltage signal into a digital voltage signal;
and the digital processing circuit is respectively connected with the analog-to-digital conversion circuit and the gain control circuit and is used for detecting whether the digital voltage signal is saturated or not and controlling the gain control circuit to reduce the gain of the optical signal processing circuit when the digital voltage signal is saturated or detecting whether the digital voltage signal is under-compensated or not and controlling the gain control circuit to improve the gain of the optical signal processing circuit when the digital voltage signal is under-compensated.
2. The lidar signal receiving circuit of claim 1,
the optical signal processing circuit includes:
a light sensor for generating a photocurrent signal in response to the echo light signal;
the transimpedance amplification circuit is connected with the optical sensor and is used for amplifying the photocurrent signal and converting the photocurrent signal into the analog voltage signal;
accordingly, the gain control circuit comprises at least one of:
a bias voltage control circuit, a primary amplification control circuit;
the bias voltage control circuit is connected with the optical sensor and used for controlling the bias voltage of the optical sensor;
the primary amplification control circuit is connected with the transimpedance amplification circuit and is used for controlling the amplification gain of the transimpedance amplification circuit.
3. The lidar signal receiving circuit of claim 2,
the digital processing circuit is used for determining a target bias voltage of the optical sensor according to the current bias voltage of the optical sensor and generating and outputting a bias voltage control signal according to the target bias voltage; the bias voltage control signal is used for indicating the bias voltage control circuit to control the bias voltage of the optical sensor to be the target bias voltage; wherein the target bias voltage is less than the current bias voltage when the digital voltage signal is saturated; when the digital voltage signal is under-compensated, the target bias voltage is greater than the current bias voltage.
4. The lidar signal receiving circuit of claim 3, wherein the bias voltage control circuit comprises:
the first digital-to-analog converter is used for converting the digital bias voltage control signal into an analog bias voltage control signal;
the first amplifying and conditioning circuit is used for amplifying and conditioning the analog bias voltage control signal to obtain a target bias voltage signal;
an output driver for outputting the target bias voltage signal to the photo sensor to provide a target bias voltage to the photo sensor.
5. The lidar signal receiving circuit of claim 2,
the digital processing circuit is used for determining a target transimpedance amplification resistor of the transimpedance amplification circuit according to the current transimpedance amplification resistor of the transimpedance amplification circuit, and generating and outputting a transimpedance amplification resistor control signal according to the target transimpedance amplification resistor; the transimpedance amplifier control signal is used for indicating the primary amplifier control circuit to control the transimpedance amplifier of the transimpedance amplifier circuit to be the target transimpedance amplifier; when the digital voltage signal is saturated, the target transimpedance amplification resistor is smaller than the current transimpedance amplification resistor; and when the digital voltage signal is under-compensated, the target transimpedance amplification resistor is larger than the current transimpedance amplification resistor.
6. The lidar signal receiving circuit of claim 5,
the transimpedance amplification circuit comprises a plurality of selectable transimpedance amplification resistors;
the primary amplification control circuit comprises an analog switch for switching the plurality of selectable transimpedance amplification resistors;
the digital processing circuit is used for determining a target transimpedance amplification resistor of the transimpedance amplification circuit according to the current transimpedance amplification resistor corresponding to the analog switch, and generating and outputting a transimpedance amplification resistor control signal according to the target transimpedance amplification resistor; the transimpedance amplification resistor control signal is used for controlling the analog switch to be switched from the current transimpedance amplification resistor to the target transimpedance amplification resistor.
7. The lidar signal receiving circuit of claim 1, wherein the optical signal processing circuit comprises:
a light sensor for generating a photocurrent signal in response to the echo light signal;
the transimpedance amplification circuit is connected with the optical sensor and is used for amplifying the photocurrent signal and converting the photocurrent signal into the analog voltage signal;
the secondary amplifying circuit is connected between the transimpedance amplifying circuit and the analog-to-digital conversion circuit and is used for amplifying the analog voltage signal to obtain an amplified voltage signal;
accordingly, the gain control circuit comprises:
the secondary amplification control circuit is connected with the secondary amplification circuit and is used for controlling the amplification gain of the secondary amplification circuit;
the digital processing circuit is used for determining the target gain of the secondary amplifying circuit according to the current gain of the secondary amplifying circuit and generating and outputting a gain control signal according to the target gain; the gain control signal is used for indicating the secondary amplification control circuit to control the amplification gain of the secondary amplification circuit to be the target gain; wherein the target gain is less than the current gain when the digital voltage signal is saturated; when the digital voltage signal is under-compensated, the target gain is greater than the current gain.
8. The lidar signal receiving circuit of claim 7,
the secondary amplification circuit comprises a programmable amplifier; the programmable amplifier has a plurality of gain stages;
the digital processing circuit is used for determining a target gain gear of the program-controlled amplifier according to the current gain gear of the program-controlled amplifier and generating and outputting a gain gear control signal according to the target gain gear; the gain gear control signal is used for indicating the programmable amplifier to switch to the target gain gear; when the digital voltage signal is saturated, the gain corresponding to the target gain gear is smaller than the gain corresponding to the current gain gear; when the digital voltage signal is under-compensated, the gain corresponding to the target gain gear is larger than the gain corresponding to the current gain gear;
the secondary amplification control circuit comprises a control signal line used for transmitting a gain gear control signal of the programmable amplifier to the programmable amplifier.
9. The lidar signal receiving circuit of claim 7,
the secondary amplification circuit comprises a voltage controlled amplifier;
the digital processing circuit is used for determining a target gain control voltage of the voltage-controlled amplifier according to the current gain control voltage of the voltage-controlled amplifier and generating and outputting a gain control voltage control signal according to the target gain control voltage; the gain control voltage control signal is used for indicating the voltage-controlled amplifier to control the gain control voltage to be the target gain control voltage; wherein, when the digital voltage signal is saturated, the target gain control voltage is less than the current gain control voltage; when the digital voltage signal is under-compensated, the target gain control voltage is greater than the current gain control voltage.
10. The lidar signal receiving circuit of claim 9, wherein the secondary amplification control circuit comprises:
a second digital-to-analog converter for converting the gain control voltage control signal in a digital form into a gain control voltage control signal in an analog form;
and the second amplifying and conditioning circuit is used for amplifying and conditioning the analog gain control voltage control signal to obtain a target gain control voltage signal, and outputting the target gain control voltage signal to the voltage-controlled amplifier so as to provide a target gain control voltage for the voltage-controlled amplifier.
11. The lidar signal receiving circuit according to any of claims 1 to 10, wherein when the digital voltage signal is saturated, the digital processing circuit is configured to calculate a saturation level of the digital voltage signal according to an amplitude of the digital voltage signal and a preset saturation threshold, determine a current gain step corresponding to the digital voltage signal according to a positive correlation between the preset saturation level and the gain step, and control the gain control circuit to decrease the gain of the optical signal processing circuit by the current gain step; when the digital voltage signal is under-compensated, the digital processing circuit is configured to calculate an under-compensation degree of the digital voltage signal according to the amplitude of the digital voltage signal and a preset under-compensation threshold, determine a current gain step corresponding to the digital voltage signal according to a positive correlation between the preset under-compensation degree and the gain step, and control the gain control circuit to increase the gain of the optical signal processing circuit by the current gain step.
12. A laser radar signal gain control method, comprising:
receiving an echo optical signal, and converting the echo optical signal into an analog voltage signal through an optical signal processing circuit;
converting the analog voltage signal into a digital voltage signal;
detecting whether the digital voltage signal is saturated, and reducing the gain of the optical signal processing circuit when the digital voltage signal is saturated, or detecting whether the digital voltage signal is under-compensated, and controlling the gain control circuit to increase the gain of the optical signal processing circuit when the digital voltage signal is under-compensated.
13. A lidar comprising a lidar signal transmitting circuit and a lidar signal receiving circuit of any of claims 1-11; and the digital processing circuit in the laser radar signal receiving circuit is connected with the laser radar signal transmitting circuit and used for controlling the laser radar signal transmitting circuit to transmit laser radar signals.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/104530 WO2021042326A1 (en) | 2019-09-05 | 2019-09-05 | Laser radar signal receiving circuit, laser radar signal gain control method, and laser radar |
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| CN112585491A true CN112585491A (en) | 2021-03-30 |
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| CN201980050274.2A Pending CN112585491A (en) | 2019-09-05 | 2019-09-05 | Laser radar signal receiving circuit, laser radar signal gain control method and laser radar |
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| WO (1) | WO2021042326A1 (en) |
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