CN103605134B - The read method of laser ranging timing time, device and pulse type laser radar - Google Patents
The read method of laser ranging timing time, device and pulse type laser radar Download PDFInfo
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- CN103605134B CN103605134B CN201310590305.8A CN201310590305A CN103605134B CN 103605134 B CN103605134 B CN 103605134B CN 201310590305 A CN201310590305 A CN 201310590305A CN 103605134 B CN103605134 B CN 103605134B
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Classifications
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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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
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a kind of read method of laser ranging timing time, comprise the steps: 1) create an array; 2) launch a light pulse at laser instrument, and after timing chip records a timing time in real time, the data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array; N be greater than 1 positive integer; 3) step 2 is repeated), until light pulse emission is complete; 4) start address of the data corresponding to timing time in described array at every turn recorded is found out successively by storage time, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.Correspondingly, reading device and the pulse type laser radar of laser ranging timing time are provided.Read method of the present invention only need consume a small amount of instruction cycle, can also improve the repeat its transmission frequency of pulse type laser radar.
Description
Technical field
The present invention relates to automotive electronics applied technical field, be specifically related to a kind of read method of laser ranging timing time, device and pulse type laser radar.
Background technology
Along with the development of auto industry, the quantity of automobile is significantly increased, and meanwhile, automotive engineering have also been obtained sufficient development.Particularly, along with the development of automotive electronic technology, there is the Active collision avoidance system based on laser radar.Wherein, laser radar, as the distance measurement sensor of Active collision avoidance system, because having lower cost and higher distance accuracy, substantially increases the range of application of Active collision avoidance system.
In laser radar, pulse type laser radar because of have detection range far away, auto industry, Aero-Space, military affairs, the earth field such as atmospheric exploration and Robotics are widely used in advantages such as light source coherence requirement are low.The range measurement principle of pulse type laser radar is: drive laser is to the pulse of barrier utilizing emitted light, detect and receive the light pulse through barrier reflection, then obtain the mistiming between the light pulse of transmitting and the light pulse of reflection, calculate the distance between barrier with this.
At present, the read method of laser ranging timing time (described timing time is the mistiming between light pulse and the light pulse of reflection of launching) is: adopt the timing chip of a high speed to measure described timing time, and adopt single-chip microcomputer to pass through SPI(SerialPeripheralInterface, and Serial Peripheral Interface (SPI)) handle described timing chip and return data corresponding to described timing time, wherein, the laser instrument of pulse type laser radar often launches a light pulse, described timing chip just can record a timing time in real time, and all corresponding 32 bit data of each timing time, but, after laser instrument launches a light pulse, single-chip microcomputer once can only read 8 bit data from timing chip by SPI, therefore single-chip microcomputer needs reading 4 times, each reading 8 bit data, and adopt the mode of shifter-adder the data assembling that these 4 times are read could be become 32 bit data, thus the timing result (data that namely described timing time is corresponding) that formation one is complete, and be stored to the path that single-chip microcomputer specifies, so that single-chip microcomputer reads the data corresponding to described timing time, then laser instrument could launch next light pulse.
Visible, in data assembling process, take the method for shifter-adder not only to need to consume a large amount of instruction cycles, also reduce the repeat its transmission frequency of pulse type laser radar, cause its emissive power to reduce, thus reduce its finding range.
Summary of the invention
Technical matters to be solved by this invention is for above-mentioned defect existing in prior art, there is provided a kind of and only need consume a small amount of instruction cycle, the read method of the laser ranging timing time of the repeat its transmission frequency of pulse type laser radar, device and pulse type laser radar can also be improved.
Solve the technical scheme that the technology of the present invention problem adopts:
The read method of described laser ranging timing time, for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, and described read method comprises the steps:
1) array is created;
2) launch a light pulse at laser instrument, and after timing chip records a timing time in real time, the data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array; N be greater than 1 positive integer;
3) step 2 is repeated), until light pulse emission is complete;
4) start address of the data corresponding to timing time in described array at every turn recorded is found out successively by storage time, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
Preferably, described array takies 400 ~ 800 bytes.
Preferably, described step 1) is specially: in the outer random access memory of the sheet of single-chip microcomputer, create an array.
Preferably, described step 2) be specially:
A light pulse is launched at laser instrument, and after timing chip records a timing time in real time, single-chip microcomputer is adopted to pass through SPI(SerialPeripheralInterface, Serial Peripheral Interface (SPI)) control in the data that timing chip returns corresponding to this timing time at every turn m-bit data, and be stored in described array, return n time altogether, until all data corresponding to this timing time are all stored in described array, thus the data corresponding to this timing time are divided into n group; The figure place of the data corresponding to the timing time that described m records for timing chip is at every turn divided by n.
Preferably, in step 2) in, successively these n group data are stored in described array according to byte sequence;
In step 3), the data corresponding to the timing time at every turn recorded are recorded time sequencing according to it and is stored in described array.
Preferably, described step 4) is specially:
Find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
The present invention also provides a kind of reading device of laser ranging timing time, for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, and described reading device comprises: creating unit, storage unit and reading unit;
Described creating unit is for creating an array;
Described storage unit is used for launching a light pulse at laser instrument, and after timing chip records a timing time in real time, data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array, repeat this Data Placement and storing process, until light pulse emission is complete; N be greater than 1 positive integer;
Described reading unit is used for the start address of data in described array by finding out successively storage time corresponding to the timing time that records at every turn, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
Preferably, described creating unit specifically for: in the outer random access memory of the sheet of single-chip microcomputer, create an array.
Preferably, described reading unit specifically for:
Find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
The present invention also provides a kind of pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is for measuring timing time, described timing time is the mistiming between light pulse and the light pulse of reflection of launching, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, described pulse type laser radar also comprises the reading device of above-mentioned laser ranging timing time, to read the data corresponding to timing time that timing chip records.
Beneficial effect:
Data corresponding to the timing time that timing chip records at every turn are divided into after n group returns, in the read method of existing laser ranging timing time, take the mode of shifter-adder this n group data assembling to be become a complete timing result (data that namely described timing time is corresponding), then be stored in array and read for single-chip microcomputer; And in the read method of laser ranging timing time of the present invention and device, the n group data returned directly be stored in array, and read according to the mode finding start address the timing result that timing chip records at every turn.Visible, the present invention compared with prior art, owing to eliminating data assembling, save a large amount of instruction cycles, thus solve in prior art and consume the problem of a large amount of instruction cycle because adopting data assembling, and technical scheme is simple, to realize cost lower, also improves the repeat its transmission frequency of pulse type laser radar, its emissive power is increased, thus increases its finding range.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the read method of laser ranging timing time described in the embodiment of the present invention 1;
Fig. 2 is another process flow diagram of the read method of laser ranging timing time described in the embodiment of the present invention 1;
Fig. 3 is the structural representation of the reading device of laser ranging timing time described in the embodiment of the present invention 2.
Embodiment
For making those skilled in the art understand technical scheme of the present invention better, below in conjunction with drawings and Examples, the present invention is described in further detail.
Embodiment 1:
As shown in Figure 1, the present embodiment provides a kind of read method of laser ranging timing time, and for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, and described timing chip just can record a timing time in real time.The performance parameter of described timing chip can be chosen according to actual conditions voluntarily by those skilled in the art.Described read method comprises the steps:
S101. an array is created.
Preferably, described array takies 400 ~ 800 bytes.Because when laser ranging, consider the real time problems of range finding, the light pulse number that laser instrument is launched at every turn is generally 100 ~ 200, and timing chip has also just recorded 100 ~ 200 timing times in real time, data corresponding to each timing time are generally 32 bit data, need take 4 bytes, then these data corresponding to 100 ~ 200 timing times just need take 400 ~ 800 bytes in array.
Preferably, described array is created in the outer random access memory (XRAM) of sheet of single-chip microcomputer.Data corresponding to the timing time that timing chip records need be back to single-chip microcomputer by SPI, and in single-chip microcomputer, be generally all integrated with the outer random access memory of sheet, therefore described array to be created in the outer random access memory of sheet just without the need to additionally arranging memory device to store this array, reduce application cost.
S102. a light pulse is launched at laser instrument, and after timing chip records a timing time in real time, data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array, namely a group in described n group data is stored in described array, until these n group data are all stored in described array by each; N be greater than 1 positive integer.
Preferably, successively these n group data are stored in described array, so that follow-up data read operation according to byte sequence.
Particularly, a light pulse is launched at laser instrument, and after timing chip records a timing time in real time, adopt single-chip microcomputer to return the m-bit data in the data corresponding to this timing time by SPI control timing chip at every turn, and be stored in described array, until all data corresponding to this timing time are all stored in described array, described timing chip returns n secondary data altogether, thus the data corresponding to this timing time are divided into n group; The figure place of the data corresponding to the timing time that described m records for timing chip is at every turn divided by n.
The figure place of the data corresponding to the timing time that timing chip records is relevant with its measuring accuracy, and the figure place of the data that timing chip is returned by SPI single, the i.e. value of m, relevant with the performance of single-chip microcomputer, therefore the data corresponding to each timing time are divided into several groups, the i.e. value of n, is determined jointly by the performance of both timing chip and single-chip microcomputer.
S103. step s102 is repeated, until the light pulse emission of laser instrument is complete.
In the process repeating step s102, preferably, the data corresponding to the timing time at every turn recorded are recorded time sequencing according to it and is stored in described array, so that follow-up data read operation.
S104. the start address of the data corresponding to timing time in described array at every turn recorded is found out successively by storage time, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
Particularly, find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
The read method of laser ranging timing time described in application the present embodiment carries out the principle of laser ranging: make the pulse of laser instrument utilizing emitted light, and laser instrument often launches a light pulse, described timing chip just records a timing time in real time, and be divided into n group to be stored into successively in array the data corresponding to this timing time, until all light pulses all battery has fireds (assuming that launching h light pulse), from array, data corresponding to timing chip records at every turn timing time are read successively again according to finding the mode of start address, and calculate the distance between barrier according to the data read, and then make laser instrument utilizing emitted light pulse (assuming that launch h light pulse), and read data corresponding to timing time that timing chip records at every turn in the manner described above, and calculate the distance between barrier according to the data of reading, circulation like this repeatedly, until laser ranging terminates.Wherein, the light pulse quantity h that laser instrument is launched at every turn is relevant with distance accuracy, and general h gets 100 ~ 200, to ensure the real-time of finding range.
Reading manner described in the present embodiment compared with prior art, owing to not needing data assembling in the transmission interval of adjacent two light pulses, thus a large amount of instruction cycles is not only saved, also improve the transmission frequency of light pulse, increase distance accuracy when the described reading manner of application is found range and finding range.
, launch 100 light pulses (i.e. h=100) with laser instrument below, and corresponding 32 bit data of timing time that timing chip records at every turn are example, describe the read method of laser ranging timing time described in the present embodiment in detail.
As shown in Figure 2, described read method comprises the steps:
S201. in the outer random access memory of the sheet of single-chip microcomputer, create the array of 400 bytes.
S202. a light pulse is launched at laser instrument, and after timing chip records a timing time in real time, adopt single-chip microcomputer to return 8 bit data in 32 bit data corresponding to this timing time by SPI control timing chip at every turn, and be stored in described array, return 4 times altogether, until described 32 bit data are all stored in described array, thus 32 bit data corresponding to this timing time be divide into 4 groups.
S203. judge 100 pulses whether battery has fired, in this way, then perform step s204, as no, then perform step s202.
S204. find out the first address of described array, this address is forced point to 32 bit data corresponding to the first timing time recorded stored in described array, from described array, read this 32 bit data.
S205. make described first address add 4 in existing value, the first address after superposition is forced 32 bit data corresponding to timing time that the next one stored in the described array of sensing records, and from described array, read this 32 bit data.
S206. judge whether all data read complete, in this way, then terminate read work, as no, then perform step s205.
When corresponding 32 bit data of timing time that timing chip records at every turn, and when single-chip microcomputer returns 8 bit data in described 32 bit data by SPI control timing chip at every turn, in prior art, the specific code of laser ranging timing time read method is as follows:
As can be seen from above-mentioned code, timing chip is returned 4 times by read method of the prior art, 8 bit data at every turn returned are assembled into 32 bit data by the mode shifting to addition, because shift order expends time in more, cause the time interval of adjacent twice impulse ejection to increase.
The array of 400 bytes is taken establishment one, laser instrument launches 100 pulses at every turn, corresponding 32 bit data of the timing time that timing chip records at every turn, and single-chip microcomputer by SPI control timing chip return 8 bit data in described 32 bit data at every turn time, described in the present embodiment, the specific code of the read method of laser ranging timing time is as follows:
As can be seen from above-mentioned code, read method described in the present embodiment is not assembled into 32 bit data to the data (returning 8 bit data) that timing chip returns for 4 times at every turn by the mode shifting to addition, and be stored in array, read for single-chip microcomputer, but the first sequential storage of the data returned for 4 times by timing chip is in array, after treating whole 100 impulse ejections, read 32 bit data corresponding to timing time that timing chip records at every turn successively according to the mode of addressing again, thus reduce the time interval of adjacent twice impulse ejection.
Embodiment 2:
As shown in Figure 3, the present embodiment provides a kind of reading device of laser ranging timing time, and for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, and described timing chip just can record a timing time in real time.Described reading device comprises: creating unit, storage unit and reading unit.
Wherein, described creating unit is for creating an array;
Described storage unit is used for launching a light pulse at laser instrument, and after timing chip records a timing time in real time, data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array, repeat this Data Placement and storing process, until light pulse emission is complete; N be greater than 1 positive integer;
Described reading unit is used for the start address of data in described array by finding out successively storage time corresponding to the timing time that records at every turn, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
Preferably, described creating unit specifically for: in the outer random access memory of the sheet of single-chip microcomputer, create an array.
Preferably, described reading unit specifically for:
Find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
The present embodiment also provides a kind of pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is for measuring timing time, described timing time is the mistiming between light pulse and the light pulse of reflection of launching, and laser instrument often launches a light pulse, and described timing chip just can record a timing time in real time.Described pulse type laser radar also comprises the reading device of above-mentioned laser ranging timing time, to read the data corresponding to timing time that timing chip records.
The present embodiment also provides a kind of automobile comprising above-mentioned pulse type laser radar.
Be understandable that, the illustrative embodiments that above embodiment is only used to principle of the present invention is described and adopts, but the present invention is not limited thereto.For those skilled in the art, without departing from the spirit and substance in the present invention, can make various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (10)
1. the read method of a laser ranging timing time, for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, it is characterized in that, the quantity of the light pulse that described laser instrument is launched at every turn is 100 ~ 200, and described read method comprises the steps:
1) array is created;
2) often launch a light pulse at laser instrument, and after timing chip records a timing time in real time, just the data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array; N be greater than 1 positive integer;
3) step 2 is repeated), until the equal battery has fired of light pulse that described laser instrument is launched at every turn;
4) start address of the data corresponding to timing time in described array at every turn recorded is found out successively by storage time, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
2. read method according to claim 1, is characterized in that, described array takies 400 ~ 800 bytes.
3. read method according to claim 1, is characterized in that, described step 1) be specially: in the outer random access memory of the sheet of single-chip microcomputer, create an array.
4. read method according to claim 3, is characterized in that, described step 2) be specially:
A light pulse is launched at laser instrument, and after timing chip records a timing time in real time, adopt single-chip microcomputer to return the m-bit data in the data corresponding to this timing time by SPI control timing chip at every turn, and be stored in described array, until all data corresponding to this timing time are all stored in described array, thus the data corresponding to this timing time are divided into n group; The figure place of the data corresponding to the timing time that described m records for timing chip is at every turn divided by n.
5. the read method according to any one of Claims 1 to 4, is characterized in that,
In step 2) in, successively these n group data are stored in described array according to byte sequence;
In step 3) in, the data corresponding to the timing time at every turn recorded are recorded time sequencing according to it and is stored in described array.
6. read method according to claim 5, is characterized in that,
Described step 4) be specially:
Find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
7. the reading device of a laser ranging timing time, for reading the data corresponding to timing time that timing chip records, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, it is characterized in that, the quantity of the light pulse that described laser instrument is launched at every turn is 100 ~ 200, and described reading device comprises: creating unit, storage unit and reading unit;
Described creating unit is for creating an array;
Described storage unit is used for often launching a light pulse at laser instrument, and after timing chip records a timing time in real time, just the data corresponding to this timing time are divided into n group, and successively these n group data are stored in described array, repeat this Data Placement and storing process, until the equal battery has fired of light pulse that described laser instrument is launched at every turn; N be greater than 1 positive integer;
Described reading unit is used for the start address of data in described array by finding out successively storage time corresponding to the timing time that records at every turn, and often find a described start address, just from described array, read the data corresponding to its corresponding timing time by this start address, until all data all read complete.
8. reading device according to claim 7, is characterized in that, described creating unit specifically for: in the outer random access memory of the sheet of single-chip microcomputer, create an array.
9. the reading device according to claim 7 or 8, is characterized in that, described reading unit specifically for:
Find out the first address of described array, this address is forced point to the data corresponding to the first timing time recorded stored in described array, and read this data from described array;
Described first address is made to add x* (i-1), first address after superposition is forced point to the data corresponding to i-th timing time recorded stored in described array, and this data are read from described array, i gets the positive integer being more than or equal to 2 successively, until all data all read complete; Wherein, the figure place of the data corresponding to timing time that at every turn records for timing chip of described x is divided by 8.
10. a pulse type laser radar, comprise laser instrument, receiver and timing chip, described laser instrument is used for the pulse of barrier utilizing emitted light, described receiver is for receiving the light pulse through barrier reflection, described timing chip is for measuring timing time, described timing time is the mistiming between light pulse and the light pulse of reflection of launching, and laser instrument often launches a light pulse, described timing chip just can record a timing time in real time, it is characterized in that, described pulse type laser radar also comprises the reading device of the laser ranging timing time according to any one of claim 7 ~ 9, to read the data corresponding to timing time that timing chip records.
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| CN103954972A (en) * | 2014-05-21 | 2014-07-30 | 奇瑞汽车股份有限公司 | Multi-channel laser radar detection method |
| CN105137443B (en) * | 2015-08-27 | 2017-09-26 | 苏州翌森光电科技有限公司 | Pulse type laser distance-finding method |
| CN108196242B (en) * | 2016-12-08 | 2020-04-28 | 北京万集科技股份有限公司 | Laser radar timing method based on edge detection and data processing unit |
| EP3339885A1 (en) * | 2016-12-21 | 2018-06-27 | Hexagon Technology Center GmbH | Laser distance measuring module with inl error compensation |
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