CN104297760A - Vehicle-mounted impulse type laser radar system - Google Patents
Vehicle-mounted impulse type laser radar system Download PDFInfo
- Publication number
- CN104297760A CN104297760A CN201410527084.4A CN201410527084A CN104297760A CN 104297760 A CN104297760 A CN 104297760A CN 201410527084 A CN201410527084 A CN 201410527084A CN 104297760 A CN104297760 A CN 104297760A
- Authority
- CN
- China
- Prior art keywords
- circuit
- laser
- vehicle
- receiving
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- 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 vehicle-mounted impulse type laser radar system. The vehicle-mounted impulse type laser radar system comprises a laser transmitting circuit, three receiving circuits, three timing circuits and a processor. The laser transmitting circuit comprises a laser transmitter, a driving circuit of the laser transmitter, a spectroscope, a transmitting circuit photoelectric detector and an optical system. Each receiving circuit comprises an optical instrument, three converging lenses, three receiving circuit photoelectric detectors, and a signal conditioning circuit composed of two-stage amplifying circuits, filtering circuits and time discriminating circuits. The processor is electrically connected with the driving circuit and the three timing circuits and works out the distance between an obstacle in front of a vehicle and the vehicle and the direction of the obstacle according to the recorded laser flight time. According to the vehicle-mounted laser radar system of a three-path timing structure, within the range of 10 m in front of the vehicle, the distance between the obstacle in front of the target vehicle and the target vehicle can be accurately measured, and the direction of the obstacle in front of the target vehicle can be detected as well.
Description
Technical field
The present invention relates to field of automotive active safety, be specifically related to a kind of vehicle-mounted pulse type laser radar system.
background technology
Along with people improve constantly the requirement of the security in car steering process, comfortableness, laser radar range system is just little by little applied to field of automotive active safety.Laser radar system is generally used for the distance or relative velocity of measuring other target around this car in the car, so that Ben Che and around there is risk of collision between other target time, driver can be reminded in time, to avoid the degree colliding or alleviate collision.Due to future, the development trend of vehicle-mounted range radar is the feature that requirement generating laser will be applicable to vehicle-mounted installation, namely to accomplish that volume is little, quality is light, is adapted at vehicle uses, and most of mobile lidar system does not need to detect vehicle front distance too far away.Therefore, while laser radar is little by little applied to field of automotive active safety, people it is also proposed certain requirement for the convenience of the cost of laser radar range system, volume and installation.
Traditional detection mode adopts target to be measured around multi-thread (or single line) scanning laser radar measured automobiles, although adopt this detection mode to possess very high spatial resolution and measuring distance far away, but because its cost is very high, can't be accepted by general marketplace at present.The mode adopting single laser instrument to produce single beam laser Non-scanning mode can not realize again the target detection in large space region, can not meet the requirement to the target detection of motor vehicle environment extensive area.And another kind of mode adopts the detection of multi-laser non-scanning type, but this detection mode still significantly can increase system cost.
Summary of the invention
The invention provides a kind of vehicle-mounted pulse type laser radar system, more accurately detecting vehicle front barrier can be realized.
For solving the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of vehicle-mounted pulse type laser radar system, comprises laser transmission circuit, No. three receiving circuits, No. three timing circuit and processors;
Described laser transmission circuit comprises for generation of the generating laser of single beam laser and driving circuit thereof, for single beam laser being divided into the spectroscope of two bundles, being used for the radiating circuit photodetector of the beam of laser receiving spectroscope injection;
The described laser radar system another beam of laser also comprised for being penetrated by spectroscope is divided into three beams and distribution projects the optical system in three regions to be measured in isosceles triangle;
Receiving circuit described in three tunnels is for receiving the target heliogram of three beams of laser view field reflection, and this receiving circuit comprises photoelectric switching circuit and signal conditioning circuit, and wherein photoelectric switching circuit is electrically connected with processor by signal conditioning circuit; Described signal conditioning circuit comprises the two-stage amplifying circuit, filtering circuit and the moment discrimination circuit that connect successively, described two-stage amplifying circuit comprises first order pre-amplification circuit and second level main amplifying circuit, the small current amplify that described pre-amplification circuit is used for photoelectric switching circuit produces becomes weak voltage signals, and described main amplifying circuit is used for weak voltage signals being zoomed into the voltage signal meeting system requirements;
Described photoelectric switching circuit comprises an optical instrument, three light-collecting lens and three receiving circuit photodetectors corresponding with this light-collecting lens, described optical instrument can by the reflectance target echoed signal of three view fields accordingly by three receiving circuit photoelectric detector, and described receiving circuit photodetector is electrically connected with described processor;
Timing circuit described in three tunnels comprises three road timing unit modules, and three road timing unit modules can receive the electric impulse signal that radiating circuit photodetector sends simultaneously, and using the initial time T of this electric impulse signal as laser time of flight
0; Timing unit module described in three tunnels records the electric impulse signal after amplification, filtering, moment are differentiated of three described receiving circuit conveyings respectively, using this moment accordingly as the end time T of laser time of flight
1i, and record the flight time △ T of three beams of laser
i=T
1i-T
0;
Described processor is electrically connected with timing circuit described in three tunnels and driving circuit, for calculating the distance of barrier and judging whether three projection subregions have target, judge the orientation of vehicle front target to be measured according to the electric signal that No. three receiving circuits produce.
Further, described optical system is diffraction grating, a part of laser of described laser transmitter projects can be carried out optical alignment and beam splitting, make single beam laser be divided into three beams through after this diffraction grating, and three beams of laser view field's non-overlapping copies spatially.
Preferably, the energy distribution of the three beams of laser after described optical system optical alignment and beam splitting is left 20%, Road 60% and right wing 20%.
Further, described moment discrimination circuit adopts high pass moment identification method, described high pass moment identification method is that change original extreme point into zero point, the zero crossing of bipolar output signal is timing point by the start-stop signal pulse of amplifying circuit output single-pole by Hi-pass filter.
The range measurement principle of described pulse type laser radar realizes range observation with laser at the Measurement accuracy of the mistiming of flight trip path.The single beam laser that in the present invention, generating laser produces is after spectroscope light splitting, timing chip is directly given as initial time start through opto-electronic conversion in one tunnel, one road directive is detected destination object, after running into target, the portion of energy of echo-pulse passes through diffuse reflection from detection, act on after optical lens again on photoelectric commutator, and then change electric signal into, because this signal is very faint, amplify through amplifier again, moment discrimination circuit is sent into after reaching the value of applicable post-processed, determine the end time stop of laser flying, being given timing chip and start subtract each other this moment is the flight time.Suppose that the light velocity is c, the flight time of laser is t, then target range s is: s=c*t/2.Described filtering circuit is together with described two-stage Design of Amplification Circuit, for the interference that filtering causes because of offset voltage etc., described moment discrimination circuit adopts high pass moment identification method, for the flight termination moment of precise Identification three beams of laser, described processor communicates with No. three timing circuits, obtains the difference △ T of laser time of flight
iafter, the algorithm through having stored calculates the distance S of barrier
i=(C* △ T
i)/2, i=1,2,3 represents the obstacle distance that left, center, right road detects respectively, the electric signal that this microprocessor can also produce according to which photodetector judges whether three projection subregions have target, and then judges the orientation of vehicle front target to be measured.
Pulsed mobile lidar system of the present invention can detect the distance and bearing of preceding object thing in the distance range of vehicle front 1-10 rice, and left, center, right three line structure of design can to vehicle front enforcement detection in a big way.
From above technical scheme, the present invention has following beneficial effect:
The present invention adopts the single beam laser light splitting produced by single semiconductor laser diode to become to have the three beams of laser of certain angle of divergence, and the region that three, the left, center, right described three beams of laser being incident upon respectively target vehicle front are different, to realize the scheme to the detection of target vehicle front extensive area internal object, comparatively multi-laser non-scanning type laser radar is low for the cost of the program.The mobile lidar system of the present invention three road timing structure, in the scope of vehicle front 10 meters can not only Measurement accuracy target vehicle preceding object thing from target vehicle distance, can also detect that barrier is positioned at the orientation in target vehicle front.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of the vehicle-mounted pulse type laser radar system of the present invention;
Fig. 2 is the search coverage distribution plan of the present invention three road laser at vehicle front;
Fig. 3 is the structure composition schematic diagram of receiving circuit in the present invention;
Fig. 4 is the circuit theory diagrams of pre-amplification circuit of the present invention;
Fig. 5 is the circuit theory diagrams of main amplifying circuit in the present invention.
In figure: 100, laser transmission circuit, 110, generating laser, 120, driving circuit, 130, spectroscope, 140, radiating circuit photodetector, 200, receiving circuit, 210, photoelectric switching circuit, 211, optical instrument, 212, light-collecting lens, 213, receiving circuit photodetector, 220, signal conditioning circuit, 221, pre-amplification circuit, 222, main amplifying circuit, 223, filtering circuit, 224, moment discrimination circuit, 300, timing circuit, 400, processor, 500, optical system.
Embodiment
Below in conjunction with accompanying drawing, a kind of preferred implementation of the present invention is described in detail.
As shown in Figure 1, the vehicle-mounted pulse type laser radar system of the present invention comprises laser transmission circuit 100, No. three receiving circuit 200, No. three timing circuit 300, processor 400 and optical system 500.
Described processor connects laser transmission circuit, Bing Yu No. tri-timing circuit connects, the laser part that laser transmission circuit is launched is delivered to No. three timing circuits, part projects after barrier through optical system and is received by No. three receiving circuits through launching, and No. three receiving circuits are electrically connected with No. three timing circuits.
Described laser transmission circuit 100 comprises generating laser 110 for generation of single beam laser and driving circuit 120 thereof, for single beam laser being divided into the spectroscope 130 of two bundles, for receiving the radiating circuit photodetector 140 of the beam of laser of spectroscope injection, wherein generating laser is preferably a kind of semiconductor laser diode, this semiconductor laser diode adopts the model of OSRAM company to be SPL-LL90-3 laser tube, the optical wavelength of described SPL-LL90-3 laser tube emissions not only meets the comparatively safe scope of human eye, but also be a integrated package pipe, meet the demand of system miniaturization.Described driving circuit 120 drives semiconductor laser diode Emission Lasers, and after spectroscope beam splitting, a part of laser is launched circuit photodetector and detects and convert electric signal to and send to No. three timing circuits as initial time T
0, another part laser is injected in optical system, and driving circuit can be supplied to the enough emissive powers of semiconductor laser diode and stability.
Described optical system 500 is preferably diffraction grating, another part laser injected can be carried out optical alignment and beam splitting, make single beam laser be divided into three beams through after this diffraction grating, and three beams of laser view field's non-overlapping copies spatially.As shown in Figure 2, the three beams of laser after described optical system optical alignment and beam splitting projects the not overlapping region, three, left, center, right of vehicle front, and its energy distribution is left 20%, Road 60% and right wing 20%.
As shown in Figure 3, receiving circuit 200 described in three tunnels is for receiving the target heliogram of three beams of laser after barrier reflection, this receiving circuit comprises photoelectric switching circuit 210 and signal conditioning circuit 220, and this photoelectric switching circuit is electrically connected with processor 400 by signal conditioning circuit.
Described photoelectric switching circuit 210 comprises an optical instrument 211, three light-collecting lens 212 and three receiving circuit photodetectors 213 corresponding with this light-collecting lens, described optical instrument can by the reflectance target echoed signal of three view fields accordingly by three receiving circuit photoelectric detector, described receiving circuit photodetector is PIN pipe photodiode, is designated as the first receiving circuit photodetector, the second receiving circuit photodetector and the 3rd receiving circuit photodetector respectively.
Described signal conditioning circuit 220 comprises the first order pre-amplification circuit 221 connected successively, second level main amplifying circuit 222, filtering circuit 223 and moment discrimination circuit 224, the small current amplify that described pre-amplification circuit is used for photoelectric switching circuit produces becomes weak voltage signals, described main amplifying circuit is used for weak voltage signals being zoomed into the voltage signal meeting system requirements, described filtering circuit is together with the Design of Amplification Circuit of described the two poles of the earth, for the interference that filtering causes because of offset voltage etc., described moment discrimination circuit adopts high pass moment identification method, for the flight termination moment of precise Identification three beams of laser.Described signal conditioning circuit is also all designed to three line structures, is electrically connected respectively with three receiving circuit photodetectors.Preferably, described pre-amplification circuit is selected integrated chip OPA657 to take to put, and described main amplifying circuit forms cascade structure by two identical integrated chip AD8009.The light pulse be reflected back through barrier converts through foregoing circuit the timing circuit flowed to after the voltage signal that can survey corresponding to each road receiving circuit to.
Timing circuit 300 described in three tunnels is primarily of three road timing unit module compositions, be designated as the first timing unit module, the second timing unit module and the 3rd timing unit module respectively, this timing unit module is made up of TDC-GP21 and basic peripheral circuit thereof, TDC-GP21 is binary channels time-to-digit converter, can gather the signal that both direction receives, GP21 arranges the opening flag of threshold values as timing simultaneously.The identical timing unit module in three tunnels receives the electric impulse signal that radiating circuit photodetector sends simultaneously, and using the initial time T of this electric pulse reference signal as the recording laser flight time
0.First timing unit module, the second timing unit module and the 3rd timing unit module record the first receiving circuit photodetector, the second receiving circuit photodetector and the 3rd receiving circuit photodetector electric impulse signal after amplification, filtering, moment are differentiated respectively, and using this moment accordingly as the flight termination moment T of the first laser
1, the second laser flight termination moment T
2, the 3rd laser flight termination moment T
3; The flight time of then recording the first laser, the second laser and the 3rd laser is respectively respectively: △ T
1=T
1-T
0, △ T
2=T
2-T
0, △ T
3=T
3-T
0.
Three tunnel echoed signals deliver to No. three timing circuits as the end time T measuring laser time of flight after conversion, amplification filtering
i, the flight time of the laser of record is delivered to processor 400 by No. three timing circuits, and processor utilizes the program computation stored to go out the distance of vehicle front barrier, and according to the echoed signal of the Shi Na road laser measured and then judge the orientation of barrier.Processor and the external world carry out CAN communication, and other external control device completes the operation of some complexity jointly.
The integrated encapsulating products (such as semiconductor laser diode adopts SPL-LL90-3 integrated form package tube, selects SMD encapsulation photoelectric tube etc.) that in the present invention, many employings are small-sized, can the volume of maximum reduction system, make this product can the demand of As soon as possible Promising Policy mobile lidar miniaturization.
Known see Fig. 4, described pre-amplification circuit 221 comprises: PIN pipe photodiode D1, resistance R1, resistance R2, resistance R3, electric capacity C1, electric capacity C2, electric capacity C3, electric capacity C4, trans-impedance amplifier U1, power supply VCC, power vd D, and the label of 5 ports (port 4, port 6, port 7, port 5 and port 8) of 3 nodes (figure interior joint A, Node B and node C) that this pre-amplification circuit is arranged and trans-impedance amplifier U1 as shown in Figure 4.
Wherein, the port 5 of trans-impedance amplifier U1 and port 8 meet power supply VCC and power vd D respectively, node A meets power supply VEE, node A is connected by wire one end with resistance R1, the other end of resistance R1 is connected with Node B by wire, node A is connected by wire one end with electric capacity C2 simultaneously, the other end of electric capacity C2 passes through wired earth, Node B is connected by the anode of wire with PIN pipe photodiode D1, Node B is connected by wire one end with electric capacity C3 simultaneously, the other end of electric capacity C3 passes through wired earth, the negative electrode of PIN pipe photodiode is connected with node C by wire, node C is connected by wire one end with resistance R3, the other end of resistance R3 passes through wired earth, node C is connected by wire one end with electric capacity C4 simultaneously, the other end of electric capacity C4 to be held with "-" of trans-impedance amplifier U1 by wire and is connected, "-" end of trans-impedance amplifier U1 is by wire and resistance R2 simultaneously, one end of electric capacity C1 is connected respectively, resistance R2, the other end of electric capacity C1 is connected by the output terminal of wire with trans-impedance amplifier U1, the output terminal of trans-impedance amplifier U1 is connected with nodes X 1 by wire, "+" end of trans-impedance amplifier U1 passes through wired earth.
When laser echo pulse signal is irradiated to PIN pipe photodiode D1, at the rising edge of echo pulse signal, PIN pipe D1 conducting gradually, the impedance of PIN pipe D1 can change along with the change of pulse power, at the negative edge of echo pulse signal, PIN pipe D1 ends gradually.When the D1 conducting of PIN pipe, power vd D is charged to electric capacity C4 by PIN pipe D1, when PIN pipe D1 pipe ends, electric capacity C4 is discharged by resistance R3, along with the carrying out of discharge and recharge, complete the seizure to echo pulse signal, the inverting input of trans-impedance amplifier U1 produces faint volume current signal, converts this current signal to faint voltage signal by trans-impedance amplifier U1.
The effect of electric capacity C4 can solve saturation problem: electric capacity C4 just has electric current to flow through in charge and discharge process, after charging process terminates, the characteristic that electric capacity C4 has " logical interchange; stopping direct current ", the direct current signal that background noise signal is converted to by PIN pipe D1 can be intercepted by electric capacity C4, and echo pulse signal can be admitted to trans-impedance amplifier U1.
Resistance R2 is the feedback resistance of trans-impedance amplifier, and electric capacity C1 is with feedback resistance R2 and the feedback capacity connect, can oscillation-damped and suppress the noise gain of high band, and the electric current exported by the known PIN pipe of circuit theory diagrams is through being negative value across voltage after resistance amplification.
The resistance of resistance R1, R2, R3 described in pre-amplification circuit described above is respectively 0.97K Ω, 9.7 K Ω, 0.97 K Ω, and described electric capacity C1, C2, C3 are respectively 0.2pF, 310nF, 310nF, and above-mentioned parameter can guarantee that system stability runs reliably.
Because the light signal reflected is after pre-amplification circuit amplifies, the voltage signal amplitude obtained still is not enough to meet subsequent conditioning circuit demand, needs to proceed to amplify to prime output voltage pulse signal further.
Known see Fig. 5, main amplifying circuit 222 adopts two-stage AD8009 cascade structure, and main amplifying circuit comprises: two identical AD8009 operational amplifier U2 and U3, electric capacity C11, electric capacity C21, resistance R11, resistance R12, resistance R13, resistance R21, resistance R22, resistance R23, resistance R5, power supply VCC and power vd D.
Wherein, the port 4 of amplifier U2 and port 7 meet work positive supply and work negative supply VCC respectively by wire, the port 4 of amplifier U3 and port 7 meet work positive supply and work negative supply VDD respectively by wire, nodes X 1 is connected by wire one end with electric capacity C11, the other end of electric capacity C11 is connected with node P by wire, node P to be held with "+" of amplifier U2 by wire and is connected, node P is connected by wire one end with resistance R11 simultaneously, the other end of resistance R11 passes through wired earth, "-" end of amplifier U2 by wire simultaneously with resistance R12, one end of R13 is connected, the other end of resistance R12 passes through wired earth, the other end of resistance R13 is connected by the output terminal of wire with amplifier U2, the output terminal of amplifier U2 is connected with TP3 by wire, the output terminal of amplifier U2 is connected by wire one end with resistance R4 simultaneously, the other end of resistance R4 is connected by wire one end with electric capacity C21, the other end of electric capacity C21 is connected with Node B by wire, node Q is connected by wire one end with resistance R21, the other end of resistance R21 passes through wired earth, simultaneously node Q to be held with "+" of amplifier U3 by wire and is connected, amplifier U3 "-" end by wire respectively with resistance R22, one end of resistance R23 is connected, the other end of resistance R22 passes through wired earth, the other end of resistance R23 is connected by the output terminal of wire with amplifier U3, the output terminal of amplifier U3 is connected with node TP5 by wire simultaneously.
When the weak voltage signals through trans-impedance amplifier U1 is delivered to the normal phase input end of one-level operational amplifier U2, operational amplifier U2 carries out one-level amplification to faint voltage signal and exports, voltage signal after amplifier U2 amplifies delivers to the normal phase input end of amplifier U3 through being serially connected in resistance R4 between two-stage amplifying circuit U2, U3 and electric capacity C21, now, amplifier U3 carries out secondary amplification to the voltage signal after one-level amplification, completes the two-stage enlarging function of main amplifying circuit to signal.
Electric capacity C11 is used for carrying out the direct current biasing that trans-impedance amplifier U1 offset voltage in filtering pre-amplification circuit etc. is introduced.
AD8009 inter-stage connects and adopts high pass to connect, and C4 is used for the direct current biasing that filtering offset voltage of amplifier etc. is introduced; The small resistor of resistance R4 to be resistance be 10 ohms, in order to prevent self-excitation.
In the one-level amplifying circuit of U2, resistance R12 and resistance R13 plays the effect regulating enlargement factor, and concrete enlargement factor is: (R12+R13)/R12.Resistance R11 is biasing resistor, ground connection.
In the second amplifying circuit of U3, resistance R22 and resistance R23 plays the effect regulating enlargement factor, and concrete enlargement factor is: (R22+R23) ╱ R22.Resistance R21 is biasing resistor, ground connection.
The potential pulse exported for making AD8009 converts positive pulse to, so be connected with the positive terminal of AD8009 by the output terminal of trans-impedance amplifier OPA657.
The resistance of resistance R11, R12, R13, R21, R22, R23, R4 described in main amplifying circuit described above is respectively 50 Ω, 22.1 Ω, 200 Ω, 50 Ω, 110 Ω, 1K Ω, 10 Ω, the capacitance of described electric capacity C11, C21 is respectively 4.7nF, 4.7nF, and above-mentioned parameter can guarantee that system stability runs reliably.
The specific implementation process of mobile lidar system is as follows:
System starts, processor sends pulse to the driving circuit of semiconductor laser diode, and semiconductor laser diode launches laser beam, is divided into two parts through spectroscope, wherein most of light beam will by optical system, and another part is received by radiating circuit photoelectric detector;
When described radiating circuit photodetector detects laser, by generation potential pulse, and this potential pulse is transmitted to No. three timing circuits, No. three timing circuits start timing, and this moment is designated as T
0;
Most of laser after spectroscope will carry out optical alignment and beam splitting by optical system, single beam laser is divided into three beams of laser (being called the first laser, the second laser and the 3rd laser) after optical system, this three beams of laser spatially projects three regions to be measured of vehicle front without overlapping, wherein the first laser projection is to the left front region of vehicle, second laser projection is to the positive forefoot area of vehicle, and the 3rd laser projection is to the right front region of vehicle;
The three beams of laser that described optical system is launched is corresponding to the first receiving circuit photodetector in receiving circuit after being irradiated to target to be measured reflection, second receiving circuit photodetector and the 3rd receiving circuit photoelectric detector, described first receiving circuit photo-detector, the light pulse signal of reception passes through and converts low current signal to across resistance amplifying circuit by the second receiving circuit photodetector and the 3rd receiving circuit photodetector, low current signal converts weak voltage signals to through pre-amplification circuit, weak voltage signals carries out voltage amplification through the main amplifying circuit of two AD8009 cascades again, filtering, become the voltage signal meeting system requirements, amplify through two-stage, filtered voltage signal is sent to moment discrimination circuit and carries out moment discriminating, by three timing modules being sent to No. three timing circuits corresponding respectively for the electric impulse signal after carrying out moment discriminating.
The electric impulse signal that the first timing module in described No. three timing circuits sends for receiving the first receiving circuit photoelectric conversion tube, and the moment receiving this electric impulse signal is designated as T
1, T
1that is to say the first laser flying end time; The electric impulse signal that described second timing module sends for receiving the second receiving circuit photoelectric conversion tube, and the moment receiving this electric impulse signal is designated as T
2, T
2that is to say the end time of the second laser flying; The electric impulse signal that described 3rd timing module sends for receiving the 3rd receiving circuit photoelectric conversion tube, and the moment receiving this electric impulse signal is designated as T
3, T
3that is to say the end time of the 3rd laser flying; Described No. three timing circuits are by the time signal T of record
0, T
1, T
2, T
3deliver in described microprocessor;
The flight time of the first laser pulse can be expressed as △ T
1=T
1-T
0, the flight time of the second laser pulse can be expressed as △ T
2=T
2-T
0, the burst length of the 3rd laser can be expressed as △ T
3=T
3-T
0; Processor calculates the distance S of target to be measured
i=(T
i-T
0) * C/2, i=1,2,3 represent the distance obtaining vehicle front barrier according to the first laser, the second laser, the 3rd Laser Measuring respectively accordingly;
Described processor is connected respectively with three the PIN photoelectric conversion tubes (receiving circuit photodetector) in three photoelectric switching circuits, for receiving electric signal that described three PIN pipe photoelectric conversion tubes export and it being analyzed to the orientation of the target obtained in the view field of three beams of laser;
Processor is the distance that electric signal which PIN pipe photoelectric conversion tube exports can not only calculate barrier according to what receive, can also judge this signal by which beam of laser is reflected through barrier accordingly, and then can determine that barrier is positioned at the orientation of vehicle front.
The above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (5)
1. a vehicle-mounted pulse type laser radar system, comprises laser transmission circuit (100), No. three receiving circuits (200), No. three timing circuits (300) and processor (400), it is characterized in that:
Described laser transmission circuit (100) comprise for generation of the generating laser (110) of single beam laser and driving circuit (120) thereof, for single beam laser is divided into two bundles spectroscope (130), for receiving the radiating circuit photodetector (140) of the beam of laser of spectroscope injection;
The described laser radar system another beam of laser also comprised for being penetrated by spectroscope is divided into three beams and distribution projects the optical system (500) in three regions to be measured in isosceles triangle;
Receiving circuit (200) described in three tunnels is for receiving the target heliogram of three beams of laser view field reflection, this receiving circuit comprises photoelectric switching circuit (210) and signal conditioning circuit (220), and wherein photoelectric switching circuit is electrically connected with processor (400) by signal conditioning circuit; Described signal conditioning circuit (220) comprises the two-stage amplifying circuit, filtering circuit (223) and the moment discrimination circuit (224) that connect successively, described two-stage amplifying circuit comprises first order pre-amplification circuit (221) and second level main amplifying circuit (222), the small current amplify that described pre-amplification circuit is used for photoelectric switching circuit produces becomes weak voltage signals, and described main amplifying circuit is used for weak voltage signals being zoomed into the voltage signal meeting system requirements;
Timing circuit (300) described in three tunnels comprises three road timing unit modules, and three road timing unit modules can receive the electric impulse signal that radiating circuit photodetector sends simultaneously, and using the initial time T of this electric impulse signal as laser time of flight
0; Timing unit module described in three tunnels records the electric impulse signal after amplification, filtering, moment are differentiated of three described receiving circuit conveyings respectively, using this moment accordingly as the end time T of laser time of flight
1i, and record the flight time △ T of three beams of laser
i=T
1i-T
0;
Described processor (400) is electrically connected with timing circuit (300) described in three tunnels and driving circuit (120), for calculating the distance of barrier and judging whether three projection subregions have target, judge the orientation of vehicle front target to be measured according to the electric signal that No. three receiving circuits produce.
2. vehicle-mounted pulse type laser radar system according to claim 1, it is characterized in that, described optical system (500) is diffraction grating, a part of laser that described generating laser (110) launch can be carried out optical alignment and beam splitting, single beam laser is made to be divided into three beams through after this diffraction grating, and three beams of laser view field's non-overlapping copies spatially.
3. vehicle-mounted pulse type laser radar system according to claim 2, is characterized in that, the energy distribution of the three beams of laser after (500) optical alignment of described optical system and beam splitting is left 20%, Road 60% and right wing 20%.
4. vehicle-mounted pulse type laser radar system according to claim 1, it is characterized in that, described moment discrimination circuit (224) adopts high pass moment identification method, described high pass moment identification method is that Hi-pass filter is passed through in the start-stop signal pulse of amplifying circuit output single-pole, change original extreme point into zero point, the zero crossing of bipolar output signal is timing point.
5. vehicle-mounted pulse type laser radar system according to claim 1, it is characterized in that, described photoelectric switching circuit (210) comprises an optical instrument (211), three light-collecting lens (212) and three receiving circuit photodetectors (213) corresponding with this light-collecting lens, described optical instrument can by the reflectance target echoed signal of three view fields accordingly by three receiving circuit photoelectric detector, and described receiving circuit photodetector is electrically connected with described processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410527084.4A CN104297760A (en) | 2014-10-09 | 2014-10-09 | Vehicle-mounted impulse type laser radar system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410527084.4A CN104297760A (en) | 2014-10-09 | 2014-10-09 | Vehicle-mounted impulse type laser radar system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104297760A true CN104297760A (en) | 2015-01-21 |
Family
ID=52317562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410527084.4A Pending CN104297760A (en) | 2014-10-09 | 2014-10-09 | Vehicle-mounted impulse type laser radar system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104297760A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808216A (en) * | 2015-04-28 | 2015-07-29 | 马宁 | Vehicle anti-collision early warning system based on laser radar ranging |
| CN104836537A (en) * | 2015-05-21 | 2015-08-12 | 烽火通信科技股份有限公司 | Substitution method and circuit for filter capacitor in receiver optical subassembly (ROSA) |
| CN105607072A (en) * | 2015-12-18 | 2016-05-25 | 航天恒星科技有限公司 | Non-scanning laser imaging system |
| CN106291567A (en) * | 2016-07-19 | 2017-01-04 | 深圳乐行天下科技有限公司 | A kind of laser radar, laser radar system and data processing method |
| CN106970391A (en) * | 2017-03-31 | 2017-07-21 | 成都微光云科技有限公司 | A kind of UAV terrain detection systems based on laser ranging |
| CN107356937A (en) * | 2017-08-25 | 2017-11-17 | 长春德信光电技术有限公司 | A kind of walking robot collision warning device based on Laser Detection Technique |
| CN107632298A (en) * | 2017-08-14 | 2018-01-26 | 中山大学 | A kind of high sensitivity receiving circuit applied to pulse type laser radar system |
| CN107884762A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Laser radar and vehicle |
| CN108181621A (en) * | 2016-12-08 | 2018-06-19 | 北京万集科技股份有限公司 | A kind of bidifly light drive circuit and scanning type laser radar ranging equipment and method |
| CN108351413A (en) * | 2015-11-20 | 2018-07-31 | 德州仪器公司 | Compact core chip level LIDAR solutions |
| CN108802755A (en) * | 2018-06-15 | 2018-11-13 | 宁波沃珑新材料科技有限公司 | A kind of laser radar and its distance measuring method |
| CN109357610A (en) * | 2018-08-30 | 2019-02-19 | 南京理工大学 | Multi-functional magnetostrictive displacement measuring instrument and measurement method based on STM32 |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
| WO2019136854A1 (en) * | 2018-01-15 | 2019-07-18 | 上海禾赛光电科技有限公司 | Laser radar and operation method therefor |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| WO2020142921A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN112285723A (en) * | 2020-10-20 | 2021-01-29 | 南京工程学院 | Laser radar system and method used in wide-temperature environment |
| CN112965046A (en) * | 2017-03-29 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Laser radar and moving platform |
| CN114228704A (en) * | 2021-12-02 | 2022-03-25 | 合肥晟泰克汽车电子股份有限公司 | Obstacle detection control system and detection method thereof |
| US12019187B2 (en) | 2017-06-19 | 2024-06-25 | Hesai Technology Co., Ltd. | Lidar system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004325202A (en) * | 2003-04-24 | 2004-11-18 | Omron Corp | Laser radar system |
| CN101776749A (en) * | 2010-01-14 | 2010-07-14 | 北京理工大学 | Vehicle-mounted staring imaging laser radar synchronous triggering system |
| CN102540195A (en) * | 2011-12-29 | 2012-07-04 | 东风汽车有限公司 | Vehicle five-path laser radar and control method thereof |
| CN102621540A (en) * | 2012-04-18 | 2012-08-01 | 北京理工大学 | Range finding method of pulsed laser rangefinder |
| CN102749626A (en) * | 2012-07-17 | 2012-10-24 | 奇瑞汽车股份有限公司 | Radar sensor, automobile and target direction identification method |
| CN103941262A (en) * | 2014-04-01 | 2014-07-23 | 中国科学院合肥物质科学研究院 | Pulse laser distance-measurement device and pulse laser distance-measurement method using same |
| CN103983983A (en) * | 2014-05-29 | 2014-08-13 | 奇瑞汽车股份有限公司 | Vehicle-mounted ranging laser radar system |
-
2014
- 2014-10-09 CN CN201410527084.4A patent/CN104297760A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004325202A (en) * | 2003-04-24 | 2004-11-18 | Omron Corp | Laser radar system |
| CN101776749A (en) * | 2010-01-14 | 2010-07-14 | 北京理工大学 | Vehicle-mounted staring imaging laser radar synchronous triggering system |
| CN102540195A (en) * | 2011-12-29 | 2012-07-04 | 东风汽车有限公司 | Vehicle five-path laser radar and control method thereof |
| CN102621540A (en) * | 2012-04-18 | 2012-08-01 | 北京理工大学 | Range finding method of pulsed laser rangefinder |
| CN102749626A (en) * | 2012-07-17 | 2012-10-24 | 奇瑞汽车股份有限公司 | Radar sensor, automobile and target direction identification method |
| CN103941262A (en) * | 2014-04-01 | 2014-07-23 | 中国科学院合肥物质科学研究院 | Pulse laser distance-measurement device and pulse laser distance-measurement method using same |
| CN103983983A (en) * | 2014-05-29 | 2014-08-13 | 奇瑞汽车股份有限公司 | Vehicle-mounted ranging laser radar system |
Non-Patent Citations (2)
| Title |
|---|
| 姚文卿: "用于汽车防撞系统的小型高频激光测距机研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 杨凯强: "窄脉冲激光探测与测距技术研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808216A (en) * | 2015-04-28 | 2015-07-29 | 马宁 | Vehicle anti-collision early warning system based on laser radar ranging |
| CN104836537A (en) * | 2015-05-21 | 2015-08-12 | 烽火通信科技股份有限公司 | Substitution method and circuit for filter capacitor in receiver optical subassembly (ROSA) |
| CN104836537B (en) * | 2015-05-21 | 2018-03-20 | 烽火通信科技股份有限公司 | The alternative and circuit of filter capacitor in a kind of light-receiving secondary module |
| CN108351413A (en) * | 2015-11-20 | 2018-07-31 | 德州仪器公司 | Compact core chip level LIDAR solutions |
| CN105607072A (en) * | 2015-12-18 | 2016-05-25 | 航天恒星科技有限公司 | Non-scanning laser imaging system |
| CN106291567A (en) * | 2016-07-19 | 2017-01-04 | 深圳乐行天下科技有限公司 | A kind of laser radar, laser radar system and data processing method |
| CN107884762A (en) * | 2016-09-30 | 2018-04-06 | 比亚迪股份有限公司 | Laser radar and vehicle |
| CN108181621A (en) * | 2016-12-08 | 2018-06-19 | 北京万集科技股份有限公司 | A kind of bidifly light drive circuit and scanning type laser radar ranging equipment and method |
| CN112965046A (en) * | 2017-03-29 | 2021-06-15 | 深圳市大疆创新科技有限公司 | Laser radar and moving platform |
| CN106970391B (en) * | 2017-03-31 | 2019-10-11 | 成都微光云科技有限公司 | A kind of UAV terrain detection system based on laser ranging |
| CN106970391A (en) * | 2017-03-31 | 2017-07-21 | 成都微光云科技有限公司 | A kind of UAV terrain detection systems based on laser ranging |
| US10816647B2 (en) | 2017-06-19 | 2020-10-27 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| US10473767B2 (en) | 2017-06-19 | 2019-11-12 | Hesai Photonics Technology Co., Ltd. | Lidar system and method |
| US12019187B2 (en) | 2017-06-19 | 2024-06-25 | Hesai Technology Co., Ltd. | Lidar system and method |
| CN107632298A (en) * | 2017-08-14 | 2018-01-26 | 中山大学 | A kind of high sensitivity receiving circuit applied to pulse type laser radar system |
| CN107356937A (en) * | 2017-08-25 | 2017-11-17 | 长春德信光电技术有限公司 | A kind of walking robot collision warning device based on Laser Detection Technique |
| US10809363B2 (en) | 2017-11-30 | 2020-10-20 | Benewake (Beijing) Co., Ltd. | Anti-interference ranging method and apparatus |
| WO2019104613A1 (en) * | 2017-11-30 | 2019-06-06 | 北醒（北京）光子科技有限公司 | Anti-interference method and device for distance measurement |
| WO2019136854A1 (en) * | 2018-01-15 | 2019-07-18 | 上海禾赛光电科技有限公司 | Laser radar and operation method therefor |
| CN108802755A (en) * | 2018-06-15 | 2018-11-13 | 宁波沃珑新材料科技有限公司 | A kind of laser radar and its distance measuring method |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| CN110208775B (en) * | 2018-08-01 | 2021-12-14 | 王飞 | Laser radar receiving chip, laser radar chip and laser radar system |
| CN109357610A (en) * | 2018-08-30 | 2019-02-19 | 南京理工大学 | Multi-functional magnetostrictive displacement measuring instrument and measurement method based on STM32 |
| WO2020142921A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| CN111670371A (en) * | 2019-01-09 | 2020-09-15 | 深圳市大疆创新科技有限公司 | Optical detection module and distance measuring device |
| CN111880170A (en) * | 2020-08-14 | 2020-11-03 | 石家庄铁道大学 | LFMCW radar ranging system based on ARM |
| CN112285723A (en) * | 2020-10-20 | 2021-01-29 | 南京工程学院 | Laser radar system and method used in wide-temperature environment |
| CN114228704A (en) * | 2021-12-02 | 2022-03-25 | 合肥晟泰克汽车电子股份有限公司 | Obstacle detection control system and detection method thereof |
| CN114228704B (en) * | 2021-12-02 | 2023-08-22 | 合肥晟泰克汽车电子股份有限公司 | Obstacle detection control system and detection method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104297760A (en) | Vehicle-mounted impulse type laser radar system | |
| Hong et al. | A linear-mode LiDAR sensor using a multi-channel CMOS transimpedance amplifier array | |
| CN108351413B (en) | Compact chip-level LIDAR solution | |
| CN110308456A (en) | It is a kind of for improving the bias adjustment device and laser radar system of detection range | |
| CN105403877B (en) | Larger Dynamic range of optical divides field detection laser radar | |
| CN203909297U (en) | Laser range finder based on high-speed single-photon detection | |
| CN106970391B (en) | A kind of UAV terrain detection system based on laser ranging | |
| CN110261864A (en) | A kind of pulsed laser ranging system echo signal processing equipment and method | |
| CN210142193U (en) | Distance measuring device and mobile platform | |
| CN102656466A (en) | Device for measuring wind speed | |
| CN107290733A (en) | The laser radar centered optical system of dual-mode antenna integration | |
| CN211505895U (en) | Laser emitting device, peak holding circuit, distance measuring device and mobile platform | |
| CN107957582A (en) | A kind of range unit and distance measuring method based on permanent threshold value differential method | |
| CN115702364A (en) | Radar system, mobile equipment and radar detection method | |
| CN114428239A (en) | Laser radar, method for acquiring flight time of laser radar, method for measuring distance of laser radar, and storage medium | |
| CN109932705B (en) | Ultra-wide dynamic range laser echo receiving device and control method thereof | |
| CN216670268U (en) | Photoelectric receiving circuit and laser ranging device with same | |
| JP2021092437A (en) | Photoreceiving device and photoreceiving circuit | |
| WO2020107250A1 (en) | Laser receiving circuit, distance measurement device, and mobile platform | |
| CN116990826B (en) | High dynamic precision laser phase range finder | |
| CN204044362U (en) | A kind of laser vehicle pick-up unit received more | |
| CN209842054U (en) | Ultra-wide dynamic range laser echo receiving device | |
| CN207636763U (en) | High speed anti-saturation amplifying circuit and the laser radar and automobile for being equipped with the circuit | |
| WO2020113564A1 (en) | Laser receiving circuit, distance measurement device, and mobile platform | |
| CN114706058B (en) | Laser receiving system and laser ranging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150121 |