CN108761427A - Distribution type laser radar and automated driving system - Google Patents
Distribution type laser radar and automated driving system Download PDFInfo
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- CN108761427A CN108761427A CN201811052824.8A CN201811052824A CN108761427A CN 108761427 A CN108761427 A CN 108761427A CN 201811052824 A CN201811052824 A CN 201811052824A CN 108761427 A CN108761427 A CN 108761427A
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- 230000004888 barrier function Effects 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000013532 laser treatment Methods 0.000 claims description 11
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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
- 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
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- 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
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of distribution type laser radar of the embodiment of the present application offer and automated driving system.This programme generates narrow-pulse laser signal by Laser emission reception device and is emitted to speculum by the light-coming out optical fiber of each optical sensor, and pass through the reflective surface of speculum to the scanning plane of MEMS scanning mirrors, MEMS scanning mirrors are according to scheduled 3-D scanning range by narrow-pulse laser signal scanning to collimating mirror, corresponding collimated light is scanned by collimating mirror after being collimated narrow-pulse laser signal in the corresponding investigative range of 3-D scanning range, the reflected laser signals that collimated light is generated when touching barrier enter in coupling mirror via window mirror and are coupled in echo optical fiber by coupling mirror, reflected laser signals are sent to after Laser emission reception device is converted to electric signal and are sent to industry control machine equipment progress signal processing by echo optical fiber.The application detection range is farther as a result, and scanning range is wide, and uses distributed frame, easy for installation, small, and it is low to replace maintenance cost.
Description
Technical field
This application involves Radar Technology fields, in particular to a kind of distribution type laser radar and automated driving system.
Background technology
Autonomous driving vehicle is also known as pilotless automobile, computer driving, is that one kind realizing nobody by computer system
The intelligent automobile of driving.Autonomous driving vehicle possess environment sensing, path planning and control vehicle action ability, allow computer from
Motor vehicles are operated dynamicly.Autonomous driving vehicle needs to perceive ambient enviroment when carrying out independently traveling, in turn
Behaviour decision making is made according to obtained environmental information.Environment sensing ability is to realize the premise of automatic Pilot, only to automobile
The environment of surrounding carries out perception accurately and quickly, and automatic Pilot is likely to be achieved.
Autonomous driving vehicle obtains ambient condition information, common sensor packet by the various kinds of sensors installed on vehicle
Laser radar is included, however the laser radar detection distance at present in autonomous driving vehicle is shorter, and be simple scan, scanning range
It is small, while the optical system installation of laser radar is complicated, it is very high to replace maintenance cost.
Apply for content
In order to overcome above-mentioned deficiency in the prior art, the application be designed to provide a kind of distribution type laser radar and
Automated driving system, detection range is farther, and scanning range is wide, and uses distributed frame, easy for installation, small, replaces dimension
It protects at low cost.
To achieve the goals above, the technical solution that the embodiment of the present application uses is as follows：
In a first aspect, the embodiment of the present application provides a kind of distribution type laser radar, it is applied to automatic driving vehicle, described point
Cloth laser radar includes：
It is distributed the multiple optical sensors being arranged around the car body of the automatic driving vehicle；
It is connect with the optical sensor, and the Laser emission reception in the vehicle body of the automatic driving vehicle is set
Device；And
The industry control machine equipment being electrically connected with the Laser emission reception device；
The optical sensor includes：
Sensor body, the sensor body include bottom surface, the top surface opposite with the bottom surface and be located at the bottom
Side between face and the top surface is provided with opening, light-coming out optical fiber interface and echo optical fiber interface on the side；
Window mirror at the aperture position of the side is set；
The light-coming out optical fiber being connected between the light-coming out optical fiber interface and the Laser emission reception device；
The echo optical fiber being connected between the echo optical fiber interface and the Laser emission reception device；
MEMS scanning mirrors, speculum, collimating mirror and the coupling mirror being arranged on the bottom surface, the MEMS scanning mirrors are set
It sets at the position close to the light-coming out optical fiber interface, the scanning of the reflecting surface of the speculum close to the MEMS scanning mirrors
Face, the collimating mirror and the coupling mirror are positioned close at the position of the window mirror；
The Laser emission reception device is for generating narrow-pulse laser signal and by the light extraction of each optical sensor
On fibre optical transmission to the speculum, the reflecting surface of the speculum sweeps the narrow-pulse laser signal reflex to the MEMS
Retouch on the scanning plane of mirror, the MEMS scanning mirrors according to scheduled 3-D scanning range by the narrow-pulse laser signal scanning extremely
On the collimating mirror, the collimating mirror narrow-pulse laser signal is collimated after by corresponding collimated light in the three-dimensional
It is scanned in the corresponding investigative range of scanning range, when collimated light generates reflected laser signals when touching barrier, institute
Reflected laser signals are stated to enter in the coupling mirror via the window mirror and be coupled to the echo light by the coupling mirror
In fibre, the reflected laser signals are sent in the Laser emission reception device by the echo optical fiber, the Laser emission
Reception device is sent to the industry control machine equipment progress signal processing after the reflected laser signals are converted to electric signal.
Optionally, the Laser emission reception device includes：
Laser treatment device for generating original trigger signal；
It is electrically connected with the laser treatment device, narrow-pulse laser signal is generated for responding the original trigger signal
Laser；
It is connect connection with the laser and the multiple optical sensor, the burst pulse for being generated according to the laser
Laser signal generates multi-path laser signal and is transmitted to the signal divider of corresponding optical sensor respectively；
It is connect with the multiple optical sensor, each reflected laser signals sent for receiving each optical sensor, and
Each reflected laser signals are converted to the photoelectric converter of corresponding electric signal；
It is electrically connected with the photoelectric converter, for receiving each electric signal being converted to and monitoring each institute
It states when electric signal is correct electric signal using the electric signal as the time supervision chip of termination signal.
Optionally, each optical sensor is connect with the signal divider by light-coming out optical fiber and by receiving light light
It is fine to be connect with the photoelectric converter, for obtaining swashing for correspondence road that the signal divider is sent by the light-coming out optical fiber
Optical signal, and collected reflected laser signals are sent to by the photoelectric converter by the receipts light optical fiber.
Optionally, the signal divider includes beam splitter, and the beam splitter is for believing the narrow-pulse laser
Number it is divided into multi-path laser signal.
Optionally, the signal divider includes photoswitch, and the photoswitch includes multiple transmission ports, and being used for will be described
Narrow-pulse laser signal generates multi-path laser signal by multiple transmission ports.
Optionally, the photoelectric converter is additionally operable to each reflected laser signals being converted to corresponding electric signal
Afterwards, the electric signal is subjected to signal amplification and signal filters, obtain signal amplification and the filtered electric signal of signal and sent
To the time supervision chip.
Optionally, the time supervision chip uses TDC-GP2 chips.
Optionally, the wavelength of the narrow-pulse laser signal is 1550nm.
Optionally, the optical sensor further includes the driver being connect with the MEMS scanning mirrors, and the driver is used
In driving the MEMS scanning mirrors according to scheduled 3-D scanning range by the narrow-pulse laser signal scanning to the collimation
On mirror.
Second aspect, the embodiment of the present application also provide a kind of automated driving system, and the automated driving system includes setting
Automatic Pilot control device in the car and the above-mentioned distribution being electrically connected with the automatic Pilot control device swash
Optical radar
In terms of existing technologies, the application has the advantages that：
A kind of distribution type laser radar of the embodiment of the present application offer and automated driving system.This programme is connect by Laser emission
Receiving apparatus generates narrow-pulse laser signal and is emitted on speculum by the light-coming out optical fiber of each optical sensor, speculum
Narrow-pulse laser signal is emitted on the scanning plane of MEMS scanning mirrors by reflecting surface, and MEMS scanning mirrors are according to scheduled 3-D scanning
Range by narrow-pulse laser signal scanning to collimating mirror, collimating mirror narrow-pulse laser signal is collimated after by corresponding standard
Direct light is scanned in the corresponding investigative range of 3-D scanning range, and the reflection that collimated light is generated when touching barrier swashs
Optical signal enters in coupling mirror via window mirror and is coupled in echo optical fiber by coupling mirror, and echo optical fiber believes reflection laser
It number is sent to Laser emission reception device and is converted to and be sent to industry control machine equipment after electric signal and carry out signal processing.This Shen as a result,
Please be detected using narrow-pulse laser signal, detection range is farther, while design speculum, MEMS scanning mirrors, collimating mirror,
The photosensor structure of coupling mirror can carry out the laser signal on corresponding road along predetermined space range to car body external environment
Multi-point scanning, scanning range is wider, and each optical sensor is arranged around the car body of vehicle using distributed frame, installs
It is convenient, it is small, it is low to replace maintenance cost.
Description of the drawings
It, below will be to needed in the embodiment attached in order to illustrate more clearly of the technical solution of the embodiment of the present application
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram of distribution type laser radar provided by the embodiments of the present application；
Fig. 2 is the structural schematic diagram of Laser emission reception device shown in Fig. 1；
Fig. 3 is the internal structure schematic diagram of optical sensor shown in Fig. 1；
Fig. 4 is the structural schematic block diagram of distribution type laser radar provided by the embodiments of the present application.
Icon：10- distribution type laser radars；100- Laser emission reception devices；101- Laser emission mouths；102- laser connects
It closes up；110- laser treatment devices；120- lasers；130- signal dividers；140- photoelectric converters；150- time supervision cores
Piece；200- optical sensors；The bottom surfaces 210-；212-MEMS scanning mirrors；214- speculums；216- collimating mirrors；218- coupling mirrors；220-
Side；222- window mirrors；224- light-coming out optical fiber interfaces；226- echo optical fiber interfaces；300- industry control machine equipments.
Specific implementation mode
To keep the purpose, technical scheme and advantage of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, technical solutions in the embodiments of the present application is clearly and completely described, it is clear that described embodiment is
Some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiments herein to providing in the accompanying drawings be not intended to limit it is claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
All other embodiment that technical staff is obtained without creative efforts belongs to the model of the application protection
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present application, it should be noted that the term of the orientation or positional relationship of some instructions is based on attached
Orientation or positional relationship shown in figure or this application product using when the orientation or positional relationship usually put, be only for
It is described convenient for description the application and simplifying, specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore should not be understood as the limitation to the application.In addition, term " first ", " second "
It is described etc. being only used for distinguishing, is not understood to indicate or imply relative importance.
In the description of the present application, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；Can be
Mechanical connection can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary two
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood in the application with concrete condition
In concrete meaning.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the application.In the absence of conflict, following
Feature in embodiment and embodiment can be combined with each other.
Referring to Fig. 1, for the structural schematic diagram of distribution type laser radar 10 provided by the embodiments of the present application.The present embodiment
In, distribution type laser radar 10 can be applied in automated driving system, for what is independently travelled in automatic driving vehicle
When perception and the distance between peripheral obstacle information, and then automated driving system is made to be made according to obtained range information
Behaviour decision making.
As shown in Figure 1, distribution type laser radar 10 may include that distribution is arranged in automatic driving vehicle (not shown)
Multiple optical sensors around car body connect with optical sensor, and the vehicle body being arranged in automatic driving vehicle swashs
Optical transmission/reception device 100 and the industry control machine equipment 300 being electrically connected with Laser emission reception device 100.
Fig. 2 is please referred to, Laser emission mouth 101 and laser pick-off mouth are provided in Laser emission reception device 100
102, optical sensor is connect with Laser emission mouth 101 and laser pick-off mouth 102 respectively.
In detail, Fig. 3 is please referred to, optical sensor may include sensor body, window mirror 222, MEMS scanning mirrors
212, speculum 214, collimating mirror 216, coupling mirror 218, light-coming out optical fiber (not shown) and echo optical fiber (do not show in figure
Go out), sensor body includes the opposite top surface and the side between bottom surface 210 and top surface in bottom surface 210 and bottom surface 210
220, opening, light-coming out optical fiber interface 224 and echo optical fiber interface 226 are provided on side 220.
Window mirror 222 is arranged at the aperture position of side 220, and light-coming out optical fiber is connected to light-coming out optical fiber interface 224 and swashs
Between optical transmission/reception device 100, echo optical fiber is connected between echo optical fiber interface 226 and Laser emission reception device 100.
MEMS scanning mirrors 212, speculum 214, collimating mirror 216 and coupling mirror 218 are arranged on bottom surface 210, and MEMS scanning mirrors 212 are set
It sets at the position of light-coming out optical fiber interface 224, the reflecting surface of speculum 214 is close to the scanning plane of MEMS scanning mirrors 212, standard
Straight mirror 216 and coupling mirror 218 are positioned close at the position of window mirror 222.
Laser emission reception device 100 is for generating narrow-pulse laser signal and the light extraction light by each optical sensor
Fibre is emitted on speculum 214, the reflecting surface of speculum 214 the sweeping to MEMS scanning mirrors 212 by narrow-pulse laser signal reflex
Retouch on face, MEMS scanning mirrors 212 according to scheduled 3-D scanning range by narrow-pulse laser signal scanning to collimating mirror 216,
Collimating mirror 216 narrow-pulse laser signal is collimated after by corresponding collimated light in the corresponding investigative range of 3-D scanning range
It is inside scanned, when collimated light generates reflected laser signals when touching barrier, reflected laser signals are via window mirror 222
It is coupled in echo optical fiber into coupling mirror 218 and by coupling mirror 218, reflected laser signals are sent to sharp by echo optical fiber
In optical transmission/reception device 100, Laser emission reception device 100 is sent to industry control after reflected laser signals are converted to electric signal
Machine equipment 300 carries out signal processing.
The present embodiment is detected by using narrow-pulse laser signal, and compared with the existing technology, detection range is farther.This
Outside, present inventor has found by repeatedly research test, when the wavelength of narrow-pulse laser signal is 1550nm, measurement accuracy
Height, mist transmitting performance is strong, to eye-safe higher.
Each optical sensor 200 is arranged around the car body of vehicle using distributed frame for the present embodiment, such as in vehicle
Both sides install three respectively, and install one in vehicle front, it is easy for installation, each optical sensor 200 it is small, when
When some optical sensor 200 breaks down, corresponding optical sensor 200 is only needed to change, is not necessarily to integral replacing, replaces and safeguards
It is at low cost.Meanwhile the photosensor structure of the speculum 214 of design, MEMS scanning mirrors 212, collimating mirror 216, coupling mirror 218
Can the laser signal on corresponding road be subjected to multi-point scanning along predetermined space range to car body external environment, scanning range is wider.
Wherein, which can be arranged as required to, such as could be provided as left and right 60 degree, upper and lower 20 degree of multi-point scanning
Range.In addition, each optical sensor 200 is small, when some optical sensor 200 breaks down, only need to change corresponding
Optical sensor 200 is not necessarily to integral replacing, and it is low to replace maintenance cost.
In the present embodiment, optical sensor can also include the driver being connect with MEMS scanning mirrors 212, and driver is used for
Drive MEMS scanning mirrors 212 will be on narrow-pulse laser signal scanning to collimating mirror 216 according to scheduled 3-D scanning range.
Optionally, Fig. 4 is please referred to, Laser emission reception device 100 may include laser treatment device 110, laser
120, signal divider 130 and photoelectric converter 140.
In the present embodiment, laser treatment device 110 is for generating original trigger signal, laser 120 and laser treatment device 110
It is electrically connected, narrow-pulse laser signal is generated for responding original trigger signal.Wherein, laser treatment device 110 is additionally operable to first
Beginning trigger signal records corresponding initial time after generating, at the time of the initial time namely narrow-pulse laser signal generate.
Signal divider 130 connect connection with laser 120 and multiple optical sensors 200, for being produced according to laser 120
Raw narrow-pulse laser signal generates multi-path laser signal and is transmitted to corresponding optical sensor 200 respectively.Optionally, signal is equal
Point device 130 includes beam splitter, and beam splitter is typically to be made of metal film or deielectric-coating, light beam can be divided into two-beam or
Multi-beam, namely can be used for narrow-pulse laser signal being divided into multi-path laser signal.Alternatively, signal divider 130 may be used also
Including photoswitch, photoswitch may include multiple transmission ports, for generating narrow-pulse laser signal by multiple transmission ports
Multi-path laser signal.It is appreciated that in other embodiments, signal divider 130 can also use other equal with signal
The device for dividing function, is not specifically limited herein.
In the present embodiment, each optical sensor 200 can be connect and passed through with signal divider 130 by light-coming out optical fiber
It receives light optical fiber to connect with photoelectric converter 140, the correspondence road for sending by light-coming out optical fiber acquisition signal divider 130 is swashed
Optical signal, and collected reflected laser signals are sent to photoelectric converter 140 by receiving light optical fiber.So design, passes through
Light-coming out optical fiber is set and receives light optical fiber so that laser signal anti-interference ability in transmission process is stronger.
In the present embodiment, photoelectric converter 140 is connect with multiple optical sensors 200, for receiving each optical sensor 200
The each reflected laser signals sent, and each reflected laser signals are converted into corresponding electric signal.Wherein, photoelectric converter
It can be made of APD biasing circuits inside 140, can be also used for each reflected laser signals being converted to corresponding telecommunications
After number, electric signal is subjected to signal amplification and signal filters, obtains signal amplification and the filtered electric signal of signal.
In the present embodiment, time supervision chip 150 and photoelectric converter 140 are electrically connected, and are converted to for receiving
Each electric signal and monitor each electric signal be correct electric signal when using the electric signal as termination signal.Optionally, when
Between monitoring chip 150 TDC-GP2 chips may be used.
Wherein, present inventor also found in the course of the research, during above-mentioned laser ranging, due to air rapids
Stream, pointing shake, target carriage change etc. can introduce small-scale to each electrical signal amplitude of specific objective being converted to
Quick fluctuation.The electric current that avalanche optoelectronic diode in APD biasing circuits generates is ultimately sent to electricity after amplifying circuit amplifies
Press comparator to generate timing point.If only only setting a fixed critical voltage to judge each electricity being converted to
Whether signal occurs and determine to reach time point, it will so that time point differentiation error is occurred because signal magnitude changes, it is such because
Error caused by signal shape difference, referred to as drift error.Therefore, it is necessary to use corresponding time decision technology to reduce this
The timing error that kind is introduced due to the randomized jitter of amplitude.
In detail, present inventor passes through exploratory development, proposes following embodiments to solve timing error.
First, the rate of rise for each electric signal being converted to is detected by time supervision chip 150, and root
Then the rise time is compared with predetermined threshold value, works as rising according to the rate of rise acquisition corresponding rise time detected
Time judges that the electric signal is correct electric signal when being more than predetermined threshold value, and using the electric signal as termination signal.Thus, it is possible to
Obtain higher timing accuracy.
In the present embodiment, industry control machine equipment 300 is electrically connected with laser treatment device 110, and laser treatment device 110 is gone back and the time
It monitors chip 150 to be electrically connected, for each termination signal received and corresponding original trigger signal to be sent to industry control
Machine equipment 300, industry control machine equipment 300, which is used to be calculated according to each termination signal and corresponding original trigger signal, generates current visit
Survey the 3-D graphic of all barriers in range.
In detail, as an implementation, it is calculated and is generated according to each termination signal and corresponding original trigger signal
The mode of the 3-D graphic of all barriers in current investigative range may include：
First, the frequency spectrum difference signal between each termination signal and corresponding original trigger signal is calculated.Then, according to frequency
Spectral difference signal obtains the time difference between each termination signal and corresponding original trigger signal.Then, it is calculated according to the time difference
Go out the distance between corresponding barrier, obtains multiple distances.Finally, it is generated in current investigative range based on multiple distances
The 3-D graphic of all barriers.The 3-D graphic of all barriers in current investigative range can embody and each barrier
The distance between information.
In the present embodiment, industrial personal computer (Industrial Personal Computer, IPC) equipment, that is, Industry Control calculates
Machine is a kind of tool general name for using bus structures, being detected and controlling to production process and electromechanical equipment, technological equipment.
Industry control machine equipment 300 have important computer attribute and feature, such as have computer motherboard, CPU, hard disk, memory, peripheral hardware and
Interface, and have operating system, control network and agreement, computing capability, the man-machine interface of close friend.
In conclusion a kind of distribution type laser radar of the embodiment of the present application offer and automated driving system.This programme passes through
Laser emission reception device generates narrow-pulse laser signal and is emitted to speculum by the light-coming out optical fiber of each optical sensor
On, narrow-pulse laser signal is emitted on the scanning plane of MEMS scanning mirrors by the reflecting surface of speculum, and MEMS scanning mirrors are according to pre-
For fixed 3-D scanning range by narrow-pulse laser signal scanning to collimating mirror, collimating mirror collimates narrow-pulse laser signal
Corresponding collimated light is scanned in the corresponding investigative range of 3-D scanning range afterwards, collimated light is when touching barrier
The reflected laser signals of generation enter in coupling mirror via window mirror and are coupled in echo optical fiber by coupling mirror, echo optical fiber
Reflected laser signals are sent to after Laser emission reception device is converted to electric signal and are sent at industry control machine equipment progress signal
Reason.The application is detected using narrow-pulse laser signal as a result, and detection range is farther, while the speculum, the MEMS that design are swept
Retouch mirror, collimating mirror, coupling mirror photosensor structure can by the laser signal on corresponding road along predetermined space range to car body
External environment carries out multi-point scanning, and scanning range is wider, and each optical sensor is arranged in vehicle using distributed frame
It is easy for installation around car body, it is small, it is low to replace maintenance cost.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of distribution type laser radar, which is characterized in that be applied to automatic driving vehicle, the distribution type laser radar packet
It includes：
It is distributed the multiple optical sensors being arranged around the car body of the automatic driving vehicle；
It is connect with the optical sensor, and the Laser emission reception dress in the vehicle body of the automatic driving vehicle is set
It sets；And
The industry control machine equipment being electrically connected with the Laser emission reception device；
The optical sensor includes：
Sensor body, the sensor body include bottom surface, the top surface opposite with the bottom surface and positioned at the bottom surface and
Side between the top surface is provided with opening, light-coming out optical fiber interface and echo optical fiber interface on the side；
Window mirror at the aperture position of the side is set；
The light-coming out optical fiber being connected between the light-coming out optical fiber interface and the Laser emission reception device；
The echo optical fiber being connected between the echo optical fiber interface and the Laser emission reception device；
MEMS scanning mirrors, speculum, collimating mirror and the coupling mirror being arranged on the bottom surface, the MEMS scanning mirrors setting exist
At the position of the light-coming out optical fiber interface, the reflecting surface of the speculum is close to the scanning plane of the MEMS scanning mirrors, institute
It states collimating mirror and the coupling mirror is positioned close at the position of the window mirror；
The Laser emission reception device is for generating narrow-pulse laser signal and by the light-coming out optical fiber of each optical sensor
It is emitted on the speculum, the reflecting surface of the speculum is by the narrow-pulse laser signal reflex to the MEMS scanning mirrors
Scanning plane on, the MEMS scanning mirrors are according to scheduled 3-D scanning range by the narrow-pulse laser signal scanning to described
On collimating mirror, the collimating mirror narrow-pulse laser signal is collimated after by corresponding collimated light in the 3-D scanning
It is scanned in the corresponding investigative range of range, it is described anti-when collimated light generates reflected laser signals when touching barrier
Laser signal is penetrated to enter in the coupling mirror via the window mirror and by the coupling mirror be coupled in the echo optical fiber,
The reflected laser signals are sent in the Laser emission reception device by the echo optical fiber, and the Laser emission receives dress
It sets and is sent to the industry control machine equipment progress signal processing after the reflected laser signals are converted to electric signal.
2. distribution type laser radar according to claim 1, which is characterized in that the Laser emission reception device includes：
Laser treatment device for generating original trigger signal；
It is electrically connected with the laser treatment device, the laser of narrow-pulse laser signal is generated for responding the original trigger signal
Device；
It is connect connection with the laser and the multiple optical sensor, the narrow-pulse laser for being generated according to the laser
Signal generates multi-path laser signal and is transmitted to the signal divider of corresponding optical sensor respectively；
It is connect with the multiple optical sensor, each reflected laser signals sent for receiving each optical sensor, and by institute
State the photoelectric converter that each reflected laser signals are converted to corresponding electric signal；
It is electrically connected with the photoelectric converter, for receiving each electric signal being converted to and monitoring each electricity
Using the electric signal as the time supervision chip of termination signal when signal is correct electric signal.
3. distribution type laser radar according to claim 2, which is characterized in that each optical sensor passes through light extraction light
It is fine to connect with the signal divider and connect with the photoelectric converter by receiving light optical fiber, for passing through the light extraction light
Fibre obtains the laser signal on the correspondence road that the signal divider is sent, and is swashed collected reflection by the receipts light optical fiber
Optical signal is sent to the photoelectric converter.
4. distribution type laser radar according to claim 2, which is characterized in that the signal divider includes light beam splitting
Device, the beam splitter are used to the narrow-pulse laser signal being divided into multi-path laser signal.
5. distribution type laser radar according to claim 2, which is characterized in that the signal divider includes photoswitch,
The photoswitch includes multiple transmission ports, is swashed for the narrow-pulse laser signal to be generated multichannel by multiple transmission ports
Optical signal.
6. distribution type laser radar according to claim 2, which is characterized in that the photoelectric converter is additionally operable to by institute
It states after each reflected laser signals are converted to corresponding electric signal, the electric signal is subjected to signal amplification and signal filters, is obtained
To signal amplification and the filtered electric signal of signal and it is sent to the time supervision chip.
7. distribution type laser radar according to claim 2, which is characterized in that the time supervision chip uses TDC-
GP2 chips.
8. distribution type laser radar according to claim 1, which is characterized in that the wavelength of the narrow-pulse laser signal is
1550nm。
9. distribution type laser radar according to claim 1, which is characterized in that the optical sensor further include with it is described
The driver of MEMS scanning mirrors connection, the driver is for driving the MEMS scanning mirrors according to scheduled 3-D scanning range
It will be on the narrow-pulse laser signal scanning to the collimating mirror.
10. a kind of automated driving system, which is characterized in that the automated driving system includes the automatic Pilot of setting in the car
Distribution described in control device and any one of the claim 1-9 being electrically connected with the automatic Pilot control device
Laser radar.
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