CN109116366A - A kind of multi-thread beam laser radar of non-homogeneous pulse energy - Google Patents
A kind of multi-thread beam laser radar of non-homogeneous pulse energy Download PDFInfo
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- CN109116366A CN109116366A CN201810681178.5A CN201810681178A CN109116366A CN 109116366 A CN109116366 A CN 109116366A CN 201810681178 A CN201810681178 A CN 201810681178A CN 109116366 A CN109116366 A CN 109116366A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
Abstract
The present invention provides a kind of multi-thread beam laser radar with non-homogeneous pulse.The multi-thread beam laser radar includes control unit, pulse driver unit and pulse laser emission unit；Described control unit controls the pulse driver unit and generates driving signal；The pulse laser emission unit emits laser pulse under the driving of the driving signal；The driving signal is adjusted so that the laser pulse is in non-uniform Distribution in field range.
Description
Technical field
The present invention relates to laser radar technique fields, and in particular to a kind of more line beam laser thunders of non-homogeneous pulse energy
It reaches.
Background technique
Laser radar encounters the reciprocal time after target object, calculates by emitting and receiving laser beam, analysis laser
The relative distance of target object and vehicle, and utilize three-dimensional the sitting of a large amount of intensive points of the target object surface collected during this
The information such as mark, reflectivity quickly rebuild out the threedimensional model of measured target, to achieve the purpose that environment sensing.Come from effect
It says, laser radar harness is more, and the points of acquisition per second are more, and measurement accuracy is higher, and safety is also higher.Market is existing multi-thread
Beam laser radar, multiple laser emitters as Velodyne HDL-64E, 40 Pandar include have almost the same output
Pulse energy and pulse frequency, thus there is almost the same detection range and horizontal angular resolution in field range.
Inventors have found that existing multi-thread beam laser radar has almost the same output pulse due to multiple laser emitters
Energy and frequency have almost the same detection range and horizontal angular resolution in field range.Beam distribution is arranged at present
Mode is the problem is that apart from laser radar, remotely, the laser beam at vertical field of view range upper and lower part edge irradiates mostly
It is wasted to sky or ground, and the vehicle horizontal line of sight paid close attention to and the detection close to ground vicinity laser radar
Distance and horizontal angle lack of resolution, obstacle recognition accuracy are low.
Summary of the invention
In order to solve the above technical problems, the present invention proposes a kind of multi-thread beam laser radar of non-homogeneous pulse energy and takes
Carry the vehicles of the multi-thread beam laser radar.
The first aspect of the present invention provides a kind of multi-thread beam laser radar with non-homogeneous pulse, the multi-thread Shu Ji
Optical radar includes control unit, pulse driver unit and pulse laser emission unit；Described control unit controls the pulse
Driving unit generates driving signal；The pulse laser emission unit emits multi-thread Shu Ji under the driving of the driving signal
Light pulse；The driving signal is adjusted so that the multi-thread beam laser pulse is in non-uniform Distribution in field range.
The second aspect of the present invention, provides a kind of vehicles, and the vehicles carry laser radar above-mentioned.
By adopting the above technical scheme, the invention has the following beneficial effects: multi-thread beam laser radar proposed by the present invention,
Pass through each laser of reasonable distribution to different pulse energies with pulse energy heterogeneous and pulse frequency, and respectively
Pulse energy and pulse frequency can be improved laser radar capacity usage ratio and overall performance.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 2 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 3 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 4 is the multi-thread beam laser radar point cloud atlas provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 5 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 6 is the multi-thread beam laser radar point cloud atlas provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 7 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 8 is the multi-thread beam laser radar schematic diagram provided in an embodiment of the present invention with non-homogeneous pulse；
Fig. 9 is laser radar scanning pattern diagram provided in an embodiment of the present invention；
Figure 10 is laser firing pulses schematic diagram provided in an embodiment of the present invention；
Figure 11 is laser firing pulses schematic diagram provided in an embodiment of the present invention；
Figure 12 is the laser beam emitting device schematic diagram of pulse code provided in an embodiment of the present invention；
Figure 13 is the laser beam emitting device charhing unit circuit diagram of pulse code provided in an embodiment of the present invention；
Figure 14 is the timing diagram of switch control signal provided in an embodiment of the present invention and the triggering of switch triggering signal；
Figure 15 is the timing diagram of switch control signal provided in an embodiment of the present invention and the triggering of switch triggering signal；
Figure 16 is different laser pulse sequence echo recognition principle schematic diagrames provided in an embodiment of the present invention；
Figure 17 is range measurement principle schematic diagram provided in an embodiment of the present invention；
Figure 18 is pulse code transmit circuit schematic illustration provided in an embodiment of the present invention；
Figure 19 is that pulse code provided in an embodiment of the present invention receives circuit theory schematic diagram；
Figure 20 is that schematic illustration is received and dispatched in pulse provided in an embodiment of the present invention；
Figure 21 is that schematic illustration is received and dispatched in pulse provided in an embodiment of the present invention；
Figure 22 is that Computing Principle example is received and dispatched in pulse provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
" one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one implementation of the invention
A particular feature, structure, or characteristic.In the description of the present invention, it is to be understood that, term " on ", "lower", "top", "bottom" etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can be expressed or what is implied includes one or more of the features.Moreover, term " first ",
" second " etc. is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that in this way
The data used are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.
In one embodiment of the invention, as shown in Figure 1, providing a kind of more line beam laser thunders with non-homogeneous pulse
It reaches, the multi-thread beam laser radar includes control unit, pulse driver unit and pulse laser emission unit；The control is single
Member controls the pulse driver unit and generates driving signal；Driving of the pulse laser emission unit in the driving signal
Under, emit multi-thread beam laser pulse；The driving signal is adjusted so that the multi-thread beam laser pulse is in field range
Non-uniform Distribution.
As shown in Figure 1, in an alternative embodiment, the multi-thread beam laser pulse is in field range in non-homogeneous
Distribution includes: to have stronger outgoing pulse energy on specific vertical exit direction.Specifically, more line beam laser thunders
40 scanning harness are formed by several lasers with several harness, such as 40 line laser radars up to vertically upward.
Single scanning harness is formed by the laser pulse that laser pulse emission device emits, and 40 scanning harness are on vertical exit direction
It arranges, the arrangement interval between each harness can be uniformly, be also possible to heterogeneous.No matter the arrangement interval between harness
It whether is uniformly, there is stronger outgoing pulse energy on certain specific directions.For example, field of view center part is corresponding
Laser pulse has stronger single pulse energy；The edge lasers pulse of visual field upper and lower part has lower single pulse energy.Visual field
The corresponding laser pulse of central part has higher energy, and the flight time is longer, and ranging is remote；Visual field upper and lower part edge lasers
Pulse single pulse energy is low, and ranging is close, avoids the waste for exposing to sky or ground.Such as: field of view center part is corresponding
Laser pulse single pulse energy is 150nJ, and the flight time is 1.5 μ s, and detection range is up to 225m (d=ct/2)；Visual field is upper and lower
The corresponding laser pulse single pulse energy in marginal portion is 120nJ, and the flight time is 1 μ s, detection range 150m, vehicle level
Sight and close ground vicinity can get farther detection range, while avoid the energy wave of the upper and lower marginal portion of visual field
Take.
It is that multi-thread beam laser pulse is realized by multiple lasers in Fig. 1 embodiment, it is without loss of generality, multi-thread
Beam laser pulse can also be to be realized in such a way that single multiple lasers are by scanning or beam splitting.As pulse laser
For, under the driving of the driving signal, emit multi-thread beam laser pulse.
As shown in Fig. 2, in an alternative embodiment, the multi-thread beam laser pulse is in field range in non-homogeneous
Distribution includes: that the arrangement between each harness is heterogeneous, and has stronger outgoing pulse on certain specific directions
Energy.For example, the corresponding laser pulse in field of view center part is with stronger single pulse energy and with the laser rays of comparatively dense
Beam distribution；The edge lasers pulse of visual field upper and lower part has lower single pulse energy and the distribution of laser harness is relatively dredged.In visual field
The closeer harness distribution of center portion can guarantee higher vertical resolution, when stronger single pulse energy can guarantee pulse flight
Between it is longer, and then guarantee ranging effective range；Visual field upper and lower part edge lasers pulse single pulse energy is low, and ranging is close, avoids
Expose to the waste on sky or ground.As it can be seen that the vehicle paid close attention to is horizontal in conjunction with the vertical angular resolution of non-uniform Distribution
Sight and close ground vicinity can get more preferably ranging and vertical angular resolution.
Further, in an alternative embodiment, laser radar can have 3 or more detection ranges, lead to
Cross laser control module realization.
As shown in Figure 3, Figure 4, in an alternative embodiment, the multi-thread beam laser pulse is in field range in non-
Being uniformly distributed includes: specific direction outgoing pulse frequency with higher.The corresponding laser pulse in field of view center part has more
High pulse frequency；The upper and lower edge lasers pulse frequency of visual field is low.And vehicle roof is set to for multi-thread beam laser radar
Situation, field of view center part correspond to vehicle horizontal line of sight and close to Near Grounds.It can so guarantee vehicle horizontal line of sight and lean on
Vicinity near the ground can get higher horizontal angular resolution.Since the corresponding laser pulse in field of view center part has high impulse
Frequency, i.e., in the scanning process of multi-line laser radar, but in the time, field of view center part has more point cloud datas.
By taking Fig. 4 as an example, the corresponding laser pulse in field of view center part has high pulse frequencies；Visual field upper and lower part edge has low pulse
Frequency.Field of view center part is corresponding to obtain greater amount of point cloud data, and the point cloud data of 4 middle section of respective figure is intensive.
Field of view edge part is corresponding to obtain small number of point cloud data, and the point cloud data of 4 marginal portion of respective figure is sparse, as a result,
Laser radar horizontal line of sight and close ground vicinity can get higher horizontal angular resolution (to be had more in the horizontal direction
Number of scan points).
As shown in Figure 5, Figure 6, in an alternative embodiment, the multi-thread beam laser pulse is in field range in non-
Being uniformly distributed includes: specific direction outgoing pulse row with higher.The corresponding laser pulse tool in field of view center part
There is more dense row；The upper and lower edge row of visual field is lower.And vehicle top is set to for multi-thread beam laser radar
The case where portion, field of view center part correspond to vehicle horizontal line of sight and close to Near Grounds.It can so guarantee vehicle horizontal line of sight
It can get more multi-scan-line beam with close to ground vicinity, so that improve vertical resolution (has more in vertical direction
Number of scan points).
It certainly, in an alternative embodiment, can also be by going up while improving scanning harness in a certain direction
The frequency of density and scanning harness.The horizontal direction resolution ratio and vertical direction that the scanning direction can so be improved simultaneously are differentiated
Rate.
As shown in fig. 7, in an alternative embodiment, the laser pulse is in non-uniform Distribution packet in field range
It includes: in different orientations, there is different outgoing pulse energy.Consider in true scene, laser radar is not for
It is different with the detection demand of orientation, thus do not need emanated energy of the laser radar in each orientation be it is uniform,
Therefore it can realize and the detection of specific region is reinforced by the uneven distribution in different directions laser pulse ability.
Fig. 7 is illustrated on front side of laser radar and rear side has used different detection energy, since front side pulsed laser energy is higher, detection
Distance L1 is larger, and since front side pulsed laser energy is lower, detection range L2 is smaller.Such as: swash when laser radar forward detection
Light pulse single pulse energy is 150nJ, and the flight time is 1.5 μ s, and detection range is up to 225m (d=ct/2)；Backward (and side
To) laser pulse single pulse energy is 120nJ, the flight time is 1 μ s, detection range 150m, farther to can get before vehicle
Detection range, avoid laser radar energy dissipation.Further, in conjunction with the vertical angular resolution of non-uniform Distribution, emphasis
The vehicle horizontal line of sight of concern and close ground vicinity can get more preferably ranging and vertical angular resolution.
As shown in figure 8, in an alternative embodiment, in different orientation, different scanning harness also may be implemented
The distribution setting of quantity, scan frequency.For example, on forward direction, pulse energy with higher, pulse frequency in the middle part of scanning field of view
With the scanning harness of comparatively dense, the detection in front of scanning field of view is reinforced to realize.Meanwhile rear to upper, in scanning field of view
The scanning harness of portion's pulse energy with higher, pulse frequency and comparatively dense, to realize to the detection in front of scanning field of view
Reinforce.Certain Fig. 8 is only an example, can be to the upward different location in orientation indeed according to the control of control unit
Pulse energy, pulse frequency and row are adjusted.For example, using visual field intermediate region and neighboring area to upper rear
Uniform scanning row.
Further, laser radar can have the different detection range of multiple directions, pass through laser control module reality
It is existing.As shown in figure 9, it is the top view of multi-thread beam radar scanning process, polar coordinate system, scan position place are established with the plane
Angle a is polar angle, then the outgoing pulse intensity that can control laser radar by control unit is S=Acos (a/
2)+B, it can thus be appreciated that the scanning light intensity of a=0 ° of position is maximum, and the scanning light intensity of a=180 ° of position is minimum.As it can be seen that in orientation
Upwards, laser radar can have different Energy distributions, can also be according to such as not only according to sinusoidal or cosine distribution
Lower mode is scanned:
X (θ)=a sin θ；
Wherein, n >=1 and
N is known as the parameter of curve, is the frequency ratio of two sinusoidal vibration.
If ratio is rational,
Parametric equation can be write: x (O)-a sin (pO),
The π of 0≤θ≤2, wherein θ is scanning variable, and other parameters are constant.
Heterogeneity in addition to spatially changing laser radar emergent beam can also in the time domain believe the driving
Number coding, by the code-excited laser pulse of the driving signal of coding have timing.It is different shown in Figure 11 such as Figure 10
Laser beam emitting device transmitting varying strength laser pulse, the laser pulse emission frequency illustrated in figure be it is identical, it is practical
On, tranmitting frequency can also be different.
In an alternative embodiment, laser firing pulses have different codings, and coding can have different frequencies
And/or intensity, different laser firing pulses intensity can be determined by different driving signals, such as:
First driving signal: [1,0,1,1,1,1,0,1,1,1,1,1], signal strength " 1 " indicate that 1 unit signal is strong
Degree, " 0 " indicates that the moment does not have pulse.
Second driving signal: [1.5,1.5,1.5,1.5,1.5,1.5,0,1.5,1.5,1.5,1.5,1.5], signal strength
" 1.5 " indicate 1.5 unit signal intensity, and " 0 " indicates that the moment does not have pulse.
In an alternative embodiment, the laser pulse with timing has non-homogeneous pulse energy in timing
Amount, such as:
Third driving signal: [0,1,2,3,2,1,0,1,2,3,2,1,0]
Fourth drive signal: [0, sin (0.1 π), sin (0.2 π), sin (0.3 π), sin (0.4 π), sin (0.5 π), sin
(0.4π),sin(0.3π),sin(0.2π),sin(0.1π),0]
In an alternative embodiment, pulse drive signal in timing either have spaced pulse excitation letter
Number, it is also possible to the pulse signal in timing with different in width, and can be the different in width for having interval in timing
Pulse signal.Laser pulse emission unit, is based on first encoded signal, and the laser pulse sequence of coding is passed through in transmitting；Through
The laser pulse sequence for crossing coding is to have spaced laser pulse sequence in timing, or pass through pulse strength in timing
The pulse train of modulation, or the pulse train that there is interval in timing and modulated by pulse strength.Laser pulse sequence
In, include at least two laser pulses, such as first laser pulse and second laser pulse.Certainly, without loss of generality, laser
In pulse train, can also include multiple laser pulses, such as first laser pulse, second laser pulse ..., N laser
Pulse, multiple laser have and have first time interval between sequential relationship, such as first laser pulse and second laser pulse
t2-t1, there is time interval t between N laser pulse and N-1 laser pulsen-tn-1.Above-mentioned time interval describes laser
The sequential relationship of pulse train.
In a possible embodiment, when first encoded signal is identical as pulse echo signal, swash described
Light pulse sequence echo is judged as the echo-signal of the first encoded signal, retains the signal, and extracts letter entrained by the signal
Breath.When first encoded signal and it is not identical as pulse echo signal when, the laser pulse sequence echo is judged as it
The laser pulse of its laser pulse emission unit transmitting, and abandon the laser pulse sequence echo.
As shown in figure 12, the coding unit includes: multiple charhing units and energy storage equipment；The charhing unit is being opened
It closes under control signal (GATE1, GATE2 ..., GATEN) and the control of switch triggering signal (TRIGGER), successively accumulation of energy is filled
It sets and carries out persistent charging action, the laser pulse sequence of coding is passed through in transmitting.It is described successively persistent to energy storage equipment progress
Charging action includes that previous charhing unit is according to corresponding switch control signal (GATE1, GATE2 ..., GATEN) to accumulation of energy
After device charging, energy storage equipment discharges under the control of switch triggering signal (TRIGGER), so that laser pulse emission list
Member transmitting light pulse；The light-emission operation of the laser pulse emission unit is connected, the latter charhing unit is according to corresponding switch
Signal (GATE1, GATE2 ..., GATEN) is controlled to charge to energy storage equipment.
As shown in figure 13, the charhing unit includes that switching tube, inductance and diode, the switching tube pass through switching tube
Control signal (GATE1, GATE2 ..., GATEN) is controlled, and the control signal has a time span, the control letter
Number time span for controlling the charhing unit to the charge capacity of the capacitor, the charge capacity determines transmitting light arteries and veins
The intensity of punching.In a specific embodiment, the time span of the control signal can be the pulse width of control signal.
In a possible embodiment, energy storage equipment is condenser type equipment, and the width of signal processed is managed by control switch
Degree can control charhing unit and control the electricity of energy storage equipment single charge to the charging time of energy storage equipment, and then control and swash
The pulse strength of light pulse emission device transmitting.
Luminescence control switch (N1), the luminescence control switch (N1) is controlled by switch triggering signal (TRIGGER), described
Switch triggering signal (TRIGGER) is triggered by switch controlled signal (GATE1, GATE2 ... ...), is believed in each switch control
At the end of number (GATE1, GATE2 ... ...), switch triggering signal (TRIGGER) is once triggered, to guarantee previous charging
After luminescence process, next charging-luminescence process can be immediately begun to.
By controlling the length of GATE signal, the intensity of pulse is modulated, since coding is the one in front and one in back laser arteries and veins of transmitting
Being punched in timing will not be overlapped, and the laser pulse of different radar emissions, then can pass through the pulse strength of GATE signal modulation
It distinguishes.
In a possible embodiment, by controlling the crystal oscillator of switch controlled signal for 1G or higher, thus
Guarantee the signal accuracy of switch control signal (GATE1, GATE2 ... ...) in nanosecond order, the width of each GATE signal is several
Nanosecond or tens nanoseconds.To guarantee that entire pulse force is listed in a shorter time range.
It, will not be to other charging circuits when some charging circuit charges-shines since multiple charhing units are mutually indepedent
Constituting influences.After splice charging can accomplish previous charging-luminescence process, next charging-can be got started
Luminescence process.The minimum interval of two pulses is in tens ns magnitudes, so that coding only takes up a small amount of flight time.May be used also
To be spaced in 500ns or more by controlling different radar emission so that the pulse that laser issues do not generate it is overlapped.
Also include in Figure 13 switch control signal generating unit (CLK1), for by controlling the switch control signal
The timing length of (GATE1, GATE2 ..., GATEN) controls the charge capacity of the energy storage equipment, and then controls the laser
The single pulse intensity of pulse emitting units transmitting.The timing control of control signal (GATE1, GATE2 ..., GATEN) itself swashs
The pulse sequence of optical pulse emitting unit transmitting.The charhing unit includes power supply (BAT), inductance (L1), two pole of one-way conduction
It manages (D2), switch control pipe (M1)；The anode of the power supply (BAT) connects the first end of the inductance (L1)；The inductance
(L1) second end connects the first end of the one-way conduction diode (D2)；The second end of the one-way conduction diode (D2)
Connect first pole of energy storage equipment (C2)；Second pole of the energy storage equipment (C2) connects the cathode of the power supply；The switch
Control pipe (M2) is connected across between the second end of the inductance (L1) and the second pole of the energy storage equipment (C2), and described
It is connected or disconnected under the control of switch control signal (GATE1, GATE2 ..., GATEN).
Certainly, in above-mentioned Figure 13, energy storage equipment is realized using capacitor, and the single capacitor in figure is only a kind of possible reality
Apply mode, or multiple capacitors or lc circuit and other energy-accumulating element.
Meanwhile the circuit in Figure 13 is not that mode can be achieved in the unique of charhing unit yet, which can also use such as
The realization of the timing generating device of edging trigger.
As shown in figure 14, trigger switch triggering letter at the end of the switch control signal (GATE1, GATE2 ..., GATEN)
Number (TRIGGER), such as the timing failing edge triggering of switch control signal shown in figure (GATE1, GATE2 ..., GATEN)
The failing edge of switch triggering signal (TRIGGER)；Without loss of generality, if switch triggering signal (TRIGGER) end is
The rising edge of sequential signal, then it is practical using the rising edge as the triggering of switch control signal, to guarantee to start after charging
Luminescence process, and after previous charging luminescence process, next charging-luminescence process can be immediately begun to.
In the embodiment shown in fig. 14, the time width of switch control signal (GATE1, GATE2 ..., GATEN) is phase
Deng, so guarantee that each pulse width is almost the same in the pulse train of transmitting.
As shown in figure 15, it by the width of the control switch control signal in different pulse trains, may be implemented for hair
Penetrate the control of pulse strength.As shown in figure 15, switch control signal GATE1 signal has different from switch control signal GATE2
Signal duration, then the electricity being filled in energy storage equipment (C2) is also just different, and then the single pulse intensity emitted
With regard to difference.
According to different switch control signal durations, the control realized for emitting pulse strength, Jin Ershi can control
Referring now to the differentiation of echo-signal, the interference between different transmitting signal sequences is avoided.
Without loss of generality, different pulse widths also can be used in each transmitting pulse in same impulse ejection queue
Modulated signal is modulated, such as in embodiment corresponding to Figure 15, and the duration width of pulse strength and driving signal is proportional
Example relationship, switch control signal (GATE1, GATE2 ..., GATEN) width is respectively kA1, kA2, kA3, corresponding pulse
Intensity is then A1, A2, A3.
In the present embodiment, carry out trigger switch trigger signal using switch control signal (GATE1, GATE2 ..., GATEN)
(TRIGGER).It, can also be by switch triggering signal (TRIGGER) come trigger switch control in some possible embodiments
Signal (GATE1, GATE2 ..., GATEN).
It as shown in figure 16, in a possible embodiment, include multiple laser beam emitting devices in laser beam emitting device,
The laser pulse of multiple laser beam emitting device transmitting different codings.Such as Figure 16 is shown, two or more laser transmitting dresses
It sets (not shown) and emits the pulse laser with different coding respectively.
The laser pulse of transmitting reflects at the barrier in region to be detected, and generates reflection echo.Show in Figure 16
The echo for having gone out two different laser beam emitting device transmittings is partly overlapped at laser receiver, the laser pick-off
Device can by intensity identify the pulse train of different pulse lasers transmitting respectively.
Two pulses simultaneously can also be respectively provided with same or different coding, can judge pulse train by coding
It is by which impulse starter transmitting.
In a possible embodiment, since each ranging will capture entire coded pulse sequence and laser pulse
The case where emitter transmitting pulse, is compared, and the mode of coding can make pulse train continue the longer time, include simultaneously
Intensity modulated, so that it is identified to be easier pulse.Laser pulse emission device can be accomplished continuously to emit multiple pulses, be based on
Splice above-mentioned charging, the interval between each pulse accomplish very little, to prevent the identical ranging range lower flight time colored
It is longer.
In a possible embodiment, the laser pulse sequence and the calculating of laser pulse sequence echo by coding are utilized
Pulse flight distance.
It as shown in figure 17, in a possible embodiment, include multiple laser beam emitting devices in laser beam emitting device,
The laser pulse of multiple laser beam emitting device transmitting different codings.Sentenced by the standard deviation for calculating the laser pulse sequence flight time
The disconnected burst length with the presence or absence of mistake calculates.Because if vicious pulse introduces the flight time and calculates, standard can be caused
Difference is greater than zero, and the flight time standard deviation of each pulse train is substantially zeroed under normal conditions.
Meanwhile the flight time can be obtained by calculating separately the average value of multiple coded pulse flight time, and be based on
TOF is carried out apart from calculating.For example, including two pulse trains in Figure 17, two pulse trains pass through in ranging process respectively
Cross flight time T1, T2, T3, T4, and T1 ', T2 ', T3 ', T4 '.By bringing the flight time of pulse into formula:K is pulse number, is calculated, and the distance that ranging is carried out based on pulse laser can be obtained, and wherein c is light
Speed.
In a possible embodiment, it is also proposed that a kind of laser radar, the laser radar include multiple bases above-mentioned
In the laser beam emitting device of time sequential pulse coding.Due to can effectively overcome different laser radar echos based on time sequential pulse coding
Between cross-interference issue, can only use single laser receiver, realize the reception to multiple laser beam emitting device echoes.It is logical
Cross the measurement accuracy that can also improve laser radar.Laser radar system includes that multiple lasers pass through coding every time when detection
Unit controls laser pulse emission unit within very short first time and emits multiple laser pulses, utilizes the touching of previous embodiment
Power Generation Road and trigger theory can complete in a short period of time the triggering of multiple pulses, to make the transmitting dimension for entirely detecting arteries and veins
It holds within a very short period, such as under the system clock of 1GHz, pulse train be can control within tens nanoseconds.
Control multiple pulses of each ranging within a certain period of time, such as 500ns, it is also ensured that different ranging process are irrelevant.
The reception circuit and processor of laser radar can carry out time measurement to multiple echo impulses in a ranging.
In a possible embodiment, as shown in figure 18, in a possible embodiment, multiple energy storage modules and electricity
Source module is connected, and each energy storage module is connected with a control switch, and control switch is responsible for controlling energy storage module and laser is sent out
Penetrate the on-off of unit.When the control switch closure between a certain energy storage module and laser emission element, stored in energy storage module
Charge driving laser emission element emit light pulse.Specifically, the switch of each unit shown in Figure 18 can be mutually indepedent
, and control switch is independently controlled by control unit, and the synchronization in timing, control unit can control control
Switch is independently opened or is closed.When synchronization is closed there are multiple control switches, transmitting pulsed laser energy is several
The summation of a energy storage module energy.By being closed at multiple control switches in synchronization to emit high energy pulse, Ke Yishi
Referring now to the detection of remote object.By controlling number and the time point of the control switch being closed in timing, can control
The pulse shape emitted in timing.For example, at a time, only 1 control switch closure, then the pulse of moment transmitting
Intensity is 1 unit, and in the N number of control switch closure of following instant, then the pulse strength of corresponding moment transmitting is N number of unit.
By control unit control in the quantity of different moments closure switch, exomonental timing and intensity can control.
In a possible embodiment, as shown in figure 19, reception device receives echo-signal, through ovefcompensated amplifier
Later, by high-precision adc and continue to handle echo-signal.Control unit can be also used for opening the control in Figure 18
Row is put into control respectively.
As shown in figure 20, it is contemplated that lost in Obstacles reflection loss and spatial, the arteries and veins of laser radar transmitting
A degree of decaying can occur for punching.It is distinguished to make echo become difficulty.Especially in the presence of various lasers in synchronization
When being received, generation can not be resolved problem.Therefore, using the modulating mode of such as Figure 21, in continuous pulse, intermediate arteries and veins
The intensity of punching is greater than two sides pulse, and the two is in certain proportion relationship.Specifically, the continuous laser arteries and veins that laser radar is emitted
In punching, intermediate pulse can be several times of side pulse, in this way, the spy to remote object may be implemented in intermediate flash
It surveys.Furthermore.When receiving continuous pulse echo, according to the relativity of intermediate pulse and two sides pulse, can more hold
Realization of changing places reaches pulse signal to synchronization and differentiates.
In one embodiment, as shown in figure 22, the direct impulse echo of two groups of different codings occurs mixed at detector
It is folded.What detector detected is the intensity after two group pulse echo aliasings, as shown in phantom in Figure 22.In general, by
In the generation of aliasing, according to Rayleigh criterion, this two group pulses echo is inseparable other.And in the embodiment using coded pulse
In, coding when can be according to transmitting, the signal after the aliasing detected in conjunction with detector believes the echo that detector detects
It number is calculated.For example, Am1, Am2, Am3 are the pulse signal strengths that aliasing does not occur in Figure 22；Am4, Am5, Am6 are
The pulse signal strength of aliasing occurs.In practical deterministic process, be at this time can not judge Am1, Am2, Am3 and Am4, Am5,
Am6 is that aliasing partially has occurred in which actually.Therefore processing unit can carry out following logic judgment:
Since the pulse number of Am1, Am2, Am3, Am4, Am5, Am6 have been more than exomonental maximum length, sentence
Break aliasing.
The strength difference of coded pulse, such as the difference of maximum intensity and minimum strength are obtained at this time.By the difference with
The intensity of the pulse train received compares, and judges the position that aliasing occurs.
For example, judgement (Am6-Am2), (Am5-Am3) are equal, in Figure 22 so as to judge it is at Am6 and Am5
It sets and aliasing has occurred.Next the position that can be occurred according to aliasing specifically to identify two sequences.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of multi-thread beam laser radar with non-homogeneous pulse, which is characterized in that the multi-thread beam laser radar includes control
Unit, pulse driver unit and pulse laser emission unit processed；
Described control unit controls the pulse driver unit and generates driving signal；
The pulse laser emission unit emits multi-thread beam laser pulse under the driving of the driving signal；
The driving signal is adjusted so that the multi-thread beam laser pulse is in non-uniform Distribution in field range.
2. laser radar according to claim 1, which is characterized in that the multi-thread beam laser pulse is in field range
Non-uniform Distribution includes: to have stronger outgoing pulse energy on specific vertical exit direction.
3. laser radar according to claim 2, which is characterized in that in specific vertical exit direction, have stronger
Outgoing pulse energy includes: that the corresponding laser pulse in field of view center part has stronger single pulse energy；Visual field upper and lower part side
Edge laser pulse has lower single pulse energy.
4. laser radar according to claim 1, which is characterized in that the multi-thread beam laser pulse is in field range
Non-uniform Distribution includes: the outgoing pulse frequency with higher on specific vertical exit direction.
5. laser radar according to claim 4, which is characterized in that with higher in specific vertical exit direction
Outgoing pulse frequency includes: that the corresponding laser pulse in field of view center part has high pulse frequencies；Visual field upper and lower part edge has
Low pulse frequency.
6. laser radar according to claim 1, which is characterized in that the laser pulse is in field range in non-homogeneous
Distribution includes: to have different outgoing pulse energy in different orientations.
7. laser radar according to claim 1, which is characterized in that the laser pulse is in field range in non-homogeneous
Distribution includes: to have different outgoing pulse frequencies in different orientations.
8. laser radar according to claim 1, which is characterized in that the laser pulse is in field range in non-homogeneous
Distribution includes: to go out in specific vertical exit direction, outgoing pulse energy with higher or frequency, and in different orientation
It penetrates on direction, there is different outgoing pulse energy or frequency.
9. laser radar according to claim 1, which is characterized in that the driving signal is encoded in the time domain,
So that the pulse laser emission unit under the driving of the pulse excitation signal, emits the laser pulse with timing.
10. laser radar according to claim 9, which is characterized in that the laser pulse with timing, in timing
With non-homogeneous pulse energy.
11. laser radar according to claim 1, which is characterized in that the pulse driver unit includes:
Multiple charhing units and energy storage equipment；
Multiple charhing units under the control of switch control signal (GATE1, GATE2 ..., GATEN), to the energy storage equipment into
Row charging；
The energy storage equipment carries out splice electric discharge under the control of switch triggering signal (TRIGGER), so that the laser
Pulse emitting units emit single pulse.
12. laser radar according to claim 11, which is characterized in that the energy storage equipment is in switch triggering signal
(TRIGGER) splice electric discharge is carried out under control, so that laser pulse emission unit transmitting single pulse includes:
M-th charhing unit has charged to energy storage equipment according to corresponding switch control signal (GATE1, GATE2 ..., GATEN)
At later, horse back trigger switch trigger signal (TRIGGER) controls the energy storage equipment electric discharge, so that laser pulse emission list
Member emits single light pulse；
The M+1 charhing unit fills energy storage equipment according to corresponding switch control signal (GATE1, GATE2 ..., GATEN)
Electricity；
Wherein M is natural number, and is less than the number N of charging control switch.
13. laser radar according to claim 11, which is characterized in that the pulse driver unit further includes switch control
Signal generating unit (CLK1) processed, for controlling the sigtnal interval of the switch control signal (GATE1, GATE2 ..., GATEN)
And signal width.
14. laser radar according to claim 11, which is characterized in that the charhing unit includes power supply (BAT), electricity
Feel (L1), one-way conduction diode (D2), switch control pipe (M1)；
The anode of the power supply (BAT) connects the first end of the inductance (L1)；
The second end of the inductance (L1) connects the first end of the one-way conduction diode (D2)；
First pole of second end connection energy storage equipment (C2) of the one-way conduction diode (D2)；
Second pole of the energy storage equipment (C2) connects the cathode of the power supply；
The switch control pipe (M1) be connected across the inductance (L1) second end and the energy storage equipment (C2) the second pole it
Between, and connected or disconnected under the control of the switch control signal (GATE1, GATE2 ..., GATEN).
15. a kind of vehicles, which is characterized in that the vehicles carry laser thunder described in one of claim 1-14
It reaches.
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| PCT/CN2019/093271 WO2020001537A1 (en) | 2018-06-27 | 2019-06-27 | Multi-beam laser radar having non-uniform pulse distribution |
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| CN117607838A (en) * | 2024-01-23 | 2024-02-27 | 光梓信息科技(深圳)有限公司 | Multichannel driving system, laser radar and laser radar transmitting end driving method |
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| WO2020001537A1 (en) | 2020-01-02 |
| CN109116366B (en) | 2020-05-19 |
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