CN112997096A - Laser radar and autopilot device - Google Patents
Laser radar and autopilot device Download PDFInfo
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- CN112997096A CN112997096A CN202080005836.4A CN202080005836A CN112997096A CN 112997096 A CN112997096 A CN 112997096A CN 202080005836 A CN202080005836 A CN 202080005836A CN 112997096 A CN112997096 A CN 112997096A
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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
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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
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- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
A laser radar (100) and an autopilot apparatus. The laser radar comprises a transmitting driving system (1), a transmitting system (2), a receiving system (3) and a signal processing system (4); the emitting system (2) comprises a plurality of light emitting units (21a) for emitting the emergent laser light, and the emitting system (2) is used for starting the light emitting units (21a) according to a first sequence to enable the emergent laser light to traverse the detection area in a scanning mode; the receiving system (3) comprises a plurality of detection units (31a) for receiving the echo laser, the receiving system (3) is used for starting the selected detection units (31a) to receive the echo laser and detecting a detection area scanned by the emergent laser emitted by the light emitting unit (21 a); the emission driving system (1) is used for driving the emission system (2); the signal processing system (4) is used for calculating distance information of an object in the detection area based on the emergent laser and the echo laser; the detection unit (31a) comprises a photosensitive area, and the ratio of the area of the photosensitive area to the pixel area of the detection unit (31a) is less than or equal to 0.5, so that the capability of the laser radar (100) for resisting ambient light is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser radar and an automatic driving device.
Background
The laser radar is a radar system which uses laser to detect characteristic quantities such as the position, the speed and the like of a target object, and the working principle of the radar system is that a transmitting system firstly transmits emergent laser for detection to the target, then a receiving system receives echo laser reflected from the target object, and after the received echo laser is processed, relevant information of the target object, such as parameters such as distance, direction, height, speed, attitude, even shape and the like, can be obtained.
The area array laser radar is a laser radar with an emitting system and a receiving system both of which are area arrays and has no rotary scanning structure. For example, the Emitting system is a Vertical Cavity Surface Emitting Laser array (VCSEL array) with an addressing function, and performs scanning emission in an electric control manner; the receiving system is a Single-photon Avalanche Photodiode array (SAPD array), which has sensitivity of a Single photon order. The solid-state laser radar based on the SAPD array is easily influenced by ambient light, so that the detection performance of the laser radar is influenced.
Disclosure of Invention
In view of the foregoing defects in the prior art, an embodiment of the present invention mainly aims to provide a laser radar and an automatic driving device, which solve the problem that the laser radar in the prior art is easily affected by ambient light.
The embodiment of the invention adopts a technical scheme that: providing a lidar comprising a transmit drive system, a transmit system, a receive system, and a signal processing system;
the emitting system comprises a plurality of light emitting units for emitting emergent laser, and is used for starting the light emitting units according to a first sequence to enable the emergent laser to traverse the detection area in a scanning mode;
the receiving system comprises a plurality of detection units for receiving echo laser, the receiving system is used for starting the selected detection units to receive the echo laser and detecting a detection area scanned by emergent laser emitted by the light emitting unit, and the echo laser is returned after the emergent laser is reflected by an object in the detection area;
the emission driving system is used for driving the emission system;
the signal processing system is used for calculating distance information of an object in the detection area based on the emergent laser and the echo laser;
the detection unit comprises a photosensitive area, the ratio of the area of the photosensitive area to the pixel area of the detection unit is the filling factor of the detection unit, and the filling factor of the detection unit is less than or equal to 0.5.
In some embodiments, the light emitting cell includes an active region, a ratio of an area of the active region to a facet area of the light emitting cell is a fill factor of the light emitting cell, and the fill factor of the light emitting cell is less than or equal to 0.5.
In some embodiments, the fill factor of the light emitting unit is less than or equal to the fill factor of the detection unit.
In some embodiments, the light emitting units correspond to the detecting units one to one.
In some embodiments, the light emitting units in adjacent rows are arranged in a staggered manner, and the detecting units in adjacent rows are arranged in a staggered manner.
In some embodiments, in the horizontal direction, a horizontal angle of view between two adjacent light-emitting units projected horizontally is a first horizontal angle of view, and a horizontal angle of view between two adjacent light-emitting units in the same row is a second horizontal angle of view, the first horizontal angle of view being less than or equal to 1/2 of the second horizontal angle of view;
in the horizontal direction, the horizontal angle of view between two adjacent detection units in horizontal projection is a first horizontal angle of view, the horizontal angle of view between two adjacent detection units in the same row is a second horizontal angle of view, and the first horizontal angle of view is smaller than or equal to 1/2 of the second horizontal angle of view.
In some embodiments, the first horizontal field of view is 1/4 of the second horizontal field of view.
In some embodiments, the light emitting units in adjacent columns are arranged in a staggered manner, and the detecting units in adjacent columns are arranged in a staggered manner.
In some embodiments, in the vertical direction, the horizontal angle of view between two adjacent light-emitting units projected vertically is a third horizontal angle of view, the vertical angle of view between two adjacent light-emitting units in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is less than or equal to 1/2 of the fourth horizontal angle of view;
in the vertical direction, the horizontal angle of view between two adjacent detection units in vertical projection is a third horizontal angle of view, the vertical angle of view between two adjacent detection units in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is smaller than or equal to 1/2 of the fourth horizontal angle of view.
In some embodiments, the third horizontal field of view is 1/4 of the fourth horizontal field of view.
In some embodiments, the receiving system comprises a plurality of receiving areas, each receiving area comprises a plurality of detecting units, and the light emitting units are in one-to-one correspondence with the receiving areas.
In some embodiments, the emitted laser light emitted by a single light emitting unit is reflected by an object in the detection area, and then returned back to the detection unit for being received by one detection unit in the receiving area.
In some embodiments, the emission system includes a first array emitter and a second array emitter, the first array emitter includes a plurality of first light-emitting units, the second array emitter includes a plurality of second light-emitting units, the first light-emitting units and the second light-emitting units emit emergent laser light, the spots in the detection area are arranged at intervals, and the first array detector and the second array emitter are used for turning on the first light-emitting units and the second light-emitting units according to the first sequence;
the receiving system comprises a plurality of receiving areas, each receiving area comprises a plurality of detection units, and the first light-emitting units, the second light-emitting units and the receiving areas are in one-to-one correspondence.
In some embodiments, the echo laser light returned after the outgoing laser light emitted by the single first light-emitting unit is reflected by the object in the detection area is used for being received by one detection unit in the receiving area, and the echo laser light returned after the outgoing laser light emitted by the single second light-emitting unit is reflected by the object in the detection area is used for being received by another detection unit in the receiving area.
In some embodiments, the selected probe units are all probe units in the receiving system; or, the selected detection unit is a detection unit which can receive the echo laser in the receiving system.
In some embodiments, the first order is: and starting the plurality of light emitting units in the first emission area at a first time, and starting the plurality of light emitting units in the second emission area at a second time until the emergent laser scans and traverses the detection area.
In some embodiments, the emission system comprises m x n of the light-emitting cells, the first emission region comprises p x q of the light-emitting cells, m and n are both integers greater than 1, p and q are both integers greater than or equal to 1, 1< p < m or 1< q < n.
In some embodiments, p is less than m, q is less than n; the emission system is used for starting the light-emitting units in a reciprocating mode in a first direction and then in a reverse direction of the first direction, or is used for keeping the light-emitting units started in the first direction row by row or column by column; alternatively, the first and second electrodes may be,
p is equal to m, and q is less than n; the emission system is used for starting the light emitting unit along a vertical direction; alternatively, the first and second electrodes may be,
p is less than m, q is equal to n; the emission system is used for turning on the light emitting unit along the horizontal direction.
In some embodiments, the emission system includes an array of vertical cavity surface emitting lasers and the reception system includes an array of single photon avalanche photodiodes.
In some embodiments, the emission system further comprises an emission optical module for collimating the emitted laser light emitted by the light emitting unit;
the receiving system also comprises a receiving optical module which is used for converging the echo laser and transmitting the converged echo laser to the detection unit.
In some embodiments, the fill factor of the detection unit is 0.4-0.5 and the fill factor of the light emitting unit is 0.4-0.5.
The embodiment of the invention also provides automatic driving equipment which comprises a driving equipment body and the laser radar, wherein the laser radar is arranged on the driving equipment body.
The embodiment of the invention has the beneficial effects that: according to the embodiment of the invention, the filling factor of the receiving end array detector is set to be smaller than the first ratio, and the smaller filling factor reduces the intensity of received ambient light, so that the signal-to-noise ratio is improved, the capability of the laser radar for resisting ambient light is improved, and the ranging performance is improved.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a block diagram of a lidar provided in an embodiment of the present invention;
FIG. 2 is a block diagram of a lidar constructed in accordance with another embodiment of the present invention;
FIG. 3 is a schematic diagram of an array emitter according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an array detector according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the optical path of a lidar in an embodiment of the invention;
FIG. 6 is a schematic diagram of a staggered arrangement of adjacent transceiver arrays in a row according to an embodiment of the present invention;
FIG. 7 is a schematic view of the angles of view of the staggered arrangement of the transceiving arrays of adjacent rows according to the embodiment of the present invention;
FIG. 8 is a schematic view of the field angle of the staggered arrangement of the transceiving arrays of adjacent rows according to another embodiment of the present invention;
FIG. 9 is a schematic diagram of a staggered arrangement of transceiver arrays in adjacent columns according to an embodiment of the present invention;
FIG. 10 is a schematic view of the angles of view of the staggered arrangement of the transceiver arrays in adjacent rows according to the embodiment of the present invention;
FIG. 11 is a diagram illustrating the correspondence between the light emitting units and the detecting units in the embodiment of the present invention;
FIG. 12 is a diagram illustrating the correspondence between the light emitting units and the detecting units according to another embodiment of the present invention;
fig. 13 is a schematic structural diagram of an autopilot apparatus provided by an embodiment of the invention;
fig. 14 is a schematic structural diagram of an autopilot apparatus according to another embodiment of the present invention.
The reference numbers in the detailed description are as follows:
the system comprises a laser radar 100, a transmitting driving system 1, a transmitting system 2, an array transmitter 21, a light-emitting unit 21a, a transmitting optical module 22, a receiving system 3, an array detector 31, a detecting unit 31a, a receiving optical module 32, a signal processing system 4, an automatic driving device 200 and a driving device body 201.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "plurality" or "a plurality" means two or more (including two) unless otherwise specifically limited.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The area array laser radar is a laser radar with an emitting system and a receiving system both of which are area arrays, wherein the emitting system is an array emitter, the receiving system is an array detector, and a rotary scanning structure is not adopted. For example, the Emitting system is a Vertical Cavity Surface Emitting Laser array (VCSEL array) with an addressing function, and performs scanning emission in an electric control manner; the receiving system is a Single-photon Avalanche Photodiode array (SAPD array), with Single-photon order sensitivity. The solid-state laser radar based on the SAPD array is easily influenced by ambient light, so that the detection performance of the laser radar is influenced.
The SAPD array of an area array lidar includes a plurality of identical pixel elements, which are typically arranged in a rectangular fashion. In a single pixel unit, part of the active area is photosensitive and is a photosensitive area, and the other areas have no photosensitivity and are non-photosensitive areas. The ratio of the photosensitive area to the whole pixel unit area is the Fill Factor (FF) of the SAPD array. Due to the existence of the non-photosensitive area, the area array laser radar has a certain detection field solid angle blind area, and the real resolution is generally smaller than the point cloud resolution.
The solid-state laser radar based on the SAPD array is easily influenced by ambient light because of the sensitivity of single photon level, high sensitivity and response to all optical signals. The power of the transmitting system is improved, the signal-to-noise ratio of the laser radar can be improved, and the influence of ambient light is reduced, but the mode is limited by factors such as practical application, energy consumption limitation, the process level of an area array light source, human eye safety and the like. Under the condition of strong ambient light background radiation or when a strong reflectivity target appears, the laser radar easily loses the detection capability due to blindness caused by saturation. Therefore, the detection capability of the laser radar is related to the ambient light, which also causes a large gap in the day and night ranging performance of the laser radar.
The inventor finds that under the condition that the field angle corresponding to a single pixel of the array detector is certain, the ambient light immunity and the real resolution of the laser radar are related to the filling factor. Reducing the fill factor may improve the laser radar's ability to fight ambient light. Accordingly, embodiments of the present invention provide a lidar that reduces the intensity of received ambient light by reducing the fill factor.
Referring to fig. 1, an embodiment of the invention provides a laser radar 100, which includes a transmission driving system 1, a transmission system 2, a reception system 3, and a signal processing system 4. The emitting system 2 is used for emitting the emergent laser and enabling the emergent laser to traverse the detection area in a scanning mode. The emergent laser is reflected by the object in the detection area and returns the echo laser. The receiving system 3 is used for receiving echo laser. The emission driving system 1 is used to drive the emission system 2. The signal processing system 4 is used to calculate distance information of the object within the detection area based on the outgoing laser light and the echo laser light.
Referring to fig. 2, the emitting system 2 includes an array emitter 21, and referring to fig. 3, the array emitter 21 includes a plurality of light emitting units 21a for emitting the emitted laser, and the array emitter 21 is configured to turn on the light emitting units 21a according to a first sequence to enable the emitted laser to traverse the detection area in a scanning manner. The array emitter 21 may be a Vertical-Cavity Surface-Emitting Laser array (VCSEL array), a Light Emitting Diode array (LED array), a Micro Light Emitting Diode array (Micro LED array), a Pulsed Laser Deposition array (PLD array), or a Laser Diode array (LD array), which may form an array Emitting device. In the embodiment of the present invention, the array emitter 21 is a VCSEL array. For example, the VCSEL array comprises m × n individually switchable light emitting cells 21a, m and n each being an integer greater than 1.
In some embodiments, the emission system 2 further comprises an emission optical module 22 for collimating the outgoing laser light and emitting the collimated outgoing laser light to the detection area. The transmit optical module 22 may employ an optical fiber and ball lens group, a separate ball lens group, a cylindrical lens group, or the like.
The receiving system 3 includes an array detector 31, and as shown in fig. 4, the array detector 31 includes a plurality of detecting units 31a for receiving the echo laser, and each detecting unit 31a has a photosensitive area smaller than that of the detecting unit 31 a. The array detector 31 is configured to turn on a selected detection unit 31a to receive the echo laser light, and detect a detection region scanned by the outgoing laser light emitted from the light emitting unit 21 a. The selected detection unit 31a corresponds to the light emitting unit 21a that emits the outgoing laser light. The array detector 31 may be a Single-Photon Avalanche Photodiode array (SAPD array), an Avalanche Photodiode array (APD array), a Silicon photomultiplier array (SiPM array), a Multi-Pixel Photon Counter array (MPPC array), a photomultiplier array (PMT array), etc. to form an array receiving device. In the embodiment of the present invention, the array detector 31 is an SAPD array. For example, the SAPD array includes m × n individually controllable switched detection units 31a, m and n each being an integer greater than 1.
In some embodiments, the receiving system 3 further includes a receiving optical module 32 for converging the echo laser light and directing the converged echo laser light to the array detector 31. The receiving optical module 32 may employ a ball lens, a ball lens group, or a cylindrical lens group, etc.
The signal processing system 4 may adopt a Field Programmable Gate Array (FPGA), and the FPGA is connected to the emission driving system 1 to perform emission control of the emitted laser. The FPGA is also connected with a clock pin, a data pin and a control pin of the receiving system 3 respectively to receive and control the echo laser. The FPGA calculates distance information of the object in the detection area based on the emergent laser and the echo laser.
The specific arrangement of the array emitter 21 and the array detector 31 and the operation thereof will be described below.
The light emitting units 21a of the array transmitter 21 correspond to the detecting units 31a of the array detector 31 one by one, so that the emergent laser light emitted by the light emitting units 21a corresponds to the echo laser light received by the detecting units 31a, that is, the position of the detection area irradiated by the emergent laser light emitted by the light emitting units 21a corresponds to the position of the detection area detected by the detecting units 31 a. For example, the first light emitting unit 21a corresponds to the first detecting unit, so that the first outgoing laser emitted by the first light emitting unit 21a is reflected by the object in the detection region and returns to the first echo laser, and the first detecting unit receives the first echo laser. Specifically, for example, the light emitting unit 21a at the (1,1) position and the detecting unit 31a at the (1,1) position correspond to each other for detecting the R11 region, and the light emitting unit 21a at the (1,2) position and the detecting unit 31a at the (1,2) position correspond to each other for detecting the light emitting unit 21a and the detecting unit 31a corresponding to the R12 region … … are controlled to be turned on and off at the same time.
It is understood that only the light emitting units 21a of the array emitters 21 and the array detectors 31 that can operate therein correspond to the detecting units 31a that operate one by one. For example, only a part of the light emitting units 21a in the array emitter 21 is operated, only a part of the detecting units 31a in the array detector 31 is operated, and the operated light emitting units 21a and the operated detecting units 31a correspond one to one. Alternatively, the number of the light emitting units 21a in the array emitter 21 is greater than the number of the detecting units 31a in the array detector 31, and all the detecting units 31a of the array detector 31 correspond to some of the light emitting units 21a of the array emitter 21 one to one. Alternatively, the number of the light emitting units 21a in the array emitter 21 is smaller than the number of the detecting units 31a in the array detector 31, and all the light emitting units 21a of the array emitter 21 correspond to some of the detecting units 31a of the array detector 31 one-to-one.
The first sequence of turning on the light emitting unit 21a and the detecting unit 31a will be explained below.
1. Single turn-on of a single light emitting unit 21a and detection unit 31a
The light emitting unit 21a at the (1,1) position is turned on, and the detecting unit 31a at the (1,1) position is synchronously turned on, so that the detection of the R11 area is realized; the light emitting unit 21a at the (1,2) position is turned on, and the detecting unit 31a at the (1,2) position is synchronously turned on, so that the detection … … of the R12 area turns on the last light emitting unit 21a, and the last detecting unit 31a is synchronously turned on, so that the detection of the last area is realized.
Alternatively, the light emitting unit 21a at the last position is turned on first, the corresponding detecting unit 31a is synchronously turned on, and the detection regions are scanned in the reverse order of the above-described order of (1,1), (1,2) … ….
2. Single turn-on of single column/single row light emitting unit 21a and detection unit 31a
The light emitting cells 21a of the first row (including (1,1), (1,2) … … (1, m)) are turned on, and the detecting cells 31a of the first row are synchronously turned on, thereby realizing the detection of the R1 region; the light emitting cells 21a in the second row (including (2,1), (2,2) … … (2, m)) are turned on, the detecting cells 31a in the second row are synchronously turned on, so that the detection … … of the R2 region turns on the light emitting cells 21a in the last row (including (n,1), (n,2) … … (n, m)), and the detecting cells 31a in the last row are synchronously turned on, so that the detection of the last region is realized. Alternatively, the light emitting units 21a of the last row are turned on first, the corresponding detecting units 31a are synchronously turned on, and the detection regions are scanned in the reverse order to the above order.
Alternatively, the light emitting unit 21a of the first column (including (1,1), (2,1) … … (n,1)) is turned on, and the detecting unit 31a of the first column is synchronously turned on, thereby realizing the detection of the R1 region; the light emitting units 21a in the second column (including (1,2), (2,2) … … (n,2)) are turned on, the detecting units 31a in the second column are synchronously turned on, so that the detection … … of the R2 region turns on the light emitting units 21a in the last column (including (1, m), (2, m) … … (n, m)), and the detecting units 31a in the last column are synchronously turned on, so that the detection of the last region is realized. Alternatively, the light emitting units 21a in the last column are turned on first, the corresponding detecting units 31a are synchronously turned on, and the detection regions are scanned in the reverse order to the above order.
Compared with the point-to-point receiving mode, the single-column/single-row scanning mode can reduce the scanning period of a single frame and improve the detection efficiency.
3. The light emitting unit 21a and the detecting unit 31a in one block region are turned on at a time
In the array emitter 21, each region includes p × q light emitting cells 21a, where p and q are integers greater than 1, and 1< p < m or 1< q < n. Accordingly, in the array detector 31, each block includes p × q detection units 31 a.
The array emitter 21 turns on the light emitting units 21a in each area back and forth in a first direction and then in a direction opposite to the first direction, or keeps turning on the light emitting units 21a in each area row by row or column by column in the first direction, which may be a horizontal direction or a vertical direction, for example: the light emitting unit 21a of the first area is started, and the detection unit 31a of the first area is synchronously started, so that the detection of the R1 area is realized; the light emitting unit 21a of the second region is turned on, and the detecting unit 31a of the second row is synchronously turned on, so that the detecting … … of the R2 region turns on the light emitting unit 21a of the last region, and the detecting unit 31a of the last region is synchronously turned on, so that the detection of the last region is realized.
Compared with the point-to-point receiving mode, the area scanning mode can reduce the scanning period of a single frame and improve the detection efficiency.
The above is a schematic description of the manner of turning on the light emitting unit 21a and the detecting unit 31a, and should not limit the present invention. The first order in which the light emitting units 21a are turned on may be any order. After the light emitting unit 21a and the corresponding detecting unit 31a complete a single scan of the corresponding detection area, the light emitting unit 21a and the detecting unit 31a are synchronously turned off.
In the embodiment of the present invention, the ratio of the area of the photosensitive region to the pixel area of the detection unit 31a is the fill factor of the detection unit 31a, and the fill factor of the detection unit 31a is less than or equal to 0.5. According to the laser radar 100 of the embodiment of the invention, the filling factor of the receiving end array detector 31 is set to be less than or equal to 0.5, and the smaller filling factor reduces the intensity of the received ambient light, so that the signal-to-noise ratio is improved, the capability of the laser radar 100 for resisting ambient light is improved, and the ranging performance is improved. The embodiment of the invention can exponentially improve the signal-to-noise ratio of the system without complicated optical system optimization or emission power improvement, reduce the requirement of the system on the emission light source power, effectively inhibit the blindness of ambient light to a single-photon system, and reduce the difference of distance measurement performance when the single-photon detection device is used day and night.
Theoretically, the smaller the fill factor of the detection unit 31a, the more the signal-to-noise ratio can be improved. However, due to process and size limitations, in some embodiments, the fill factor of the detection unit 31a is in the range of 0.4-0.5, which can both improve the signal-to-noise ratio and meet the requirements of practical processing and applications.
The light emitting cell 21a includes an active region, and a ratio of an area of the active region to a facet area of the light emitting cell 21a is a fill factor of the light emitting cell 21 a. In some embodiments, the fill factor of the light emitting cells 21a is set to be less than or equal to 0.5. In some embodiments, the fill factor of the light emitting cells 21a is also in the range of 0.4-0.5. Referring to fig. 5, the areas of the active regions of the light emitting unit 21a and the detecting unit 31a are both smaller, the emitting field of view is the same as the receiving field of view or the emitting field of view is slightly smaller than the receiving field of view, and the echo laser reflected by the target from the outgoing laser of the specific pixel at the emitting end is all converged to the active region at the center of the pixel of the receiving end array. By scaling the filling factor of the array transmitter 21 (signal light source) at the transmitting end, most or all of the emitted laser can be received by the array detector 31, so that the signal light received by the array detector 31 is unchanged or only a small part of the signal light is reduced, the intensity of the received ambient light is reduced, the capability of the laser radar 100 for resisting the ambient light is further improved, the signal-to-noise ratio is improved, and the ranging performance is improved.
The fill factor of the light emitting unit 21a and the fill factor of the detecting unit 31a may be the same or different. When the fill factor of the light emitting unit 21a is larger than the fill factor of the detecting unit 31a, only the echo laser light in which most of the emitted laser light is reflected by the target object may be received by the array detector 31. When the filling factor of the light emitting unit 21a is the same as the filling factor of the detecting unit 31a, the array emitter 21 is scaled by the same filling factor as the array detector 31, so that the echo laser reflected by the target object in all the emitted laser can be received by the array detector 31, the received signal light is unchanged, the received ambient light intensity is reduced, the capability of the laser radar 100 for resisting ambient light is improved to the maximum extent, the signal-to-noise ratio is improved, and the distance measuring performance is improved. When the fill factor of the light emitting unit 21a is smaller than the fill factor of the detecting unit 31a, similar to the previous embodiment with the same fill factor, the echo laser reflected by the target object from all the emitted laser beams can be received by the array detector 31, so that the received signal light is unchanged, and the intensity of the received ambient light is reduced, thereby improving the capability of the laser radar 100 to resist the ambient light to the maximum extent.
The following is a description of the principle that a change in fill factor of the array detector 31 results in a change in the signal-to-noise ratio of the system:
noise power P detected by laser radar 100noiseSum signal power PsigIs calculated as follows:
where F is F # (F number), F # ═ F/d (F is focal length, d is entrance pupil diameter), assuming that the pixels of the SAPD array are rectangular, the active area is circular, a is the regular side length of the pixel, b is the diameter of the active area, Φ is resolution, and r is the target reflectivity.
The remainder being a fixed value related to the actual operating conditions or system design of lidar 100, e.g. EsunIs the solar spectrum, lambda is the solar azimuth angle, theta is the included angle between the sunlight direct angle and the target normal line,
and
the corresponding horizontal and vertical field angles, P, of the single pixel active area of the SAPD arraytIs the transmission peak power of the transmitting end, tairFor the loss of one-way transmission in the atmosphere, tt and tr are the efficiency of the optical system at the transmitting end and the receiving end, respectively, and R is the target distance.
The view angle corresponding to the active area of SAPD for a specific detector
And
with angular resolution of a single pixel onlyWhereas the side length a and the angular resolution phi of the pixel specification of the detector array are fixed. Then:
under specific background conditions and target reflectivity requirements, noise power is related to the aperture F # of a receiving lens and the size of an active area of the SAPD, so that for a target with specific distance and reflectivity, under specific system requirements (such as fixed requirements on the pixel pitch a and the angular resolution phi of a detector array), the emergent power of a transmitting end is not changed, the aperture (namely F #) of the receiving end lens with a proper size is adjusted and selected, and only b needs to be reduced, so that the signal-to-noise ratio of the system can be improved. For example, reducing b by a factor of two, the signal-to-noise ratio of the system can be increased by a factor of 4. Thus, by using a smaller fill factor b, the immunity of the system to ambient light can be improved.
Under the condition of small filling factor, the system has better ambient light inhibition, and the peak power of the transmitting end required by the detection performance requirement of the system is lower. As the fill factor increases, the higher the transmit peak power required by the system, the lower the detection performance for high anti-targets. Therefore, the reasonable selection of the size of the filling factor can greatly improve the environmental photo-immunity of the system, inhibit the restriction of severe working conditions on the system performance and reduce the cost of the system.
In addition, the noise source of the system includes Dark Count Rate (DCR), circuit noise of hardware, thermal noise, and the like, in addition to ambient light noise. The signal-to-noise ratio of the system is defined as follows:
under different working conditions, the main noise source of the system is different, such as night environment, and the noise source of the system is mainly DCR. In general, DCR, hardware noise and thermal noise are related to SAPD device characteristics and temperature, and in a system with specific operating conditions (ambient light and temperature), DCR, hardware noise and thermal noise can be considered customized and small compared to ambient light, and the above equation (4) can simplify the process:
the pixel specification of the SAPD array is a rectangle with side length a, the active region is a circle with diameter b, and the calculation formula of the Signal-to-Noise Ratio (SNR) of the system is as follows:
as can be seen, the SNR is related to the system parameter setting such as the peak power P of the transmissiontOptical system emission efficiency tt, ambient light intensity such as solar spectrum EsunThe target distance R is related to FF of the array detector 31.
Fill factor FF of array emitter for point-to-point imaging optics1Influencing only the emergent peak power PtThe ratio that can be utilized: i.e. when the fill factor of the array emitter and the array detector is the same or the fill factor FF of the array emitter pixels1Fill factor FF smaller than corresponding pixel of array detector2All the emergent energy is effective emission energy; fill factor FF when array emitter pixels1Fill factor FF larger than corresponding pixel of array detector2In time, certain loss exists in emergent energy, and a modulation coefficient c is approximately equal to FF2/FF1，Pt＝c×Pt。
Therefore, whether the fill factors of the array emitter and the array detector are the same or different, the signal-to-noise ratio of the system is ultimately determined by a plurality of factors, and the SNR value can be calculated by substituting any set of parameter values for determining the SNR.
Under fixed system design and operating conditions, SNR ═ f (R, FF). According to the monte carlo simulation model, the effective detection probability P of the system is g (R, SNR), and therefore P is v (SNR, R, FF), i.e. the value range of the fill factor of the array detector can be determined by the effective detection probability of the system and the target distance. The actual fill factor of the array detector can be determined according to the effective detection probability to be achieved by the system and the target distance of the application scene.
Examples of transceiver array misalignment:
in one embodiment, referring to fig. 6, the light emitting cells 21a in adjacent rows are arranged in a staggered manner. In the horizontal direction, the horizontal angle of view between the two adjacent light emitting units 21a projected horizontally is a first horizontal angle of view, the horizontal angle of view between the two adjacent light emitting units 21a in the same row is a second horizontal angle of view, the first horizontal angle of view is less than or equal to 1/2 of the second horizontal angle of view, for example, 1/2, 1/3, 1/4, 1/6, etc., of the second horizontal angle of view. Referring to fig. 7, in the embodiment, the first horizontal angle of view is 1/4 of the second horizontal angle of view, for example, the horizontal angle of view between two adjacent light-emitting units 21a in the same row is 0.4 °, and the horizontal angle of view between two adjacent light-emitting units 21a in the horizontal direction is 0.1 °. Referring to fig. 8, in the present embodiment, the first horizontal angle of view is 1/2 of the second horizontal angle of view, for example, the horizontal angle of view between two adjacent light-emitting units 21a in the same row is 0.4 °, and the horizontal angle of view between two adjacent light-emitting units 21a in the horizontal direction is 0.2 °.
Accordingly, the detecting units 31a in adjacent rows are also arranged in a staggered manner. In the horizontal direction, the horizontal angle of view between the two adjacent detecting units 31a projected horizontally is a first horizontal angle of view, the horizontal angle of view between the two adjacent detecting units 31a in the same row is a second horizontal angle of view, and the first horizontal angle of view is less than or equal to 1/2 of the second horizontal angle of view, for example, 1/2, 1/3, 1/4, 1/6, etc. of the second horizontal angle of view. In the present embodiment, the first horizontal angle of view is 1/4 of the second horizontal angle of view, for example, the horizontal angle of view between two adjacent light-emitting units 21a in the same row is 0.4 °, and the horizontal angle of view between two adjacent light-emitting units 21a in the horizontal direction is 0.1 °.
In another embodiment, please refer to fig. 9, the light emitting units 21a in adjacent rows are arranged in a staggered manner. In the vertical direction, the horizontal angle of view between two adjacent light emitting units 21a projected vertically is a third horizontal angle of view, the vertical angle of view between two adjacent light emitting units 21a in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is less than or equal to 1/2 of the fourth horizontal angle of view, for example, 1/2, 1/3, 1/4, 1/6, etc., of the fourth horizontal angle of view. Referring to fig. 10, in the present embodiment, the third horizontal angle of view is 1/4 of the fourth horizontal angle of view, for example, the horizontal angle of view between two adjacent light-emitting units 21a in the same column is 0.4 °, and the horizontal angle of view between two adjacent light-emitting units 21a in the vertical direction is 0.1 °.
Accordingly, the detecting units 31a in adjacent columns are arranged in a staggered manner. In the vertical direction, the horizontal angle of view between two adjacent detecting units 31a projected vertically is a third horizontal angle of view, the vertical angle of view between two adjacent detecting units 31a in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is less than or equal to 1/2 of the fourth horizontal angle of view, for example, 1/2, 1/3, 1/4, 1/6, etc., of the fourth horizontal angle of view. In the present embodiment, the third horizontal angle of view is 1/4 of the fourth horizontal angle of view, for example, the horizontal angle of view between two adjacent light-emitting units 21a in the same column is 0.4 °, and the horizontal angle of view between two adjacent light-emitting units 21a in the vertical direction is 0.1 ° in the vertical direction.
In the above embodiment, the light emitting unit 21a and the detecting unit 31a are arranged in a staggered manner, so that the distance between the active regions of the two nearest pixels in adjacent pixels is reduced, and a more dense arrangement manner is formed in space, so that the sufficient point cloud resolution is ensured while the ambient light is suppressed by using a smaller active region size, and the missing detection of a far-field small target is avoided. The detection capability of the laser radar 100 under the ambient light illumination condition of 110KLUX and the dynamic detection range of the system can be effectively improved without performing complex optimization on an optical system and depending on a back-end processing algorithm, so that the actual resolution of the system is not lost while the ambient light immunity of the system is improved, and the dense point cloud arrangement and the real resolution are realized.
A single light emitting unit 21a corresponds to an embodiment of a plurality of detection units 31 a:
please refer to fig. 11. The array detector 31 includes a plurality of receiving areas R each including a plurality of detecting units 31a, and the light emitting units 21a correspond to the receiving areas R one to one, that is, a single light emitting unit 21a corresponds to a plurality of detecting units 31 a. The echo laser light returned after the outgoing laser light emitted by the single light emitting unit 21a is reflected by the object in the detection region is used for being received by one or more detection units 31a in the reception region R. If the emission field of view of the light emitting unit 21a is larger than the reception field of view of the detecting unit 31a, the echo laser light returned after the outgoing laser light emitted by a single light emitting unit 21a is reflected by the object in the detection region will be received by the plurality of detecting units 31a in the reception region R, and the larger the emission field of view of the light emitting unit 21a, the larger the number of detecting units 31a used for receiving the corresponding echo laser light. If the emission field of view of the light emitting unit 21a is smaller than or equal to the reception field of view of the detecting unit 31a, the echo laser returned after the outgoing laser light emitted by the single light emitting unit 21a is reflected by the object in the detection region is received by only one detecting unit 31a in the reception region R. The detection unit 31a in each receiving region R that can receive the echo laser light can be understood as an active region of the receiving region R.
The receiving area R may be a small array of a x a detection units 31a, such as 2 x 2, 3 x 3, 4 x 4, 5 x 5, etc. One or a few detecting units 31a are selected as active regions in the receiving region R to receive the echo laser.
The light emitting cells 21a may be arranged adjacently or the light emitting cells 21a may have a certain pitch. In this embodiment, the light emitting units 21a have a certain distance therebetween, for example, in the horizontal direction, the distance between any two light emitting units 21a adjacent to each other in the horizontal projection is 3 units; in the vertical direction, the interval between any two vertically projected adjacent light emitting units 21a is 1 unit. The detection region irradiated with the outgoing laser light emitted by the single light emitting unit 21a is detected by the single detection unit 31a within the single receiving region R. It will be appreciated that the above described spacing may also be provided as other numbers of cells.
In actual operation, all the detecting units 31a in the array detector 31 of the receiving system 3 may be turned on, that is, the selected detecting units 31a are all the detecting units 31a in the receiving system 3. Alternatively, only the detecting unit 31a capable of receiving the echo laser beam in the array detector 31 of the receiving system 3 may be turned on, that is, the above-mentioned selected detecting unit 31a is the detecting unit 31a capable of receiving the echo laser beam in the receiving region R. For example, the system is theoretically designed such that the detection region irradiated by the emitted laser light emitted by the single light emitting unit 21a is detected by only the single detection unit 31a in the single receiving region R, but in actual manufacturing, due to process limitations, complete alignment of the single light emitting unit 21a and the single detection unit 31a may not be achieved, so that in operation, all the detection units 31a in the array detector 31 of the receiving system 3 may be selectively turned on, and the situation that only the corresponding single detection unit 31a is turned on and all the detection units cannot receive the echo laser light is avoided.
In the above embodiment, a plurality of detecting units 31a form a small array, and only one of the detecting units 31a is selected as the active area, so that the fill factor of a single receiving area R is the ratio of the number of pixels of the active area to the total number of pixels of the single receiving area R. By selecting a small number of detection units 31a as active areas, the filling factor of the receiving area R is reduced, the capability of the laser radar 100 for resisting ambient light is further improved, the signal-to-noise ratio is improved, and the ranging performance is improved. For example, if there are 1 probe element 31a as an active area in the 2 × 2 reception region R, the fill factor is 1/4 ═ 0.25, and if there are 1 probe element 31a as an active area in the 4 × 4 reception region R, the fill factor is 1/16 ═ 0.0625. The larger the number of total detection units 31a of the receiving area R, wherein the smaller the number of detection units 31a of the active area, the smaller its fill factor.
In addition, in the embodiment of selectively turning on only the detecting units 31a capable of receiving the echo laser in the array detector 31 of the receiving system 3, by selectively operating one or a few detecting units 31a in a small array and not operating other detecting units 31a at the periphery thereof, the crosstalk generated when all detecting units 31a are operated can be reduced.
Furthermore, the fill factors of the detection unit 31a and of the light emitting unit 21a may also differ from the previous embodiments. For example, the array detector 31 and the array transmitter 21 are fabricated using Front-Side Illumination (FSI) technology and are fully packed, i.e., with a fill factor of about 1. At this time, because the fill factor of a single receiving region R is reduced, the single receiving region R can be regarded as a single pixel unit, and the detecting unit 31a for receiving the echo laser in the receiving region R can be regarded as an active region, so that the fill factor of the array detector 31 is reduced, the capability of the laser radar 100 against ambient light can be improved, the signal-to-noise ratio is improved, and the ranging performance is improved.
Multiple transmit single receive embodiment:
referring to fig. 12, the difference from the embodiment shown in fig. 11 is that the emitting system 2 includes a first array emitter and a second array emitter, the first array emitter includes a plurality of first light emitting units, the second array emitter includes a plurality of second light emitting units, spots of the laser light emitted by the first light emitting units and the spots of the laser light emitted by the second light emitting units in the detection area are arranged at intervals, and the first array emitter and the second array emitter are configured to turn on the first light emitting units and the second light emitting units according to a first sequence. The first light emitting unit, the second light emitting unit and the receiving region R correspond to each other one to one, that is, a single first light emitting unit corresponds to the plurality of detecting units 31a, and a single second light emitting unit corresponds to the plurality of detecting units 31 a. The echo laser light returned after the outgoing laser light emitted by the single first light emitting unit is reflected by the object in the detection area is used for being received by the one or more detection units 31a in the receiving area R, and the echo laser light returned after the outgoing laser light emitted by the single second light emitting unit is reflected by the object in the detection area is used for being received by the one or more detection units 31a in the receiving area R.
In this embodiment, not only the second light emitting unit itself and the third light emitting unit themselves have a certain distance therebetween, but also the second light emitting unit and the third light emitting unit have a distance therebetween. Wherein, the interval between the second light-emitting unit and the third light-emitting unit is 1 unit. Of course, the interval between the second light emitting unit and the third light emitting unit may also be 2 or other number of units. In the horizontal direction, the interval between any two second light-emitting units and any two third light-emitting units which are adjacent to each other in horizontal projection is also 1 unit; in the vertical direction, the interval between any two second light-emitting units and any two third light-emitting units which are adjacent in vertical projection is also 1 unit. It is understood that the interval between any two horizontally projected adjacent second and third light-emitting units in the horizontal direction, and the interval between any two vertically projected adjacent second and third light-emitting units in the vertical direction may also be other numbers of units, such as 2 units, 3 units, etc.
In the above embodiment, two independent array emitters 21 are adopted, and the projected light spots are arranged in a staggered manner, so that compared with the scheme that only one array emitter 21 is adopted, the blank of the blind visual area can be made up, and the resolution can be improved without changing the receiving system 3.
Based on the laser radar 100, the embodiment of the present invention provides an autopilot device 200 including the laser radar 100 in the above embodiment, where the autopilot device 200 may be an automobile, an airplane, a ship, or other devices related to intelligent sensing and detection using a laser radar, the autopilot device 200 includes a piloting device body 201 and the laser radar 100 according to the above embodiment, and the laser radar 100 is mounted on the piloting device body 201.
Referring to fig. 13, the autonomous driving apparatus 200 is an unmanned vehicle, and the laser radar 100 is mounted on a side surface of the vehicle body. Referring to fig. 14, the autopilot device 200 is also an unmanned vehicle, and the lidar 100 is mounted on the roof of the vehicle.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (22)
1. The laser radar is characterized by comprising a transmitting driving system, a transmitting system, a receiving system and a signal processing system;
the emitting system comprises a plurality of light emitting units for emitting emergent laser, and is used for starting the light emitting units according to a first sequence to enable the emergent laser to traverse the detection area in a scanning mode;
the receiving system comprises a plurality of detection units for receiving echo laser, the receiving system is used for starting the selected detection units to receive the echo laser and detecting a detection area scanned by emergent laser emitted by the light emitting unit, and the echo laser is returned after the emergent laser is reflected by an object in the detection area;
the emission driving system is used for driving the emission system;
the signal processing system is used for calculating distance information of an object in the detection area based on the emergent laser and the echo laser;
the detection unit comprises a photosensitive area, the ratio of the area of the photosensitive area to the pixel area of the detection unit is the filling factor of the detection unit, and the filling factor of the detection unit is less than or equal to 0.5.
2. The lidar of claim 1, wherein the light emitting cell comprises an active region, a ratio of an area of the active region to a facet area of the light emitting cell is a fill factor of the light emitting cell, the fill factor of the light emitting cell being less than or equal to 0.5.
3. Lidar according to claim 1, wherein a fill factor of the light emitting unit is smaller than or equal to a fill factor of the detection unit.
4. The lidar of claim 1, wherein the light emitting units correspond one-to-one to the detection units.
5. Lidar according to any of claims 1 to 4, wherein said light emitting units in adjacent rows are in a staggered arrangement and said detection units in adjacent rows are in a staggered arrangement.
6. The lidar of claim 5, wherein in a horizontal direction, a horizontal angle of view between two of the light-emitting units adjacent to each other in a horizontal projection is a first horizontal angle of view, and a horizontal angle of view between two of the light-emitting units adjacent to each other in the same row is a second horizontal angle of view, and the first horizontal angle of view is 1/2 smaller than or equal to the second horizontal angle of view;
in the horizontal direction, the horizontal angle of view between two adjacent detection units in horizontal projection is a first horizontal angle of view, the horizontal angle of view between two adjacent detection units in the same row is a second horizontal angle of view, and the first horizontal angle of view is smaller than or equal to 1/2 of the second horizontal angle of view.
7. The lidar of claim 6, wherein the first horizontal field of view is 1/4 of the second horizontal field of view.
8. Lidar according to any of claims 1 to 4, wherein said light emitting units in adjacent columns are in a misaligned arrangement and said detection units in adjacent columns are in a misaligned arrangement.
9. The lidar of claim 8, wherein in the vertical direction, a horizontal angle of view between two adjacent light-emitting units of vertical projection is a third horizontal angle of view, a vertical angle of view between two adjacent light-emitting units in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is less than or equal to 1/2 of the fourth horizontal angle of view;
in the vertical direction, the horizontal angle of view between two adjacent detection units in vertical projection is a third horizontal angle of view, the vertical angle of view between two adjacent detection units in the same column is a fourth horizontal angle of view, and the third horizontal angle of view is smaller than or equal to 1/2 of the fourth horizontal angle of view.
10. The lidar of claim 9, wherein the third horizontal field of view is 1/4 of the fourth horizontal field of view.
11. The lidar of any of claims 1-4, wherein said receiving system comprises a plurality of receiving regions, each of said receiving regions comprising a plurality of detection units, said light emitting units corresponding one-to-one to said receiving regions.
12. The lidar of claim 11, wherein an echo laser returned from an outgoing laser beam emitted by a single one of the light-emitting units after being reflected by an object in the detection region is intended to be received by one of the detection units in the reception region.
13. The lidar of any of claims 1-4, wherein the transmitter system comprises a first array transmitter and a second array transmitter, the first array transmitter comprising a plurality of first light-emitting units and the second array transmitter comprising a plurality of second light-emitting units, the first light-emitting units and the second light-emitting units emitting laser light that is spaced apart in spots within the detection region, the first array detector and the second array transmitter being configured to turn on the first light-emitting units and the second light-emitting units in the first order;
the receiving system comprises a plurality of receiving areas, each receiving area comprises a plurality of detection units, and the first light-emitting units, the second light-emitting units and the receiving areas are in one-to-one correspondence.
14. The lidar of claim 13, wherein an echo laser returned by an outgoing laser beam emitted by a single first light-emitting unit after being reflected by an object in the detection region is used for reception by one detection unit in the reception region, and an echo laser returned by an outgoing laser beam emitted by a single second light-emitting unit after being reflected by an object in the detection region is used for reception by another detection unit in the reception region.
15. Lidar according to any of claims 11 to 14, wherein said selected detection units are all detection units in said receiving system; or, the selected detection unit is a detection unit which can receive the echo laser in the receiving system.
16. The lidar of claim 1, wherein the first order is: and starting the plurality of light emitting units in the first emission area at a first time, and starting the plurality of light emitting units in the second emission area at a second time until the emergent laser scans and traverses the detection area.
17. The lidar of claim 16, wherein the transmitting system comprises m x n of the light-emitting units, the first transmitting region comprises p x q of the light-emitting units, m and n are each integers greater than 1, p and q are each integers greater than or equal to 1, 1< p < m or 1< q < n.
18. The lidar of claim 17,
p is less than m, q is less than n; the emission system is used for starting the light-emitting units in a reciprocating mode in a first direction and then in a reverse direction of the first direction, or is used for keeping the light-emitting units started in the first direction row by row or column by column; alternatively, the first and second electrodes may be,
p is equal to m, and q is less than n; the emission system is used for starting the light emitting unit along a vertical direction; alternatively, the first and second electrodes may be,
p is less than m, q is equal to n; the emission system is used for turning on the light emitting unit along the horizontal direction.
19. The lidar of claim 1, wherein the transmitting system comprises an array of vertical-cavity surface-emitting lasers and the receiving system comprises an array of single photon avalanche photodiodes.
20. Lidar according to claim 1,
the emission system also comprises an emission optical module used for collimating the emergent laser emitted by the light-emitting unit;
the receiving system also comprises a receiving optical module which is used for converging the echo laser and transmitting the converged echo laser to the detection unit.
21. The lidar of claim 1, wherein the fill factor of the detection unit is 0.4-0.5 and the fill factor of the light emitting unit is 0.4-0.5.
22. An autonomous driving apparatus comprising a driving apparatus body and a lidar according to any of claims 1 to 21 mounted to the driving apparatus body.
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| CN117233787B (en) * | 2023-11-09 | 2024-01-26 | 北京亮道智能汽车技术有限公司 | Point cloud image acquisition method, device and laser radar |
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