CN112997096B - Laser radar and automatic driving equipment - Google Patents

Laser radar and automatic driving equipment Download PDF

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Publication number
CN112997096B
CN112997096B CN202080005836.4A CN202080005836A CN112997096B CN 112997096 B CN112997096 B CN 112997096B CN 202080005836 A CN202080005836 A CN 202080005836A CN 112997096 B CN112997096 B CN 112997096B
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light emitting
view
detection
units
horizontal angle
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CN112997096A (en
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王超
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Suteng Innovation Technology Co Ltd
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Suteng Innovation Technology Co Ltd
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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
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A laser radar (100) and an automatic driving 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 emission system (2) comprises a plurality of light emitting units (21 a) for emitting outgoing laser light, and the emission system (2) is used for starting the light emitting units (21 a) according to a first order so that the outgoing laser light traverses the detection area in a scanning mode; the receiving system (3) comprises a plurality of detecting units (31 a) for receiving echo lasers, and the receiving system (3) is used for starting the selected detecting units (31 a) to receive the echo lasers and detecting a detection area scanned by the emergent lasers emitted by the light emitting units (21 a); the emission driving system (1) is used for driving the emission system (2); the signal processing system (4) is used for calculating the distance information of the object in the detection area based on the emergent laser and the echo laser; the detection unit (31 a) comprises a light sensitive area, the ratio of the area of the light sensitive area to the pixel area of the detection unit (31 a) being less than or equal to 0.5, which improves the ability of the lidar (100) to combat ambient light.

Description

Laser radar and automatic driving equipment
Technical Field
The embodiment of the invention relates to the technical field of radars, in particular to a laser radar and automatic driving equipment.
Background
The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target object by using laser, and the working principle of the laser radar 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 related information of the target object, such as parameters of distance, azimuth, altitude, speed, gesture, even shape and the like, can be obtained after the received echo laser is processed.
The planar array laser radar is a laser radar with a transmitting system and a receiving system which are both planar arrays, and has no rotary scanning structure. For example, the emission system is a vertical cavity Surface emitting laser array (VERTICAL CAVITY Surface EMITTING LASER ARRAY, VCSEL ARRAY) with an addressing function, and scanning emission is performed in an electronic control mode; the receiving system is a Single photon avalanche photodiode array (Single-photon Avalanche Photodiode array, SAPD ARRAY) with sensitivity at the Single photon level. Solid-state lidar based on SAPD arrays is susceptible to ambient light, thereby affecting the detection performance of the lidar.
Disclosure of Invention
Aiming at the defects in the prior art, the main purpose of the embodiment of the invention is to provide a laser radar and automatic driving equipment, which solve the problem that the laser radar in the prior art is easily influenced by ambient light.
The embodiment of the invention adopts a technical scheme that: providing a laser radar, wherein the laser radar comprises a transmitting driving system, a transmitting system, a receiving system and a signal processing system;
The emission system comprises a plurality of light-emitting units for emitting emergent laser, and the emission system is used for starting the light-emitting units according to a first order so that the emergent laser traverses the detection area in a scanning mode;
The receiving system comprises a plurality of detecting units for receiving echo lasers, the receiving system is used for starting the selected detecting units to receive the echo lasers, detecting a detecting area scanned by the emergent lasers emitted by the light emitting units, and the echo lasers are lasers returned after the emergent lasers are reflected by objects in the detecting area;
the emission driving system is used for driving the emission system;
The signal processing system is used for calculating the distance information of the object in the detection area based on the emergent laser and the echo laser;
The detection unit comprises a photosensitive area, wherein 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 smaller than or equal to 0.5.
In some embodiments, the light emitting unit includes an active region, a ratio of an area of the active region to a luminal area of the light emitting unit is a fill factor of the light emitting unit, and the fill factor of the light emitting unit 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 are in one-to-one correspondence with the detecting units.
In some embodiments, the light emitting units in adjacent rows are arranged in a staggered manner, and the detection units in adjacent rows are arranged in a staggered manner.
In some embodiments, in the horizontal direction, the horizontal angle of view between two adjacent light emitting units is a first horizontal angle of view, and the 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 less 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 detection 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 is a third horizontal angle of view, and the vertical angle of view between two adjacent light emitting units in the same column is a fourth horizontal angle of view, the third horizontal angle of view being 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 the 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 less than or equal to 1/2 of the fourth horizontal angle of view.
In some embodiments, the third horizontal angle of view is 1/4 of the fourth horizontal angle of view.
In some embodiments, the receiving system includes a plurality of receiving areas, each of the receiving areas includes a plurality of detecting units, and the light emitting units are in one-to-one correspondence with the receiving areas.
In some embodiments, the outgoing laser light emitted by a single light emitting unit is reflected by an object in the detection area and returned echo laser light is used for being received by one of the detection units in the receiving area.
In some embodiments, the emission system includes a first array emitter and a second array emitter, where the first array emitter includes a plurality of first light emitting units, the second array emitter includes a plurality of second light emitting units, outgoing lasers emitted by the first light emitting units and the second light emitting units are arranged at intervals between spots in the detection area, and the first array detector and the second array emitter are used to turn on the first light emitting units and the second light emitting units according to 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.
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 region is used for being received by one detection unit in the receiving region, 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 region is used for being received by another detection unit in the receiving region.
In some embodiments, the selected detection units are all detection units in the receiving system; or the selected detection unit is a detection unit capable of receiving echo laser in the receiving system.
In some embodiments, the first order is: and starting a plurality of light emitting units of the first emission area at a first time, and starting a plurality of light emitting units of the second emission area at a second time until the emergent laser scans to traverse the detection area.
In some embodiments, the emission system includes m×n light emitting units, the first emission region includes p×q light emitting units, m and n are integers greater than 1, p and q are integers greater than or equal to 1, and 1< p < m or 1< q < n.
In some embodiments, p is less than m and q is less than n; the emission system is used for starting the light-emitting units back and forth along a first direction and then along the reverse direction of the first direction, or is used for keeping the light-emitting units started row by row or column by column along the first direction; or alternatively
The p is equal to m, and q is smaller than n; the emission system is used for turning on the light-emitting unit along the vertical direction; or alternatively
The p is smaller than m, and q is equal to n; the emission system is used for turning on the light emitting unit in the horizontal direction.
In some embodiments, the transmitting system comprises a vertical cavity surface emitting laser array and the receiving system comprises a single photon avalanche photodiode array.
In some embodiments, the emission system further comprises an emission optical module for collimating the outgoing 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 detecting 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 the 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 smaller than the first ratio, and the smaller filling factor reduces the received ambient light intensity, so that the signal-to-noise ratio is improved, the capability of the laser radar for resisting the ambient light is improved, and the ranging performance is improved.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a block diagram of a lidar according to an embodiment of the present invention;
FIG. 2 is a block diagram of a lidar according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of an array transmitter in an embodiment of the invention;
FIG. 4 is a schematic diagram of an array detector in an embodiment of the invention;
FIG. 5 is a schematic view of an optical path of a lidar according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a staggered arrangement of adjacent row transceiver arrays in an embodiment of the present invention;
FIG. 7 is a schematic view of a view angle of a staggered arrangement of adjacent row transceiver arrays according to an embodiment of the present invention;
FIG. 8 is a schematic view of the angles of view of adjacent rows of transceiver arrays arranged in a staggered manner in accordance with another embodiment of the present invention;
FIG. 9 is a schematic diagram of a staggered arrangement of adjacent transceiver arrays according to an embodiment of the present invention;
FIG. 10 is a schematic view of the angles of view of the adjacent transceiver arrays arranged in a staggered manner in an embodiment of the present invention;
FIG. 11 is a schematic diagram showing correspondence between a light emitting unit and a detecting unit in an embodiment of the present invention;
FIG. 12 is a schematic diagram showing correspondence between a light emitting unit and a detecting unit according to another embodiment of the present invention;
Fig. 13 is a schematic structural view of an autopilot apparatus provided by an embodiment of the present invention;
Fig. 14 is a schematic structural view of an autopilot apparatus according to another embodiment of the present invention.
Reference numerals in the specific embodiments are as follows:
The laser radar 100, the emission driving system 1, the emission system 2, the array emitter 21, the light emitting unit 21a, the emission optical module 22, the receiving system 3, the array detector 31, the detecting unit 31a, the receiving optical module 32, the signal processing system 4, the autopilot device 200, and the autopilot device body 201.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "a plurality" and "a number" is two or more (including two) unless otherwise specifically defined.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The planar array laser radar is characterized in that a transmitting system and a receiving system are both planar array laser radars, the transmitting system is an array transmitter, the receiving system is an array detector, and the planar array laser radars have no rotary scanning structure. For example, the emission system is a vertical cavity Surface emitting laser array (VERTICAL CAVITY Surface EMITTING LASER ARRAY, VCSEL ARRAY) with an addressing function, and scanning emission is performed in an electronic control mode; the receiving system is a Single photon avalanche photodiode array (Single-photon Avalanche Photodiode array, SAPD ARRAY) with sensitivity at the Single photon level. Solid-state lidar based on SAPD arrays is susceptible to ambient light, thereby affecting the detection performance of the lidar.
The SAPD array of an area-array lidar includes a plurality of identical pixel cells, which are generally arranged in a rectangular fashion. In a single pixel unit, part of the active area is sensitive to light, and is a photosensitive area, and other areas are not sensitive to light 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. Because of the existence of the non-photosensitive area, the area array laser radar has a certain detection view field solid angle blind area, and the real resolution is generally smaller than the point cloud resolution.
Solid-state lidar based on SAPD arrays is susceptible to ambient light due to its sensitivity at the 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, the influence of ambient light is reduced, but the mode is limited by factors such as practical application, energy consumption limitation, the technological level of an area array light source, eye safety and the like. Under strong ambient light background radiation conditions, or when a strong reflectivity target appears, lidar is prone to losing detection capability due to saturation blinding. Thus, the detection capability of the lidar is related to the ambient light, which also results in a large gap in day-to-night ranging performance of the lidar.
The inventors found that both the ambient light immunity and the true resolution of the lidar are related to the fill factor in the case of a certain field angle for a single pixel of the array detector. Reducing the fill factor may increase the ability of the lidar to combat 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 present invention provides a laser radar 100, which includes a transmitting driving system 1, a transmitting system 2, a receiving system 3, and a signal processing system 4. The emission system 2 is used for emitting an outgoing laser light and traversing the detection area in a scanning manner. The outgoing laser is reflected by the object in the detection area and returns back to the echo laser. The receiving system 3 is used for receiving echo lasers. The emission drive system 1 is used to drive an 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 emission 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 outgoing laser light, and the array emitter 21 is configured to turn on the light emitting units 21a according to a first order so that the outgoing laser light traverses the detection area in a scanning manner. Array emitter 21 may be a Vertical-Cavity Surface-emitting laser (Vertical-Cavity Surface-EMITTING LASER ARRAY, VCSEL ARRAY), a light-emitting Diode (LIGHT EMITTING Diode array, LED array), a Micro-light-emitting Diode (Micro LIGHT EMITTING Diode array, micro LED array), a pulsed laser deposition array (Pulsed Laser Deposition array, PLD array), or a laser Diode array (Laser Diode array, LD array), etc. that may constitute 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 controllable switching light emitting units 21a, m and n each being integers greater than 1.
In some embodiments, the emission system 2 further comprises an emission optical module 22 for collimating the outgoing laser light and outgoing the collimated outgoing laser light to the detection area. The transmitting 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 referring to fig. 4, the array detector 31 includes a plurality of detecting units 31a for receiving echo laser light, and each detecting unit 31a has a photosensitive area smaller than the detecting unit 31 a. The array detector 31 is used 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 employ a Single photon avalanche photodiode array (Single-photon Avalanche Photodiode array, SAPD ARRAY), an avalanche photodiode array (AVALANCHE PHOTO DIODE ARRAY, APD array), a silicon photomultiplier array (Silicon photomultiplier array, SIPM ARRAY), a Multi-pixel photon counter array (Multi-Pixel Photon Counter array, MPPC ARRAY), a photomultiplier array (photomultiplier tube array, PMT array), or the like, which may constitute the 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 switching detector units 31a, where m and n are integers greater than 1.
In some embodiments, the receiving system 3 further comprises a receiving optical module 32 for converging the echo laser light and directing the converged echo laser light towards the array detector 31. The receiving optical module 32 may employ a ball lens, a ball lens group, a cylinder lens group, or the like.
The signal processing system 4 can adopt a field programmable gate array (Field Programmable GATE ARRAY, FPGA), and the FPGA is connected with the emission driving system 1 to perform emission control of the emitted laser. The FPGA is also respectively connected with a clock pin, a data pin and a control pin of the receiving system 3 to control the receiving of the echo laser. The FPGA calculates distance information of the object in the detection area based on the outgoing laser light and the echo laser light.
The specific arrangement of the array emitter 21 and the array detector 31 and the manner in which they operate will be described below.
The light emitting units 21a of the array emitter 21 are in one-to-one correspondence with the detecting units 31a of the array detector 31, so that the outgoing laser light emitted from the light emitting units 21a corresponds to the echo laser light received by the detecting units 31a, that is, the position where the outgoing laser light emitted from the light emitting units 21a irradiates the detecting area corresponds to the position of the detecting area detected by the detecting units 31 a. For example, the first light emitting unit 21a corresponds to a first detection unit, and the first outgoing laser light emitted by the first light emitting unit 21a is reflected by an object in the detection area and returns to the first echo laser light, and the first detection unit receives the first echo laser light. 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, the light emitting unit 21a at the (1, 2) position and the detecting unit 31a at the (1, 2) position correspond to each other, and the light emitting unit 21a and the detecting unit 31a corresponding to the R12 region … … are controlled to be turned on and off simultaneously.
It will be appreciated that the array emitter 21 and the array detector 31 may have only one of the light emitting units 21a that are operated and the detection units 31a that are operated. For example, only a part of the light emitting units 21a in the array emitter 21 are operated, only a part of the detecting units 31a in the array detector 31 are operated, and the operated light emitting units 21a and the operated detecting units 31a are in one-to-one correspondence. Or 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, all the detecting units 31a of the array detector 31 are in one-to-one correspondence with part of the light emitting units 21a of the array emitter 21. Or 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, all the light emitting units 21a of the array emitter 21 are in one-to-one correspondence with part of the detecting units 31a of the array detector 31.
The first sequence of turning on the light emitting unit 21a and the detecting unit 31a will be described below.
1. The single light emitting unit 21a and the detecting unit 31a are turned on at a time
Turning on the light emitting unit 21a of the (1, 1) position and synchronously turning on the detecting unit 31a of the (1, 1) position, thereby realizing detection of the R11 region; the light emitting units 21a at the (1, 2) positions are turned on, and the detection units 31a at the (1, 2) positions are synchronously turned on, so that the detection … … of the R12 area is realized, the last light emitting unit 21a is turned on, and the last detection unit 31a is synchronously turned on, so that the detection of the last area is realized.
Or the light emitting unit 21a at the last position is turned on first, the corresponding detecting unit 31a is turned on simultaneously, and the detection areas are scanned in the reverse order of the order of (1, 1), (1, 2) … ….
2. Single-turn on single column/single row light emitting unit 21a and detecting unit 31a
Turning on the light emitting units 21a of the first row (including (1, 1), (1, 2) … … (1, m)), and synchronously turning on the detecting units 31a of the first row, thereby realizing the detection of the R1 region; the light emitting units 21a of the second row (including (2, 1), (2, 2) … … (2, m)) are turned on, and the detection units 31a of the second row are turned on synchronously, so that detection … … of the R2 region turns on the light emitting units 21a of the last row (including (n, 1), (n, 2) … … (n, m)) and the detection units 31a of the last row are turned on synchronously, so that detection of the last region is realized. Or the light emitting units 21a of the last row are turned on first, the corresponding detecting units 31a are turned on simultaneously, and the detection areas are scanned in the reverse order of the above order.
Or the light emitting units 21a of the first column (including (1, 1), (2, 1) … … (n, 1)) are turned on, and the detection units 31a of the first column are synchronously turned on, so that the detection of the R1 region is realized; the light emitting units 21a of the second column (including (1, 2), (2, 2) … … (n, 2)) are turned on, and the detection units 31a of the second column are turned on synchronously, so that detection … … of the R2 region turns on the light emitting units 21a of the last column (including (1, m), (2, m) … … (n, m)) and the detection units 31a of the last column are turned on synchronously, so that detection of the last region is realized. Or the light emitting units 21a of the last column are turned on first, the corresponding detecting units 31a are turned on simultaneously, and the detection areas are scanned in the reverse order of the above order.
Compared with the 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 area are turned on at a time
In the array emitter 21, each region includes p×q light emitting units 21a, where p and q are integers greater than 1, 1< p < m or 1< q < n. Accordingly, in the array detector 31, each block of the area includes p×q detection units 31a.
The array emitter 21 reciprocally turns on the light emitting cells 21a in each region in a first direction and then in a direction opposite to the first direction, or keeps turning on the light emitting cells 21a in each region row by row or column by column in the first direction, which may be a horizontal direction or a vertical direction, for example: starting the light-emitting units 21a of the first area, and synchronously starting the detection units 31a of the first area, so as to realize detection of the R1 area; the light emitting units 21a of the second area are turned on, and the detection units 31a of the second row are synchronously turned on, so that detection … … of the R2 area is realized, the light emitting unit 21a of the last area is turned on, and the detection units 31a of the last area are synchronously turned on, so that detection of the last area is realized.
Compared with the 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 illustration of the turning-on modes of 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 detecting region, 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 area to the pixel area of the detecting unit 31a is the filling factor of the detecting unit 31a, and the filling factor of the detecting unit 31a is less than or equal to 0.5. According to the laser radar 100 provided by 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 small filling factor reduces the intensity of received ambient light, so that the signal-to-noise ratio is improved, the capability of the laser radar 100 for resisting the ambient light is improved, and the ranging performance is improved. According to the embodiment of the invention, the signal to noise ratio of the system can be exponentially improved without optimizing or improving the emission power of a complex optical system, the requirement of the system on the power of an emission light source is reduced, the blindness of the single photon system caused by the ambient light is effectively inhibited, and the difference of the ranging performance of the single photon detection device in day and night use is reduced.
Theoretically, the smaller the filling 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 improve the signal-to-noise ratio and meet the requirements of actual processing and applications.
The light emitting unit 21a includes an active region, and the ratio of the area of the active region to the area of the cavity surface of the light emitting unit 21a is the filling factor of the light emitting unit 21 a. In some embodiments, the fill factor of the light emitting unit 21a is set to be less than or equal to 0.5. In some embodiments, the fill factor of the light emitting unit 21a is also in the range of 0.4-0.5. Referring to fig. 5, the areas of the active areas of the light emitting unit 21a and the detecting unit 31a are smaller, the emitting field of view is the same as the receiving field of view or slightly smaller than the receiving field of view, and the echo laser reflected by the target from the emitting laser of a specific pixel at the emitting end is all converged in the active area at the pixel center 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 beams can be received by the array detector 31 by the echo laser beams reflected by the target object, 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 received ambient light intensity 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 filling factor of the light emitting unit 21a and the filling factor of the detecting unit 31a may be the same or different. When the filling factor of the light emitting unit 21a is larger than that of the detecting unit 31a, only most of the emitted outgoing laser light reflected by the target object can be received by the array detector 31. When the filling factor of the light emitting unit 21a is the same as that of the detecting unit 31a, by scaling the filling factor of the array emitter 21 the same as that of the array detector 31, the echo laser reflected by the target object from all the emitted laser can be received by the array detector 31, so that the received signal light is unchanged, the received ambient light intensity is reduced, the capability of the laser radar 100 for resisting the ambient light is improved to the maximum extent, the signal-to-noise ratio is improved, and the ranging performance is improved. When the filling factor of the light emitting unit 21a is smaller than that of the detecting unit 31a, similarly to the foregoing embodiment, the echo laser light reflected by the target object from all the emitted laser light can be received by the array detector 31, so that the received signal light is unchanged, the received ambient light intensity is reduced, and the capability of the laser radar 100 against the ambient light is improved to the maximum extent.
The principle of the change in the fill factor of the array detector 31 resulting in a change in the signal-to-noise ratio of the system is described below:
The calculation of the noise power P noise and the signal power P sig detected by the laser radar 100 is as follows:
Wherein F is f# (F number), f# =f/d (F is focal length, d is entrance pupil diameter), the pixels of the SAPD array are assumed to be rectangular, the active region is circular, a is the regular side length of the pixels, b is the diameter of the active region, phi is resolution, and r is the target reflectivity.
The rest is the actual working condition or the fixed value related to the laser radar 100 system design, for example, E sun is solar spectrum, lambda is solar azimuth angle, theta is the included angle between the sunlight direct angle and the target normal,And/>The horizontal and vertical view angles corresponding to the single pixel active regions of the SAPD array are defined, P t is the emission peak power of the emission end, t air is the loss of unidirectional atmospheric transmission, tt and tr are the efficiency of the optical systems of the emission end and the receiving end, respectively, and R is the target distance.
For a particular detector, the angle of view corresponding to the active region of the SAPDAnd/>Only with respect to the angular resolution of a single pixel, while the edge length a and the angular resolution phi of the pixel specifications of the detector array are fixed. Then:
Under specific background conditions and target reflectivity requirements, the noise power is related to the aperture F# of the receiving lens and the size of the active area of the SAPD, so that for the target with specific distance and reflectivity, under specific system requirements (such as fixed pixel spacing a and angle resolution phi of the detector array), the emergent power of the transmitting end is not changed, and the aperture (F#) of the receiving lens with proper size is adjusted and selected, and the signal to noise ratio of the system can be improved by only reducing b. For example, b is reduced by one time, and the signal to noise ratio of the system can be improved by 4 times. Thus, by employing a smaller fill factor b, the immunity of the system to ambient light can be improved.
Under the condition of smaller filling factor, the system has better ambient light inhibition, and the peak power of the transmitting end required for realizing the detection performance requirement of the system is also lower. With the increase of the filling factor, the higher the emission peak power of the emission end required by the system is, the detection performance of the high-reflection target is reduced. Therefore, the size of the filling factor is reasonably selected, the ambient light immunity of the system can be greatly improved, the restriction of severe working conditions on the system performance is restrained, and the cost of the system is reduced.
In addition, noise sources of the system include Dark Count Rate (DCR) and circuit noise, thermal noise, etc. of hardware in addition to ambient light noise. The signal to noise ratio of the system is defined as follows:
Under different working conditions, the noise sources of the system are different, such as night environment, and the noise sources of the system are mainly DCR. In general, DCR, hardware noise, and thermal noise are related to SAPD device characteristics and temperature, and in a system for a specific operating condition (ambient light and temperature), DCR, hardware noise, and thermal noise can be considered to be 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 a side length a, and the active area is a circle with a diameter b, so that the calculation formula of the Signal-Noise Ratio (SNR) of the system is:
It can be seen that SNR is related to the parameter settings of the system such as the emission peak power P t, the optical system emission efficiency tt, the ambient light intensity such as the solar spectrum E sun, the target distance R, and the FF of the array detector 31.
For point-to-point imaging optics, the fill factor FF 1 of the array emitter affects only the proportion of the exit peak power P t that can be utilized: that is, when the fill factors of the array emitter and the array detector are the same or the fill factor FF 1 of the array emitter pixels is less than the fill factor FF 2 of the array detector corresponding pixels, all of the outgoing energy is effective outgoing energy; when the fill factor FF 1 of the array emitter pixel is greater than the fill factor FF 2 of the corresponding pixel of the array detector, there is some loss of the exit energy, and there is a modulation factor c≡ff 2/FF1,Pt＝c×Pt.
Thus, regardless of whether the fill factors of the array transmitter and the array detector are the same or different, the signal-to-noise ratio of the system is ultimately determined by a number of factors, and the value of the SNR can be calculated by taking any of the set of parameter values that determine the SNR.
Snr=f (R, FF) under fixed system design and operating conditions. According to the Monte Carlo simulation model, the effective detection probability P=g (R, SNR) of the system, so that P=v (SNR, R, FF), namely the value range of the filling factor of the array detector, can be determined by the effective detection probability and the target distance of the system. The actual filling 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.
Embodiment of staggered arrangement of transceiver arrays:
In an embodiment, referring to fig. 6, the light emitting units 21a in adjacent rows are arranged in a staggered manner. In the horizontal direction, the horizontal angle of view between two adjacent light emitting units 21a in the horizontal projection is a first horizontal angle of view, the horizontal angle of view between 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, the first horizontal angle of view is 1/2, 1/3, 1/4, 1/6, or the like of the second horizontal angle of view. Referring to fig. 7, 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 in the horizontal direction, the horizontal angle of view between two adjacent light emitting units 21a in the horizontal projection 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 in the horizontal direction, the horizontal angle of view between two adjacent light emitting units 21a in the horizontal projection is 0.2 °.
Correspondingly, the detection units 31a in adjacent rows are also arranged in a staggered manner. In the horizontal direction, the horizontal angle of view between two adjacent detection units 31a of the horizontal projection is a first horizontal angle of view, the horizontal angle of view between two adjacent detection units 31a 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, the first horizontal angle of view is 1/2, 1/3, 1/4, 1/6, or the like 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 in the horizontal direction, the horizontal angle of view between two adjacent light emitting units 21a in the horizontal projection is 0.1 °.
In another embodiment, referring to fig. 9, the light emitting units 21a in adjacent columns are arranged in a staggered manner. In the vertical direction, the horizontal angle of view between two adjacent light emitting units 21a in the vertical projection 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, the third horizontal angle of view is less than or equal to 1/2 of the fourth horizontal angle of view, for example, the third horizontal angle of view is 1/2, 1/3, 1/4, 1/6, or the like 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 in the vertical direction, the horizontal angle of view between two adjacent light emitting units 21a in the vertical projection is 0.1 °.
Correspondingly, 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 detection units 31a in the vertical projection is a third horizontal angle of view, the vertical angle of view between two adjacent detection 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, the third horizontal angle of view is 1/2, 1/3, 1/4, 1/6, or the like 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 in the vertical direction, the horizontal angle of view between two adjacent light emitting units 21a in the vertical projection is 0.1 °.
In the above embodiment, by respectively arranging the light emitting units 21a and the detecting units 31a in a staggered manner, the distance between the active regions of the nearest two pixels in the adjacent pixels is reduced, and a more dense arrangement mode is formed in space, so that the ambient light can be suppressed by using the smaller active region size, and meanwhile, sufficient point cloud resolution can be ensured, and the omission of detection on a far-field small target can be avoided. The detection capability of the laser radar 100 under the irradiance condition of 110KLUX and the dynamic detection range of the system can be effectively improved without complex optimization of an optical system or depending on a back-end processing algorithm, which is equivalent to improving the ambient light immunity of the system without losing the actual resolution of the system, and the system has more compact point cloud arrangement and actual resolution.
An embodiment in which a single light emitting unit 21a corresponds to a plurality of detecting 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 are in one-to-one correspondence with the receiving areas R, that is, a single light emitting unit 21a corresponds to the plurality of detecting units 31 a. The echo laser light returned after the outgoing laser light emitted from the single light emitting unit 21a is reflected by the object in the detection region is used for reception 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 receiving field of view of the detecting unit 31a, the echo laser returned after the outgoing laser emitted by the single light emitting unit 21a is reflected by the object in the detecting area is received by the plurality of detecting units 31a in the receiving area R, and the larger the emission field of view of the light emitting unit 21a is, the larger the number of detecting units 31a for receiving the corresponding echo laser is. 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 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 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 region R may be a small array of a×a detection units 31a, for example, 2×2, 3*3, 4*4, 5*5, etc. One or a few detection units 31a are selected as active regions in the receiving region R for receiving the echo laser light.
The light emitting units 21a may be adjacently arranged or the light emitting units 21a may be spaced apart from each other. In this embodiment, a certain interval is provided between the light emitting units 21a, for example, in the horizontal direction, the interval between any two adjacent light emitting units 21a in 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 area irradiated with the outgoing laser light emitted from the single light emitting unit 21a is detected by the single detection unit 31a within the single receiving area R. It will be appreciated that the above-described spacing may also be provided as other numbers of cells.
In actual operation, all the detection units 31a in the array detector 31 of the receiving system 3 may be turned on, i.e. the selected detection units 31a described above are all the detection units 31a in the receiving system 3. Alternatively, only the detection unit 31a that can receive the echo laser light in the array detector 31 of the receiving system 3 may be turned on, that is, the detection unit 31a selected as described above is the detection unit 31a that can receive the echo laser light in the receiving area R. For example, the system is theoretically designed such that the detection area irradiated by the outgoing laser light emitted by the single light emitting unit 21a is detected by only the single detection unit 31a in the single receiving area R, but in actual manufacturing, due to process limitations, it may not be possible to achieve perfect alignment of the single light emitting unit 21a and the single detection unit 31a, so that in operation, it may be selected to turn on all the detection units 31a in the array detector 31 of the receiving system 3, avoiding the situation that only the corresponding single detection unit 31a cannot fully receive the echo laser light.
In the above embodiment, a plurality of detecting units 31a are formed into a small array, and only one of the detecting units 31a is selected as the active area, and then the filling factor of the single receiving area R is the ratio of the number of pixels in the active area to the total number of pixels. By selecting a smaller number of detection units 31a as the active region, the filling factor of the receiving region R is reduced, the ability of the laser radar 100 to resist ambient light is further improved, the signal-to-noise ratio is improved, and the ranging performance is improved. For example, 1 detection unit 31a in the receiving region R of 2×2 is used as an active region, the filling factor is 1/4=0.25, and 1 detection unit 31a in the receiving region R of 4*4 is used as an active region, the filling factor is 1/16=0.0625. The greater the number of total detection units 31a of the receiving region R, wherein the fewer the number of detection units 31a of the active region, the smaller its fill factor.
In addition, in the embodiment of selecting the probe units 31a that can receive echo laser light in the array probe 31 of the reception system 3 to be turned on only, by selectively operating one or a few of the probe units 31a in a small array, the other probe units 31a around the small array are not operated, so that crosstalk generated when all the probe units 31a are operated can be reduced.
Furthermore, the filling factor of the detection unit 31a and the light emitting unit 21a may also be different from the foregoing embodiments. For example, the array detector 31 and array emitter 21 are fabricated using Front-side illumination (FSI) techniques to fill a full grid, i.e., a fill factor of about 1. At this time, since the filling factor of the single receiving area R is reduced, the single receiving area R can be regarded as a single pixel unit, and the detecting unit 31a for receiving the echo laser light in the receiving area R is regarded as an active area, which is equivalent to reducing the filling factor of the array detector 31, and also improving the capability of the laser radar 100 to resist the ambient light, the signal-to-noise ratio and the ranging performance.
Multiple transmit single receive embodiment:
referring to fig. 12, the difference from the embodiment shown in fig. 11 is that the emission 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, the outgoing lasers emitted by the first light emitting units and the second light emitting units are arranged at intervals of light spots in the detection area, and the first array emitter and the second array emitter are used for turning on the first light emitting units and the second light emitting units according to a first order. The first light emitting units, the second light emitting units, and the receiving region R are in one-to-one correspondence, 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 region is used for being received by the one or more detection units 31a in the receiving region 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 region is used for being received by the one or more detection units 31a in the receiving region R.
In this embodiment, not only the second light emitting unit itself and the third light emitting unit itself have a certain interval therebetween, but also the second light emitting unit and the third light emitting unit have an interval therebetween. Wherein, 1 unit of interval between second light emitting unit and the third light emitting unit. Of course, the spacing 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 adjacent second light-emitting units and any two adjacent third light-emitting units in the horizontal projection is 1 unit; in the vertical direction, the interval between any two vertically projected adjacent second and third light emitting units is also 1 unit. It will be appreciated that the spacing between any two horizontally projected adjacent second and third light emitting units in the horizontal direction, the spacing between any two vertically projected adjacent second and third light emitting units in the vertical direction may also be other number of units, e.g. 2 units, 3 units, etc.
In the above embodiment, by adopting two independent array emitters 21, the projected light spots thereof are staggered, compared with the scheme shown in the figure which adopts only one array emitter 21, the method can make up for the blank of the vision blind area, and can improve the resolution without changing the receiving system 3.
Based on the above-mentioned lidar 100, an embodiment of the present invention proposes an autopilot device 200 including the lidar 100 of the above-mentioned embodiment, where the autopilot device 200 may be an automobile, an airplane, a ship, or other devices related to intelligent sensing and detection using the lidar, and the autopilot device 200 includes a autopilot device body 201 and the lidar 100 of the above-mentioned embodiment, where the lidar 100 is mounted on the autopilot device body 201.
Referring to fig. 13, the autopilot apparatus 200 is an unmanned car, and the lidar 100 is mounted on the side of the car body. Referring to fig. 14, the autopilot apparatus 200 is also an unmanned car, and the lidar 100 is mounted on the roof of the car.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (21)

1. A laser radar, characterized in that the laser radar comprises a transmitting driving system, a transmitting system, a receiving system and a signal processing system;
The emission system comprises a plurality of light-emitting units for emitting emergent laser, and the emission system is used for starting the light-emitting units according to a first order so that the emergent laser traverses the detection area in a scanning mode;
The receiving system comprises a plurality of detecting units for receiving echo lasers, the receiving system is used for starting the selected detecting units to receive the echo lasers, detecting a detecting area scanned by the emergent lasers emitted by the light emitting units, and the echo lasers are lasers returned after the emergent lasers are reflected by objects in the detecting area;
the emission driving system is used for driving the emission system;
The signal processing system is used for calculating the distance information of the object in the detection area based on the emergent laser and the echo laser;
The detection unit comprises a photosensitive area, wherein 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 smaller than or equal to 0.5;
The light emitting unit comprises an active region, wherein the ratio of the area of the active region to the area of the cavity surface of the light emitting unit is the filling factor of the light emitting unit, and the filling factor of the light emitting unit is smaller than or equal to 0.5.
2. The lidar of claim 1, wherein a fill factor of the light emitting unit is less than or equal to a fill factor of the detection unit.
3. The lidar of claim 1, wherein the light emitting units are in one-to-one correspondence with the detection units.
4. A lidar according to any of claims 1 to 3, wherein the light emitting elements in adjacent rows are arranged in a staggered manner and the detection elements in adjacent rows are arranged in a staggered manner.
5. The lidar of claim 4, wherein in a horizontal direction, a horizontal angle of view between two adjacent light emitting units 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 less than or equal to 1/2 of the second horizontal angle of view.
6. The lidar of claim 5, wherein the first horizontal angle of view is 1/4 of the second horizontal angle of view.
7. A lidar according to any of claims 1 to 3, wherein the light emitting units in adjacent columns are arranged in a staggered manner and the detection units in adjacent columns are arranged in a staggered manner.
8. The lidar of claim 7, wherein a horizontal angle of view between two adjacent light emitting units in a vertical direction is a third horizontal angle of view, and a vertical angle of view between two adjacent light emitting units in the same column is a fourth horizontal angle of view, the third horizontal angle of view being 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 the 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 less than or equal to 1/2 of the fourth horizontal angle of view.
9. The lidar of claim 8, wherein the third horizontal angle of view is 1/4 of the fourth horizontal angle of view.
10. A lidar according to any of claims 1 to 3, wherein the receiving system comprises a plurality of receiving areas, each of the receiving areas comprising a plurality of detection units; the outgoing laser light emitted by the single light emitting unit is reflected by the object in the detection area and returned echo laser light is used for being received by one detection unit in the receiving area.
11. A lidar according to any of claims 1 to 3, wherein the transmitting system comprises a first array transmitter and a second array transmitter, the first array transmitter comprising a plurality of first light emitting units, the second array transmitter comprising a plurality of second light emitting units, the outgoing lasers emitted by the first and second light emitting units being arranged at intervals of spots in the detection area, the first and second array transmitters being arranged to turn on the first and second light emitting units in the first order;
the receiving system comprises a plurality of receiving areas, each of which comprises a plurality of detection units.
12. The lidar of claim 11, wherein the return echo laser light after reflection of the outgoing laser light emitted by the single first light emitting unit by the object in the detection region is used for reception by one of the detection units in the reception region, and the return echo laser light after reflection of the outgoing laser light emitted by the single second light emitting unit by the object in the detection region is used for reception by the other detection unit in the reception region.
13. The lidar of claim 10, wherein the detection unit is all detection units in the receiving system; or the detection unit is a detection unit for receiving echo laser in the receiving system.
14. The lidar of claim 12, wherein the detection unit is all detection units in the receiving system; or the detection unit is a detection unit for receiving echo laser in the receiving system.
15. The lidar of claim 1, wherein the first order is: and starting a plurality of light emitting units of the first emission area at a first time, and starting a plurality of light emitting units of the second emission area at a second time until the emergent laser scans to traverse the detection area.
16. The lidar of claim 15, wherein the emission system comprises m x n of the light emitting units, the first emission region comprises p x q of the light emitting units, m and n are integers greater than 1, p and q are integers greater than 1, 1<p.ltoreq.m, or 1<q.ltoreq.n.
17. The lidar of claim 16, wherein the laser radar is configured to,
The p is smaller than m, and q is smaller than n; the emission system is used for starting the light-emitting units back and forth along a first direction and then along the reverse direction of the first direction, or is used for keeping the light-emitting units started row by row or column by column along the first direction; or alternatively
The p is equal to m, and q is smaller than n; the emission system is used for turning on the light-emitting unit along the vertical direction; or alternatively
The p is smaller than m, and q is equal to n; the emission system is used for turning on the light emitting unit in the horizontal direction.
18. The lidar of claim 1, wherein the transmitting system comprises a vertical cavity surface emitting laser array and the receiving system comprises a single photon avalanche photodiode array.
19. The lidar of claim 1, wherein the radar is configured to,
The emission system further comprises an emission optical module for collimating the outgoing 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 detecting unit.
20. 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.
21. An autopilot device comprising a steering device body and a lidar according to any one of claims 1 to 20, the lidar being mounted to the steering device body.
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