CN217467180U - Laser radar and vehicle - Google Patents

Abstract

The application relates to a laser radar with a variable scanning view field, wherein a scanning unit is driven to move through a steering unit, so that the scanning view field of the laser radar is changed. The laser radar of this embodiment can adjust the scanning visual field when the vehicle turns, and the detection area is adjusted, and this road detection blind area that can solve the vehicle and turn and arouse for the vehicle of installing the laser radar in this embodiment can acquire more and drive relevant environmental information, promotes driving safety.

Description

Laser radar and vehicle

Technical Field

The application relates to the field of intelligent equipment, in particular to a laser radar and a vehicle.

Background

At present, the vehicle-mounted laser radar with the local view field is mostly arranged right ahead a vehicle and is responsible for identifying and detecting an object in front of the vehicle.

During the turning of the vehicle, due to the fixed horizontal scanning angle (usually 90-145 deg.) of the lidar in the local field of view, a blind zone of visual detection exists in the turning place on the road to be driven into (see fig. 1). The existence of the blind area affects the driving judgment of a driver or the driving decision of an automatic driving vehicle.

SUMMERY OF THE UTILITY MODEL

The application provides a laser radar, and the detection area can be adjusted to this laser radar.

A laser radar comprises a distance measuring unit, a scanning unit, a steering unit and a control unit;

the distance measurement unit comprises at least one distance measurement module for detecting the area to be measured;

the scanning unit realizes light beam deflection and is used for realizing scanning of a field range of a region to be detected;

the control unit is connected with the steering unit, and the steering unit drives the scanning unit to move under the control of the control unit so as to change the detection area of the scanning field of view.

In one embodiment, the ranging module comprises a transmitting module and a receiving module; the transmitting module is used for transmitting a light beam, and the receiving module is used for receiving a reflected echo.

In one embodiment, the ranging module comprises a transceiver module; the transceiver module is used for emitting light beams and receiving reflected echoes.

In one embodiment, the steering unit includes a motor and a linkage mechanism, and the motor is used for controlling the linkage mechanism to move according to a preset mode so as to drive the scanning unit to move, so that a detection area of a scanning field is changed.

In one embodiment, the scanning unit is a beam deflection unit, and the beam deflection unit is one of a MEMS micro-mirror, a galvanometer, and a mechanical turning mirror.

In one embodiment, the linkage mechanism is a displacement table, the scanning unit is located on the displacement table, and the motor is used for controlling the displacement table to deflect within a preset angle range, so that a detection area of a scanning field of view is changed.

In one embodiment, the steering unit includes a motor and a linkage mechanism, and the motor is configured to control the linkage mechanism to move in a preset manner to drive the distance measuring unit and the scanning unit to move, so that a detection area of a scanning field is changed.

In one embodiment, the linkage mechanism is a displacement table, the distance measuring unit and the scanning unit are located on the displacement table, and the motor drives the displacement table to deflect within a preset angle so as to drive the distance measuring unit and the scanning unit to move, so that a detection area of a scanning field is changed.

A vehicle comprising a variable scan field of view lidar according to the present application, and a control system,

the control system is used for generating a control instruction;

and the control unit of the laser radar is used for controlling the scanning unit of the laser radar to move according to the control instruction so as to change the detection area of the scanning field of view.

In one embodiment, the control system is connected to the CAN interface of the vehicle and/or to the vehicle-mounted sensors

Laser radar in this application drives the scanning unit through the steering unit and moves, realizes laser radar detection area's adjustment. The laser radar of this embodiment can adjust the detection area when the vehicle turns, and this road detection blind area that can solve the vehicle and turn and arouse for the vehicle of installing the laser radar in this embodiment can acquire more and drive relevant environmental information, promotes driving safety.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of a scene in the background of the present application;

fig. 2 is a schematic structural diagram of a laser radar provided in an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a lidar according to an embodiment of the present disclosure.

Fig. 4 is a schematic structural diagram of a laser radar provided in an embodiment of the present application.

Fig. 5 is a schematic structural diagram of a lidar according to an embodiment of the present disclosure.

Detailed Description

The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.

In one embodiment of the present application, there is provided a laser radar including a ranging unit 10, a scanning unit 20, a steering unit 30, and a control unit 40. The specific structure of the laser is shown in fig. 2-5.

The ranging unit 10 includes at least one ranging module for detecting a region to be detected. The distance measuring unit can be provided with a distance measuring module comprising a transmitting module and a receiving module; the transmitting module is used for transmitting a light beam, and the receiving module is used for receiving a reflected echo. The emitting module may be a laser array that emits a light beam under the control of the control unit. The receiving module can be a detector array, and the detector array receives the reflected echo under the control of the control unit and transmits the reflected echo to the data processing unit to perform data processing so as to obtain ranging information. Optionally, the lidar may include a housing that is determined based on product design.

The scanning unit 20 realizes beam deflection and realizes scanning of the field range of the region to be measured. The scanning unit scans the field range under the control of the control unit. It should be noted that the improved lidar referred to in this application is a local field of view lidar, typically with a fixed horizontal scan angle (typically 90 ° -145 °).

The control unit 40 is connected to the steering unit 30, and the steering unit 30 drives the scanning unit 20 to move under the control of the control unit 40, so as to change the detection area of the scanning field.

Laser radar in this embodiment drives the scanning unit through the steering unit and moves, realizes laser radar detection area's adjustment. The laser radar of this embodiment can adjust the detection area when the vehicle turns, and this road detection blind area that can solve the vehicle and turn and arouse for the vehicle of installing the laser radar in this embodiment can acquire more and drive relevant environmental information, promotes driving safety.

Some specific implementations of the steering unit 30 in the above embodiments and the operation principle are described below in other embodiments.

Referring to fig. 4-5, in an alternative embodiment, the steering unit 30 includes a motor (not shown) and a linkage mechanism, and the motor is used to control the linkage mechanism to move according to a preset manner to drive the scanning unit to move, so that the detection area of the scanning field changes. The motor in this embodiment is used to apply a moving force to the linkage mechanism, and the arrangement of the motor and the linkage mechanism in the structure of the laser radar needs to consider the specific internal structure and product requirements of the laser radar, and the scanning unit 20 in this embodiment may be a beam deflection unit. The beam deflection unit can be one of a MEMS micro-mirror, a galvanometer mirror and a mechanical rotating mirror. When the scanning unit is a light beam deflection unit, it may be considered that the linkage mechanism is set as a displacement table, the scanning unit is located on the displacement table, and the motor is used to control the displacement table to deflect within a preset angle range, so that a detection area of a scanning field of view is changed. Fig. 4 can be regarded as a state (initial state) in which the scanning unit 20 is in when the steering unit 30 of the laser radar is not operating. Fig. 5 can be regarded as a state (initial state) in which the scanning unit is located after the steering unit 30 moves the scanning unit 20. The beam incident on the scan-only unit is now deflected at the exit angle compared to fig. 4, thus causing the detection area of the scan field to change.

The embodiment only carries out deflection design on the scanning unit, so that the space requirement is small when the structure of the laser radar is improved, and the miniaturization of products is facilitated.

Referring to fig. 2-3, in another embodiment, the steering unit 30 includes a motor and a linkage mechanism, and the motor is configured to control the linkage mechanism to move according to a preset manner, so as to drive the distance measuring unit and the scanning unit to move, so that a detection area of a scanning field is changed. The linkage mechanism is a displacement table, the distance measuring unit and the scanning unit are both positioned on the displacement table, and the motor drives the displacement table to deflect within a preset angle so as to drive the distance measuring unit and the scanning unit to move and change the detection area of a scanning view field. Referring to fig. 2, fig. 2 can be regarded as a state (initial state) in which the ranging unit 10 and the scanning unit 20 are in when the steering unit 30 of the laser radar is not operating. Fig. 3 can be regarded as a state (initial state) in which the scanning unit is located after the steering unit 30 moves the distance measuring unit 10 and the scanning unit 20. At this time, the laser beam is transmitted and received and the scanning is deflected, so that the detection area of the scanning field of view is also changed.

In the embodiment, the distance measuring unit and the scanning unit are integrated, so that the improvement has little influence on the measurement accuracy of the laser radar, and therefore, the scheme of the embodiment is relatively simple to implement.

In another alternative embodiment, based on the same inventive concept, the application also provides a vehicle, wherein the vehicle is provided with the laser radar, and a control system of the vehicle can generate a control command of the laser radar; and the control unit of the laser radar is used for controlling the scanning unit of the laser radar to move according to the control instruction so as to change the detection area of the scanning field of view. Optionally, a control system of the vehicle is connected to a CAN interface of the vehicle and/or to a vehicle-mounted angle sensor. The vehicle CAN acquire the speed, acceleration and steering angle information of the vehicle through the CAN interface, and the control command is generated based on the speed, acceleration and steering angle information. In alternative embodiments, the source of information for generating the control commands for the vehicle may be vehicle-mounted angle sensors that can acquire vehicle speed, acceleration, and steering angle information. The technology that the vehicle generates the control command according to the requirements based on the speed, the acceleration and the steering angle is mature is not described in detail in the application.

The preferred embodiments of the present application have been described in detail with reference to the accompanying drawings, however, the present application is not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the technical idea of the present application, and these simple modifications are all within the protection scope of the present application.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations are not described separately in this application.

In addition, any combination of the various embodiments of the present application is also possible, and the same should be considered as disclosed in the present application as long as it does not depart from the idea of the present application.

Claims (10)

1. The laser radar is characterized by comprising a ranging unit, a scanning unit, a steering unit and a control unit;

the distance measurement unit comprises at least one distance measurement module for detecting the area to be measured;

the scanning unit realizes light beam deflection and is used for realizing scanning of a field range of a region to be detected;

the control unit is connected with the steering unit, and the steering unit drives the scanning unit to move under the control of the control unit so as to change the detection area of the scanning field of view.

2. The lidar of claim 1, wherein the ranging module comprises a transmit module and a receive module; the transmitting module is used for transmitting a light beam, and the receiving module is used for receiving a reflected echo.

3. The lidar of claim 1, wherein the ranging module comprises a transceiver module; the receiving and transmitting module is used for transmitting light beams and receiving reflected echoes.

4. The lidar of claim 1, wherein the steering unit comprises a motor and a linkage mechanism, and the motor is configured to control the linkage mechanism to move in a predetermined manner to drive the scanning unit to move, so that a detection area of a scanning field of view is changed.

5. The lidar of claim 4, wherein the scanning unit is a beam deflection unit, and wherein the beam deflection unit is one of a MEMS micro-mirror, a galvanometer mirror, and a mechanical turning mirror.

6. The lidar of claim 4 or 5, wherein the linkage mechanism is a displacement stage, the scanning unit is located on the displacement stage, and the motor is configured to control the displacement stage to deflect within a predetermined angular range, such that a detection area of a scanning field of view changes.

7. The lidar of claim 1, wherein the steering unit comprises a motor and a linkage mechanism, and the motor is configured to control the linkage mechanism to move in a predetermined manner to drive the ranging unit and the scanning unit to move, so that a detection area of a scanning field is changed.

8. The lidar of claim 7, wherein the linkage mechanism is a displacement table, the range finding unit and the scanning unit are located on the displacement table, and the motor drives the displacement table to deflect within a preset angle to drive the range finding unit and the scanning unit to move, so that a detection area of a scanning field of view is changed.

9. A vehicle, characterized in that it comprises a lidar according to any of claims 1 to 8, and a control system,

the control system is used for generating a control instruction;

and the control unit of the laser radar is used for controlling the scanning unit of the laser radar to move according to the control instruction so as to change the detection area of the scanning field of view.

10. The vehicle of claim 9, characterized in that the control system is connected to the vehicle's CAN interface and/or the vehicle mounted sensors.

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