CN217543395U

CN217543395U - Laser radar system and vehicle

Info

Publication number: CN217543395U
Application number: CN202220271106.5U
Authority: CN
Inventors: 王洪亮; 白剑; 李华; 计云兵; 赖梓扬; 于航
Original assignee: Weilai Automobile Technology Anhui Co Ltd
Current assignee: Weilai Automobile Technology Anhui Co Ltd
Priority date: 2022-02-10
Filing date: 2022-02-10
Publication date: 2022-10-04
Anticipated expiration: 2032-02-10

Abstract

The utility model provides a laser radar system and vehicle, wherein, this laser radar system includes the window that can pass by the laser beam, be used for sending the laser beam and be used for receiving the laser beam reflected by the target object first send-receive subassembly and second send-receive subassembly and be used for carrying out the scanning device of deflection to the laser beam, wherein, first send-receive subassembly is arranged scanning device's first side, second send-receive subassembly is arranged scanning device's second side, first send-receive subassembly covers first angle of vision and second send-receive subassembly covers the second angle of vision, wherein scanning device with arranged the diffusion component between the window, the diffusion component sets up to be used for diffusing the laser beam through scanning device deflection. The laser radar system according to the present disclosure can realize a large angle of view and can realize isolation of a transmission optical path and a reception optical path of the laser radar system by providing the diffusing element.

Description

Laser radar system and vehicle

Technical Field

The utility model relates to a laser radar system and vehicle that has such laser radar system.

Background

The lidar system is an important component for realizing automatic driving environment perception, and generally adopts a combination of a rotating reflector and a light receiving and emitting optical system to carry out line scanning so as to realize detection on a three-dimensional space. Here, the size of the field of view, e.g. the forward field of view, of the lidar system plays an important role for environmental perception.

From the prior art, a lidar system is known which allows a large field of view, which lidar system comprises two or more separate lidars, for example lidars with a field angle of 120 °, and which allows for horizontal 180 ° wide-angle detection, for example, in a field-of-view tiled manner. This increases on the one hand the production costs and the complexity of the assembly, and on the other hand the scanning angle range of a plurality of lidar does not correspond and the range-finding capability of the partial angle range drops sharply. For example, in the case where the lidar system is used for autonomous driving, the impairment of the environmental perceptibility may affect the driving safety of the entire vehicle.

SUMMERY OF THE UTILITY MODEL

According to various aspects, it is an object of the present invention to provide an improved lidar system that may achieve a large field of view and a vehicle comprising such a lidar system.

Furthermore, the present invention also aims to solve or alleviate other technical problems existing in the prior art.

The present invention solves the above problem, in particular, it comprises a window that can be traversed by a laser beam, a first transceiver module and a second transceiver module for emitting a laser beam and for receiving the laser beam reflected by a target object, and a scanning device for deflecting the laser beam, wherein the first transceiver module is arranged on a first side of the scanning device, the second transceiver module is arranged on a second side of the scanning device, the first transceiver module covers a first field of view and the second transceiver module covers a second field of view, wherein a diffusing element is arranged between the scanning device and the window, the diffusing element being arranged for diffusing the laser beam deflected by the scanning device.

According to an aspect of the present invention, there is provided a lidar system, wherein the diffusion element is configured as a curved diffusion element that is bent toward the scanning device, for performing one-dimensional diffusion or two-dimensional diffusion of a laser beam from the scanning device.

According to an aspect of the present invention, the laser radar system is provided, wherein the diffusing element is configured as a curved microlens array or a curved cylindrical lens.

According to an aspect of the present invention, there is provided a lidar system, wherein the first transceiver module and the second transceiver module have a spatially separated transmitting assembly and receiving assembly, respectively, and a partition plate, through which a laser beam cannot pass, is disposed between the respective transmitting assembly and receiving assembly of the first transceiver module and the second transceiver module.

According to an aspect of the invention, a lidar system is proposed in which the respective transmitting and receiving assemblies of the first and second transceiver modules are arranged at a distance in the vertical direction and are assigned to different regions of the window.

According to the utility model discloses a laser radar system that an aspect provided, the transmission subassembly includes laser instrument, collimating mechanism, and the laser beam that is sent by the laser instrument passes through collimating mechanism, scanning device and diffusion component in proper order.

According to the utility model discloses a laser radar system that an aspect provided, laser radar system's window is at both ends orientation diffusion component buckles for eliminate stray light.

According to an aspect of the present invention, there is provided a lidar system, wherein the scanning device is configured in a regular prism shape and the first transceiver module and the second transceiver module are arranged symmetrically with respect to a central plane of the scanning device.

According to an aspect of the present invention, the laser radar system is provided, wherein the first angle of view and the second angle of view are 90 ° and the laser radar system forms a horizontal angle of view of 180 °.

According to the utility model discloses an on the other hand still provides a vehicle, and it is including such laser radar system, no longer gives unnecessary details to this.

The laser radar system according to the present disclosure can realize a large angle of view and can realize isolation of a transmission optical path and a reception optical path of the laser radar system by providing the diffusing element.

Drawings

The above and other features of the present invention will become apparent with reference to the accompanying drawings, in which,

fig. 1 schematically shows in a block diagram a lidar system according to an embodiment of the present invention;

fig. 2 schematically shows in a block diagram the optical path of a lidar system according to an embodiment of the present invention;

FIG. 3 shows a perspective view of a curved microlens array for use as a diffusing element in a lidar system;

fig. 4 shows a perspective view of a curved cylindrical lens used as a diffusing element of a lidar system.

Detailed Description

It is easily understood that, according to the technical solution of the present invention, under the spirit of the present invention, a person skilled in the art can propose various alternative structural modes and implementation modes. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical solutions of the present invention, and should not be considered as limiting or restricting the technical solutions of the present invention in their entirety or in any other way.

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the terms "first," "second," "third," and the like are used for descriptive and descriptive purposes only and not for purposes of indication or implication as to the relative importance of the respective components.

Referring to fig. 1, a schematic diagram of a lidar system according to the present invention is shown, wherein components are represented by blocks or lines for clarity, comprising a first transceiver module 110 and a second transceiver module 120 for transmitting and receiving a laser beam, a window 130 through which the laser beam can pass, and a scanning device 140 for deflecting the laser beam. Here, the first transceiver module 110 and the second transceiver module 120 are respectively located at two sides of the scanning device 140 and respectively cover the first field angle and the second field angle, that is, the first transceiver module 110 is located at a first side (e.g., right side) of the scanning device 140 and the second transceiver module 120 is located at a second side (e.g., left side) of the scanning device 140. Instead of a plurality of separate lidar modules, not only wide-angle detection (for example 180 ° horizontal wide-angle detection) can be achieved by providing two transceiver modules, but also consistent range measurements for each field of view and a higher frame rate can be guaranteed.

The lidar system also has further accessories, for example a controller or a corresponding circuit board, which are not described in detail.

Here, the scanning device 140 can include a plurality of independent mirrors. Furthermore, the scanning device 140 can also be configured as a regular prism that can be rotated about its own axis, can be driven by an associated motor, and each of its faces forms a reflection surface for deflecting the laser beam. As shown in fig. 1, the scanning device 140 can be configured as a quadrangular prism. Furthermore, it can also be configured as a triangular prism, a pentagonal prism or a hexagonal prism or other shapes.

Alternatively, the first transceiver module 110 and the second transceiver module 120 can be symmetrically arranged with respect to the scanning device 140. In the case where the scanning device 140 is configured as a regular quadrangular prism, the two transceiver modules are arranged symmetrically with respect to a vertical plane passing through the center of the scanning device (i.e., the center plane thereof) so as to cover a symmetrical angle of view. For example, the first and

second transceiving modules

110 and 120 respectively cover a field angle of 90 ° and thus implement a forward field angle of 180 ° horizontally. Such a lidar system can be arranged, for example, at a front bumper or a rear bumper of a vehicle for comprehensively and accurately acquiring a road condition ahead or behind.

Here, it should be noted that the number of transceiver modules for transmitting and receiving laser beams depends on the required size of the angle of view and the angle of view covered by each transceiver module individually. Embodiments are also possible, for example, in which a transceiver module is arranged on each side of the scanning device in the form of a quadrangular prism. Furthermore, the arrangement of the transceiver modules relative to the scanning device is not limited to the above-mentioned symmetrical arrangement, which can be modified accordingly as required.

In an embodiment, the transmit optical path and the receive optical path of the first transceiver module 110 and the second transceiver module 120 can be independent with respect to each other (which can also be referred to as non-coaxial transceiver modules), which can be achieved by employing different combinations of lenses to respectively assume the transmit and receive functions of the laser beam. Next, a detailed explanation will be made on the basis of a non-coaxial first transceiver module and a second transceiver module, wherein the first transceiver module 110 and the second transceiver module 120 respectively have a transmitting component and a receiving component spatially separated from each other, for example, spaced apart from each other in a vertical direction.

According to the present invention, a diffusing element 150 is further disposed between the scanning device 140 and the front window 130 for diffusing the laser beam deflected by the scanning device 140 so as to separate the emitted laser beam from the echo laser beam. For clarity, the diffuser element 150 is only shown in fig. 1 as an arc. In particular, with regard to the emission light path, the laser beam emitted by the respective emission assembly of the first transceiver module 110 or the second transceiver module 120 (for the sake of clarity, referred to as emission laser beam) is first deflected by the scanning device 140, the deflected emission laser beam is diffused by means of the diffusing element 150 and finally passes through the viewing window 130 towards the surroundings. With respect to the receiving optical path, the echo laser beam formed by reflection of the target object passes through the window 130 to reach the scanning device 140 and is deflected therethrough, and the deflected echo laser beam is finally received by the respective receiving component of the first transceiver module 110 or the second transceiver module 120. Here, by providing the diffusing element 150 on the transmission light path, the respective transmission and reception components of the first transceiver module 110 and the second transceiver module 120 can occupy different areas of the window 130 that are separated from each other and thus can achieve the transmission and reception isolation of the lidar system. In addition, by the non-overlapping internal fields of view achieved by the diffusing element 150, detector saturation due to internal stray light and blind areas due to stray light can be effectively avoided.

Alternatively, the diffusing element 150 is designed as a curved diffusing element which is bent towards the scanning device 140, i.e. the envelope of the curved diffusing element surrounds the scanning device 140. In an embodiment of the invention, a diffusing element is provided for one-dimensional diffusion of the emitted laser beam. In contrast, in another embodiment of the present invention, two or more diffusing elements are provided for two-dimensional diffusion of the emitted laser beam. The curved surface diffusion element can diffuse the laser beam and realize the dodging effect.

Alternatively, the diffusing member 150 can be configured as a curved microlens array (see fig. 3) or a curved cylindrical lens (see fig. 4). The curved microlens array includes a plurality of microlenses stacked on one another, wherein a cross section of the microlenses substantially assumes an elliptical shape. The curved cylindrical lens has curved concave surfaces on both sides facing the scanning device 140 and facing away from the scanning device 140 for diffusing light. In the actual assembly process, a combination of curved microlens arrays and curved cylindrical lenses can also be used.

In order to further isolate the transmit and receive optical paths of the transceiver modules and thereby avoid the influence of stray light on the receive optical path, a separation plate 160 is provided between the transmit and receive components of the first transceiver module 110 and the second transceiver module 120, respectively, which separation plate does not allow the laser beam to pass through. For the sake of clarity, the separating plate is shown in fig. 2 only in a straight line.

Referring to fig. 2, which shows an embodiment of a first transceiver module of a lidar system according to the present invention (where the components are only indicated by a block and the laser beam is only indicated by an arrow), the transmitting assembly of the first transceiver module 110 in turn comprises a laser 111 for transmitting the laser beam and a collimating mechanism 112 for collimating the laser beam and thereby propagating the laser beam with a certain aperture. The emitted laser beam is passed by the laser 111 through the collimating mechanism 112, the scanning device 140 and the diffusing element 150 in that order and finally exits through the viewing window into the surrounding environment. Accordingly, the receiving component of the first transceiver module 110 includes a receiver 113 and a detector 114. Reference is made to the statements made with respect to the first transceiver module with respect to the second transceiver module. It should be noted here that the transmitting and receiving components of the receiving module are not limited to the above-described embodiments, but can be modified accordingly as required.

Furthermore, the window 130 shown in fig. 1, which can be traversed by the laser beam, can be embodied in the form of a plate, which can be referred to as a planar window. Optionally, attenuation portions (not shown) are provided at both end portions of the window 130 for attenuating stray light caused by the window itself. The attenuation can be realized in such a way that the window is bent at both ends towards the interior of the lidar system, for example towards the diffuser element.

Finally, the invention also relates to a vehicle having such a lidar system which can be arranged outside the vehicle, for example at the front bumper, rear bumper or body side of the vehicle, for detecting the surroundings. The lidar system can be connected to a main control system of the vehicle in order to provide the necessary environmental parameters.

It should be understood that all of the above preferred embodiments are exemplary and not restrictive, and that various modifications and changes in the specific embodiments described above, which may occur to those skilled in the art upon reading the teachings of the present invention, are intended to be within the scope of the appended claims.

Claims

1. Lidar system, characterized by a window through which a laser beam can pass, a first transceiver module and a second transceiver module for emitting the laser beam and for receiving the laser beam reflected by an object, and a scanning device for deflecting the laser beam, wherein the first transceiver module is arranged on a first side of the scanning device, the second transceiver module is arranged on a second side of the scanning device, the first transceiver module covers a first field angle and the second transceiver module covers a second field angle, wherein a diffusing element is arranged between the scanning device and the window, the diffusing element being provided for diffusing the laser beam deflected by the scanning device.

2. The lidar system of claim 1, wherein the diffusing element is configured as a curved diffusing element bent toward the scanning device for one-dimensional or two-dimensional diffusion of the laser beam from the scanning device.

3. The lidar system of claim 2, wherein the diffusing element is configured as a curved microlens array or a curved cylindrical lens.

4. The lidar system of claim 1, wherein the first and second transceiver modules have a transmitting component and a receiving component, respectively, that are spatially separated, and a separation plate through which a laser beam does not pass is disposed between the respective transmitting and receiving components of the first and second transceiver modules.

5. Lidar system according to claim 4, wherein the respective transmitting and receiving components of the first and second transceiver modules are arranged at a distance in the vertical direction and are assigned to different regions of the window.

6. The lidar system of claim 5, wherein the transmission assembly comprises a laser, a collimating mechanism, and wherein a laser beam emitted by the laser passes through the collimating mechanism, the scanning device, and the diffusing element in sequence.

7. Lidar system according to any of claims 1 to 6, wherein the window of the lidar system is bent at both ends towards the diffusing element for eliminating stray light.

8. The lidar system according to any of claims 1 to 6, wherein the scanning device is configured in a regular prism shape and the first and second transceiver modules are arranged symmetrically with respect to a center plane of the scanning device.

9. The lidar system of claim 8, wherein the first and second angles of view are each 90 ° and the lidar system forms a horizontal angle of view of 180 °.

10. Vehicle, characterized in that it has a lidar system according to any of claims 1 to 9.