WO2018171176A1 - 激光雷达及激光雷达的控制方法 - Google Patents

激光雷达及激光雷达的控制方法 Download PDF

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WO2018171176A1
WO2018171176A1 PCT/CN2017/106671 CN2017106671W WO2018171176A1 WO 2018171176 A1 WO2018171176 A1 WO 2018171176A1 CN 2017106671 W CN2017106671 W CN 2017106671W WO 2018171176 A1 WO2018171176 A1 WO 2018171176A1
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receiving end
units
receiving
end collimating
laser radar
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PCT/CN2017/106671
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French (fr)
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邱纯鑫
刘乐天
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深圳市速腾聚创科技有限公司
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Publication of WO2018171176A1 publication Critical patent/WO2018171176A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves

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  • the invention relates to the field of detection, in particular to a method for controlling a laser radar and a laser radar.
  • Lidar is a radar system that emits a laser beam to detect the position and velocity of a target.
  • the working principle is to first transmit a probe laser beam to the target, and then compare the received signal reflected from the target with the transmitted signal. After proper processing, information about the target, such as target distance, azimuth, altitude, speed, attitude, and even shape, can be obtained.
  • the cost is high and the volume may be large; if it is designed according to the minimum range requirement, it can not meet the high range demand, which will reduce the use experience and even reduce related applications, such as automobiles.
  • the safety performance if designed according to the intermediate requirements, it may cause waste and can not meet the demand.
  • a laser radar includes at least two sets of receiving end collimating units, and the light transmissive area of each set of receiving end collimating units is different from other groups.
  • a laser radar includes at least two sets of receiving end collimating units and at least two sets of receiving units; each group of receiving end collimating units have the same light transmissive area, and each set of receiving end collimating units corresponds to a group of Receiving unit; the photosensitive area of the receiving unit corresponding to the different groups of receiving end collimating units is different.
  • a method of controlling a laser radar includes:
  • the laser radar comprising at least two sets of receiving end collimating units, each of the receiving end collimating units having a light transmissive area different from the other groups;
  • the receiving end collimating unit receives the reflected laser light.
  • a method of controlling a laser radar includes:
  • the laser radar comprising at least two sets of receiving end collimating units and at least two sets of receiving units; each set of receiving end collimating units has the same light transmissive area, and each set of receiving end collimating units corresponds to a set of receiving Unit; different groups of receiving end collimating units corresponding to the receiving unit have different photosensitive areas; and
  • the receiving end collimating unit receives the reflected laser light.
  • the above-mentioned laser radar and lidar control methods are provided with different receiving optical paths (that is, different groups of receiving end collimating units have different light transmitting areas or different groups of receiving end collimating units have different photosensitive areas). Since the light transmission areas of the collimating units of the receiving groups of different groups are different, a receiving unit collimating unit with a large light transmission area may be used for a high range; and a receiving end collimating unit with a small light transmitting area may be used for a low range. .
  • the above-mentioned laser radar and lidar control methods can meet the requirements of high-range and low-range laser radar, and can reduce the cost and volume of the laser radar.
  • Figure 1 is a schematic view of a laser radar of an embodiment
  • FIG. 2 is a schematic view of a laser radar of another embodiment
  • FIG. 3 is a flow chart showing a method of controlling a laser radar according to an embodiment
  • FIG. 4 is a flow chart showing a laser radar control method of another embodiment.
  • the laser radar of an embodiment includes at least two sets of receiving end collimating units, and the light transmissive area of each set of receiving end collimating units is different from the other groups.
  • the laser radar includes, for example, a first group of receiving end collimating units 210 and a second group of receiving end collimating units 220.
  • the light transmission area of the first group of receiving end collimating units 210 is greater than the light transmissing area of the second group of receiving end collimating units 220.
  • Each set of receiving end collimating units may be a plurality of receiving end collimating lenses, or a plurality of receiving end collimating lens groups, or may be a single receiving end collimating lens.
  • different sets of receiving end collimating lenses have different diameters.
  • the diameter of the receiving end collimating lens of the first group of receiving end collimating units 210 is larger than the diameter of the receiving end collimating lens of the second group of receiving end collimating lens units 220.
  • the laser radar emits a laser, and the emitted laser is reflected by the measured object and received by the laser radar.
  • the signal received by the laser radar can be called an echo signal.
  • the signal-to-noise ratio of the echo signal of a laser radar over a certain distance exceeds the detection threshold, it is considered that the measurement range of the laser radar can reach the distance.
  • the signal-to-noise ratio of the echo signal of the lidar decreases as the detection distance increases. The farther the measurement range is, the smaller the signal-to-noise ratio is.
  • the signal-to-noise ratio of the echo signal of the lidar is related to the transmitting optical path, the receiving optical path, the transmitting circuit and the receiving circuit.
  • the receiving optical path of the laser radar is applied to the echo signal of the laser radar.
  • the signal to noise ratio has the greatest impact.
  • a collimating lens with a larger diameter can receive more light energy, thereby obtaining a higher signal-to-noise ratio and achieving a farther distance. Detection of distance.
  • the lidar further includes at least two sets of receiving units.
  • Each set of receiving end collimating units corresponds to a group of receiving units, that is, different sets of receiving end collimating units correspond to different sets of receiving units.
  • the laser radar includes, for example, a first group of receiving end collimating units and a second set of receiving end collimating units.
  • the first group of receiving end collimating units includes one first receiving end collimating lens 311.
  • the first receiving end collimating lens 311 corresponds to the first receiving unit 312.
  • the second set of receiving end collimating units includes two second receiving end collimating lenses 321 .
  • the second receiving end collimating lens 321 corresponds to the second receiving unit 322.
  • the receiving unit may be an avalanche diode.
  • the receiving unit may be other functional modules that are small in size, low in cost, and highly sensitive.
  • the area of the photosensitive surface of the receiving unit is proportional to the diameter of the corresponding collimating lens of the receiving end.
  • the first receiving end collimating lens 311 is used for large-range measurement
  • the second receiving end collimating lens 321 is used for small-range measurement.
  • the diameter of the first receiving end collimating lens 311 is larger than the diameter of the second receiving end collimating lens 321
  • the area of the photosensitive surface of the first receiving unit 312 is larger than the area of the photosensitive surface of the second receiving unit 322.
  • the lower range uses the receiving unit with a smaller smooth area to reduce the cost and volume.
  • the laser radar of the embodiment can simultaneously satisfy the high-range and low-range requirements of the laser radar, and has low cost and small volume.
  • the embodiment further provides a control method of the laser radar, and the method includes the following steps, please refer to FIG. 3.
  • the different sets of receiving end collimating lenses have different diameters.
  • the area of the photosensitive surface of the receiving unit is proportional to the diameter of the corresponding collimating lens of the receiving end.
  • the control method of the laser radar of the embodiment can simultaneously satisfy the high-range and low-range requirements of the laser radar, and has low cost and small volume.
  • the embodiment further provides a laser radar comprising at least two sets of receiving end collimating units and at least two sets of receiving units.
  • the light-receiving areas of the collimating units of the receiving ends of the groups are the same, that is, the light-transmitting areas of the collimating units of the receiving ends of the different groups are the same.
  • Each set of receiving end collimating units corresponds to a group of receiving units, that is, different sets of receiving end collimating units correspond to different sets of receiving units.
  • the laser radar comprises two sets of receiving end collimating units and two sets of receiving units, and the first set of receiving end collimating units corresponding to the first group of receiving units, and the second set of receiving end collimating units corresponding to the second group of receiving units .
  • the light transmission area of the first group of receiving end collimating units is the same as the light transmitting area of the second group of receiving end collimating units, but the area of the photosensitive surface of the first group of receiving units is larger than that of the second group of receiving units area.
  • the receiving unit is an avalanche diode.
  • the embodiment further provides a control method of the laser radar, and the method includes the following steps, please refer to FIG. 4.
  • each group of the receiving end collimating units is a plurality of receiving end collimating lenses, or a plurality of receiving end collimating lens groups, or a single receiving end collimating lens.

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

Abstract

一种激光雷达，包括至少两组接收端准直单元(210，220)，每一组接收端准直单元(210，220)的透光面积与其他组不同；另一种激光雷达包括至少两组接收端准直单元(210，220)及至少两组接收单元，各组接收端准直单元(210，220)的透光面积相同，每一组接收端准直单元(210，220)对应于一组接收单元；不同组的接收端准直单元(210，220)所对应的接收单元的光敏面积不同。

Description

激光雷达及激光雷达的控制方法 技术领域
本发明涉及检测领域，特别涉及一种激光雷达及激光雷达的控制方法。
背景技术
激光雷达是以发射激光光束来探测目标的位置、速度等特征量的雷达系统，其工作原理是先向目标发射探测激光光束，然后将接收到的从目标反射回来的信号与发射信号进行比较，作适当处理后，就可获得目标的有关信息，例如目标距离、方位、高度、速度、姿态、甚至形状等参数。
在激光雷达的应用中，可能对不同方位角上有不同的量程要求。例如，对于安装在汽车上的激光雷达来说，汽车正前方的障碍物对汽车的行驶影响最大，因此要求较高的量程；汽车侧面的障碍物对汽车行驶的影响较小，量程需求也较小。
如果上述激光雷达在设计时量程满足最高要求，则成本较高，体积也可能较大；如果按照量程最低要求设计，则无法满足高量程需求，会降低使用感受，甚至会降低相关应用，例如汽车的安全性能；如果按照中间要求设计，则既可能造成浪费，又无法满足需求。
发明内容
基于此，有必要提供一种能同时满足激光雷达高量程和低量程需求的激光雷达及激光雷达的控制方法。
一种激光雷达，包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同。
一种激光雷达，包括至少两组接收端准直单元及至少两组接收单元；各组的接收端准直单元的透光面积相同，每一组接收端准直单元对应于一组的 接收单元；不同组接收端准直单元所对应的接收单元的光敏面积不同。
一种激光雷达的控制方法，包括：
提供激光雷达，所述激光雷达包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同；及
所述接收端准直单元接收反射激光。
一种激光雷达的控制方法，包括：
提供激光雷达，所述激光雷达包括至少两组接收端准直单元及至少两组接收单元；各组接收端准直单元的透光面积相同，每一组接收端准直单元对应于一组接收单元；不同组接收端准直单元所对应的接收单元的光敏面积不同；及
所述接收端准直单元接收反射激光。
上述激光雷达及激光雷达的控制方法，设置了不同的接收光路(即不同组的接收端准直单元的透光面积不同或者不同组的接收端准直单元对应的接收单元的光敏面积不同)。由于不同组的接收端准直单元的透光面积不同，则对于高量程，可采用大透光面积的接收端准直单元；对于低量程，可采用较小透光面积的接收端准直单元。另外，由于不同组的接收端准直单元对应的接收单元的光敏面积不同，则大量程对应较大的光敏面积的接收单元，小量程使用小光敏面积的接收单元。因此，上述激光雷达及激光雷达的控制方法既可以满足激光雷达高量程和低量程的需求，又可以降低激光雷达的成本和体积。
附图说明
为了更清楚地说明本实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1所示为一实施例的激光雷达的示意图；
图2所示为另一实施例的激光雷达的示意图；
图3所示为一实施例的激光雷达控制方法的流程图；
图4所示为另一实施例的激光雷达控制方法的流程图。
具体实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
除非另有定义，本文所使用的所有的技术和科学术语与属于发明的技术领域的技术人员通常理解的含义相同。本文中在发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
一实施例的激光雷达包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同。本实施例中，如图1所示，激光雷达例如包括第一组接收端准直单元210以及第二组接收端准直单元220。第一组接收端准直单元210的透光面积大于第二组接收端准直单元220的透光面积。
每一组接收端准直单元可以是多个接收端准直透镜，或多个接收端准直透镜组，或可以是单个接收端准直透镜。
本实施例中，第一组接收端准直单元210包括一个接收端准直透镜，第二组接收端准直透镜单元220包括四个接收端准直透镜。接收端准直透镜通常为凸透镜。
进一步地，不同组的接收端准直透镜的直径不同。例如，在图1中，第一组接收端准直单元210的接收端准直透镜的直径大于第二组接收端准直透镜单元220的接收端准直透镜的直径。
下面详细解释激光雷达的接收端准直单元的透光面积与激光雷达量程之间的关系。
激光雷达发射出射激光，出射激光被被测物体反射后被激光雷达接收，激光雷达接收的信号可以称为回波信号。激光雷达在某个距离上的回波信号的信噪比超过检测阈值，则认为激光雷达的测量量程可以达到该距离。激光雷达的回波信号的信噪比是随着检测距离的增加而减小的，测量量程越远，信噪比越小。
激光雷达的回波信号的信噪比与发射光路、接收光路、发射电路、接收电路均有关系，在激光雷达的电路相对固定的情况下，激光雷达的接收光路对激光雷达的回波信号的信噪比影响最大。
在接收端，对于高量程使用透光面积较大的准直单元，即使用直径较大的准直透镜，可以接收到更多的光能量，从而获取较高的信噪比，实现对较远距离的探测。
本实施例中公开了一种激光雷达，包括至少两组接收端准直单元，不同组接收端准直单元的透光面积不同。由于激光雷达的回波信号的信噪比是随着检测距离的增加而减小的，测量量程越远回波信号的信噪比越小，采用透光面积较大的接收端准直单元，可以提高回波信号的信噪比，相当于提高了激光雷达的量程。此外，采用至少两组接收端准直单元，对于高量程，采用大透光面积的接收端准直单元，对于低量程，采用较小透光面积的接收端准直单元，透光面积小，成本较低，体积也较小，因此本实施例的激光雷达即可以满足激光雷达高量程和低量程的需求，又可以降低激光雷达的成本和体积。
在另一个实施例中，激光雷达还包括至少两组接收单元。每一组接收端准直单元对应于一组接收单元，即不同组的接收端准直单元对应不同组的接收单元。请参阅图2，激光雷达例如包括第一组接收端准直单元和第二组接收端准直单元。其中，第一组接收端准直单元包括1个第一接收端准直透镜311。并且，第一接收端准直透镜311对应第一接收单元312。第二组接收端准直单元包括2个第二接收端准直透镜321。并且，第二接收端准直透镜321对应第二接收单元322。
本实施例中，所述接收单元可以为雪崩二极管。
其他实施例中，接收单元或可以是其他体积小、成本低、敏感度高的功能模块。
本实施例中，所述接收单元的光敏面的面积与对应的所述接收端准直透镜的直径成正比。例如请继续参考图2，第一接收端准直透镜311用于大量程测量，而第二接收端准直透镜321用于小量程测量。并且，第一接收端准直透镜311的直径大于第二接收端准直透镜321的直径，第一接收单元312的光敏面的面积大于第二接收单元322的光敏面的面积。
包括接收单元的接收端电路用于对回波信号的接收和放大，接收端电路中的接收单元的光敏面的面积直接影响了回波信号的信噪比幅度。光敏面积越大，信噪比幅度越大，可以测量的量程就越大，因此本实施例中，激光雷达的大量程测量时采用大光敏面积的接收单元。
此外，由于接收单元的光敏面积与成本、体积成正比，因此较低量程采用光面面积较小的接收单元可以降低成本，减小体积。
本实施例的激光雷达，能同时满足激光雷达的高量程和低量程需求，且成本较低、体积较小。
和上述激光雷达相对应，本实施例还提供了一种激光雷达的控制方法，所述方法包括以下步骤，请参考图3。
步骤S110，提供激光雷达，所述激光雷达包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同。
步骤S120，所述接收端准直单元接收反射激光。
本实施例中，每一组接收端准直单元为单个接收端准直透镜，多个接收端准直透镜，或多个接收端准直透镜组。
进一步地，所述不同组的接收端准直透镜的直径不同。
具体地，所述接收端准直透镜为凸透镜。
进一步地，激光雷达还包括至少两组接收单元；每一组接收端准直单元对应于一组接收单元。
进一步地，所述接收单元的光敏面的面积与对应的所述接收端准直透镜的直径成正比。
本实施例的激光雷达的控制方法能同时满足激光雷达的高量程和低量程需求，且成本较低、体积较小。
本实施例还提供了一种激光雷达，所述激光雷达包括至少两组接收端准直单元及至少两组接收单元。各组的接收端准直单元的透光面积相同，即不同组的接收端准直单元的透光面积相同。每一组接收端准直单元对应于一组接收单元，即不同组的接收端准直单元对应不同组的接收单元。
例如：激光雷达共包括两组接收端准直单元和两组接收单元，并且，第一组接收端准直单元对应第一组接收单元，第二组接收端准直单元对应第二组接收单元。其中，第一组接收端准直单元的透光面积与第二组接收端准直单元的透光面积相同，但是第一组接收单元的光敏面的面积大于第二组接收单元的光敏面的面积。
本实施例中，激光雷达包括至少两组接收端准直单元，不同组的接收端准直单元的透光面积相同，但是不同组的接收端准直单元对应的接收单元的光敏面积不同。大量程对应较大的光敏面积的接收单元，小量程使用小光敏面积的接收单元。
如上述实施例所述，激光雷达的回波信号的信噪比与发射光路、接收光路、发射电路、接收电路均有关系，因此改变接收单元光敏面积，即可以满足激光雷达大量程和较小量程的需求，又可以节约成本，减小体积。
具体地，所述接收单元为雪崩二极管。
具体地，每一组所述接收端准直单元为多个接收端准直透镜，或为多个接收端准直透镜组，或为单个接收端准直透镜。
和上述激光雷达相对应，本实施例还提供了一种激光雷达的控制方法，所述方法包括以下步骤，请参考图4。
步骤S210，提供激光雷达，所述激光雷达包括至少两组接收端准直单元及至少两组接收单元；各组接收端准直单元的透光面积相同，每一组的接收 端准直单元对应于一组的接收单元；不同组的接收端准直单元所对应的接收单元的光敏面积不同。
步骤S220，所述接收端准直单元接收反射激光。
具体地，每一组所述接收端准直单元为多个接收端准直透镜，或为多个接收端准直透镜组，或为单个接收端准直透镜。
本实施例的激光雷达的控制方法能同时满足激光雷达的高量程和低量程需求，且成本较低、体积较小。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (18)

  1. 一种激光雷达，包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同。
  2. 如权利要求1所述的激光雷达，其特征在于，每一组接收端准直单元为单个接收端准直透镜，多个接收端准直透镜，或多个接收端准直透镜组。
  3. 如权利要求2所述的激光雷达，其特征在于，所述接收端准直透镜为凸透镜。
  4. 如权利要求2所述的激光雷达，其特征在于，所述不同组的接收端准直透镜的直径不同。
  5. 如权利要求2所述的激光雷达，其特征在于，还包括至少两组接收单元；每一组接收端准直单元对应于一组接收单元。
  6. 如权利要求5所述的激光雷达，其特征在于，所述接收单元的光敏面的面积与对应的所述接收端准直透镜的直径成正比。
  7. 如权利要求5所述的激光雷达，其特征在于，所述接收单元为雪崩二极管。
  8. 一种激光雷达，包括至少两组接收端准直单元及至少两组接收单元；各组接收端准直单元的透光面积相同，每一组接收端准直单元对应于一组接收单元；不同组接收端准直单元所对应的接收单元的光敏面积不同。
  9. 如权利要求8所述的激光雷达，其特征在于，所述接收单元为雪崩二极管。
  10. 如权利要求8所述的激光雷达，其特征在于，每一组接收端准直单元为单个接收端准直透镜，多个接收端准直透镜，或多个接收端准直透镜组。
  11. 一种激光雷达的控制方法，包括：
    提供激光雷达，所述激光雷达包括至少两组接收端准直单元，每一组接收端准直单元的透光面积与其他组不同；及
    所述接收端准直单元接收反射激光。
  12. 如权利要求11所述的方法，其特征在于，每一组接收端准直单元为 单个接收端准直透镜，多个接收端准直透镜，或多个接收端准直透镜组。
  13. 如权利要求12所述的方法，其特征在于，所述接收端准直透镜为凸透镜。
  14. 如权利要求12所述的方法，其特征在于，所述不同组接收端准直透镜的直径不同。
  15. 如权利要求12所述的方法，其特征在于，所述激光雷达还包括至少两组接收单元；每一组接收端准直单元对应于一组接收单元。
  16. 如权利要求15所述的方法，其特征在于，所述接收单元的光敏面的面积与对应的所述接收端准直透镜的直径成正比。
  17. 一种激光雷达的控制方法，包括：
    提供激光雷达，所述激光雷达包括至少两组接收端准直单元及至少两组接收单元；各组接收端准直单元的透光面积相同，每一组接收端准直单元对应于一组接收单元；不同组接收端准直单元所对应的接收单元的光敏面积不同；及
    所述接收端准直单元接收反射激光。
  18. 如权利要求17所述的方法，其特征在于，每一组接收端准直单元为单个接收端准直透镜，多个接收端准直透镜，或多个接收端准直透镜组。
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