WO2022016380A1 - Laser radar and autonomous driving device - Google Patents

Abstract

A laser radar (100) and an autonomous driving device. The laser radar comprises a transmission drive system (1), a transmission system (2), a receiving system (3) and a signal processing system (4), wherein the transmission system (2) comprises multiple light-emitting units (21a), which are used for transmitting an emitted laser, and the transmission system (2) is used to turn on the light-emitting units (21a) according to a first sequence, such that the emitted laser traverses a detection region in a scanning manner; the receiving system (3) comprises multiple detection units (31a), which are used for receiving an echo laser, and the receiving system (3) is used to turn on selected detection units (31a) so as to receive the echo laser, and to detect the detection region scanned by the emitted laser that is transmitted by the light-emitting units (21a); the transmission drive system (1) is used to drive the transmission system (2); the signal processing system (4) is used to calculate distance information of an object in the detection region on the basis of the emitted laser and the echo laser; and the detection units (31a) comprise a photosensitive zone, and the ratio of the area of the photosensitive zone to the pixel area of the detection units (31a) is less than or equal to 0.5, such that the ability of the laser radar (100) to resist ambient light is improved.

Description

LiDAR and autonomous driving equipment technical field

Embodiments of the present invention relate to the technical field of radar, and in particular, to a laser radar and an automatic driving device.

Background technique

Lidar is a radar system that uses lasers to detect the position, speed and other characteristic quantities of the target object. Its working principle is that the transmitting system first transmits the outgoing laser for detection to the target, and then the receiving system receives the echo laser reflected from the target object. , after processing the received echo laser, the relevant information of the target object can be obtained, such as parameters such as distance, azimuth, altitude, speed, attitude, and even shape.

Area array lidar refers to lidar in which both the transmitting system and the receiving system are area arrays, and there is no rotating scanning structure. For example, the transmitting system is a Vertical Cavity Surface Emitting Laser array (VCSEL array) with addressing function, which scans and transmits electronically; the receiving system is a single-photon avalanche photodiode array (Single-photon Avalanche). Photodiode array, SAPD array), which has single-photon level sensitivity. Solid-state lidars based on SAPD arrays are susceptible to ambient light, which affects the detection performance of lidars.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, the main purpose of the embodiments of the present invention is to provide a laser radar and an automatic driving device, which solves the problem that the laser radar in the prior art is easily affected by ambient light.

A technical solution adopted by the embodiment of the present invention is to provide a laser radar, wherein the laser radar includes the laser radar including a transmission driving system, a transmission system, a receiving system and a signal processing system;

The emission system includes a plurality of light-emitting units for emitting outgoing laser light, and the emission system is configured to turn on the light-emitting units in a first order so that the outgoing laser light traverses the detection area in a scanning manner;

The receiving system includes a plurality of detection units for receiving echo laser light, and the receiving system is used to turn on the selected detection unit to receive the echo laser light, and detect the detection of the outgoing laser scan emitted by the light emitting unit area, the echo laser is the laser returned after the outgoing laser is reflected by the object in the detection area;

the launch drive system is used to drive the launch system;

The signal processing system is configured to calculate distance information of objects in the detection area based on the outgoing laser light and the echoed laser light;

The detection unit includes a photosensitive area, and the ratio of the area of the photosensitive area to the pixel area of the detection unit is a fill factor of the detection unit, and the fill factor of the detection unit is less than or equal to 0.5.

In some embodiments, the light-emitting unit includes an active region, the ratio of the area of the active region to the cavity surface 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 correspond to the detection units one-to-one.

In some embodiments, the light emitting units in adjacent rows are arranged in a staggered arrangement, and the detection units in the adjacent rows are arranged in a staggered arrangement.

In some embodiments, in the horizontal direction, a horizontal field of view angle between two adjacent light-emitting units in a horizontal projection is a first horizontal field of view angle, and between two adjacent light-emitting units in a row The horizontal field of view is the second horizontal field of view, and the first horizontal field of view is less than or equal to 1/2 of the second horizontal field of view;

In the horizontal direction, the horizontal field of view angle between two adjacent detection units in the horizontal projection is the first horizontal field of view angle, and the horizontal field of view angle between two adjacent detection units in the same row is The second horizontal viewing angle, the first horizontal viewing angle is less than or equal to 1/2 of the second horizontal viewing angle.

In some embodiments, the first horizontal viewing angle is 1/4 of the second horizontal viewing angle.

In some embodiments, the light emitting units in adjacent columns are arranged in a staggered arrangement, and the detection units in the adjacent columns are arranged in a staggered arrangement.

In some embodiments, in the vertical direction, a horizontal field of view angle between two adjacent light-emitting units vertically projected is a third horizontal field of view angle, and two adjacent light-emitting units in the same column The vertical viewing angle between them is the fourth horizontal viewing angle, and the third horizontal viewing angle is less than or equal to 1/2 of the fourth horizontal viewing angle;

In the vertical direction, the horizontal field of view angle between the vertically projected two adjacent detection units is the third horizontal field of view angle, and the vertical field of view between the two adjacent detection units in the same row The field angle is a fourth horizontal field angle, and the third horizontal field angle is less than or equal to 1/2 of the fourth horizontal field angle.

In some embodiments, the third horizontal viewing angle is 1/4 of the fourth horizontal viewing angle.

In some embodiments, the receiving system includes a plurality of receiving areas, each of the receiving areas includes a plurality of detection units, and the light-emitting units correspond to the receiving areas one-to-one.

In some embodiments, the outgoing laser light emitted by a single light-emitting unit is reflected by an object in the detection area and then returned to be received by one detection unit in the receiving area.

In some embodiments, the emission system includes a first array transmitter including a plurality of first light emitting units and a second array transmitter including a plurality of second light emitting units A light-emitting unit, the light spots of the outgoing lasers emitted by the first light-emitting unit and the second light-emitting unit are arranged at intervals in the detection area, and the first array detector and the second array emitter are used to turning on the first light-emitting unit and the second light-emitting unit in a first order;

The receiving system includes a plurality of receiving areas, each of the receiving areas includes a plurality of detection units, and the first light-emitting unit, the second light-emitting unit and the receiving area are in one-to-one correspondence.

In some embodiments, the outgoing laser light emitted by a single first light-emitting unit is reflected by an object in the detection area and then returned echo laser light is used to be received by a detection unit in the receiving area, and the single first light-emitting unit returns. The outgoing laser light emitted by the second light-emitting unit is reflected by the object in the detection area, and the returned echo laser light is used to be received by another detection unit in the receiving area.

In some embodiments, the selected detection units are all detection units in the receiving system; or, the selected detection units are detection units in the receiving system that can receive echo laser light.

In some embodiments, the first sequence is: turning on a plurality of light-emitting units in the first emission area at a first time, turning on a plurality of light-emitting units in the second emission area at a second time, until the outgoing laser scans 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, both m and n are integers greater than 1, and the Both p and q are integers greater than or equal to 1, 1<p<m or 1<q<n.

In some embodiments, p is smaller than m, and q is smaller than n; the emission system is used to turn on the light-emitting unit in a first direction and then in the opposite direction of the first direction, or to keep the light-emitting unit along the first direction. turn on the light-emitting units row by row or column by column; or,

The p is equal to m, and q is less than n; the emission system is used to turn on the light-emitting unit in the vertical direction; or,

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 a horizontal direction.

In some embodiments, the transmitting system includes an array of vertical cavity surface emitting lasers and the receiving system includes an array of single-photon avalanche photodiodes.

In some embodiments, the emission system further includes an emission optical module for collimating the outgoing laser light emitted by the light-emitting unit;

The receiving system further includes a receiving optical module for converging the echo laser and emitting the converged echo laser to the detection unit.

In some embodiments, the fill factor of the detection unit is 0.4-0.5, and the fill factor of the light-emitting unit is 0.4-0.5.

An embodiment of the present invention further provides an automatic driving device, including a driving device body and the above-mentioned lidar, where the lidar is installed on the driving device body.

The beneficial effects of the embodiments of the present invention are: in the embodiments of the present invention, by setting the fill factor of the array detector at the receiving end to be smaller than the first ratio, a smaller fill factor reduces the received ambient light intensity, thereby improving the signal-to-noise ratio , which improves the lidar's ability to fight against ambient light and improves the ranging performance.

Description of drawings

One or more embodiments are exemplified by the pictures in the corresponding drawings, and these exemplifications do not constitute limitations of the embodiments, and elements with the same reference numerals in the drawings are denoted as similar elements, Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

1 is a structural block diagram of a laser radar provided by an embodiment of the present invention;

2 is a structural block diagram of a laser radar provided by another embodiment of the present invention;

3 is a schematic structural diagram of an array transmitter in an embodiment of the present invention;

4 is a schematic structural diagram of an array detector in an embodiment of the present invention;

5 is a schematic diagram of an optical path of a laser radar in an embodiment of the present invention;

6 is a schematic diagram of a dislocation arrangement of adjacent rows of transceiver arrays in an embodiment of the present invention;

7 is a schematic view of the field of view of the dislocation arrangement of adjacent rows of transceiver arrays in an embodiment of the present invention;

8 is a schematic view of the field of view of the dislocation arrangement of adjacent rows of transceiver arrays in another embodiment of the present invention;

9 is a schematic diagram of a dislocation arrangement of adjacent columns of transceiver arrays in an embodiment of the present invention;

10 is a schematic view of the field of view of the dislocation arrangement of adjacent columns of transceiver arrays in an embodiment of the present invention;

11 is a schematic diagram of the corresponding relationship between the light-emitting unit and the detection unit in the embodiment of the present invention;

12 is a schematic diagram of the corresponding relationship between the light-emitting unit and the detection unit in another embodiment of the present invention;

13 is a schematic structural diagram of an automatic driving device provided by an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of an automatic driving device provided by another embodiment of the present invention.

The reference numerals in the specific embodiment are as follows:

Lidar 100, transmission drive system 1, transmission system 2, array transmitter 21, light-emitting unit 21a, transmission optical module 22, reception system 3, array detector 31, detection unit 31a, reception optical module 32, signal processing system 4, Automatic driving device 200, driving device body 201.

detailed description

Embodiments of the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

It should be noted that, unless otherwise specified, the technical or scientific terms used in the present invention should have the usual meanings understood by those skilled in the art to which the present 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", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, " The orientations or positional relationships indicated by "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated devices or elements must be It has a specific orientation, is constructed and operates in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the present invention, "plurality" and "several" mean two or more (including two) unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary get in touch with. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Area array lidar refers to a lidar in which both the transmitting system and the receiving system are area arrays, the transmitting system is an array transmitter, and the receiving system is an array detector, without a rotating scanning structure. For example, the transmitting system is a Vertical Cavity Surface Emitting Laser array (VCSEL array) with addressing function, which scans and transmits electronically; the receiving system is a single-photon avalanche photodiode array (Single-photon Avalanche). Photodiode array, SAPD array), with single-photon level sensitivity. Solid-state lidars based on SAPD arrays are susceptible to ambient light, which affects the detection performance of lidars.

The SAPD array of the area array lidar includes a plurality of identical pixel units, and the pixel units are generally arranged in a rectangular form. In a single pixel unit, some active areas are sensitive to light and are photosensitive areas, while other areas have no photosensitivity and are non-photosensitive areas. The ratio of the photosensitive area to the entire pixel unit area is the fill factor (FF) of the SAPD array. Due to the existence of non-photosensitive areas, area array lidar has a certain blind area of solid angle of detection field of view, and its real resolution is generally smaller than that of point cloud.

Solid-state lidars based on SAPD arrays are susceptible to ambient light due to their single-photon level sensitivity, high sensitivity, and response to all optical signals. Increasing the power of the launch system can improve the signal-to-noise ratio of the lidar and reduce the impact of ambient light, but this method is limited by factors such as practical applications, energy consumption constraints, the technological level of the area array light source, and human eye safety. Under the condition of strong ambient light background radiation, or when the target with strong reflectivity appears, the lidar easily loses its detection ability due to saturation and blindness. Therefore, the detection ability of lidar is related to ambient light, which also causes a large gap between the day and night ranging performance of lidar.

The inventors found that when the field of view corresponding to a single pixel of the array detector is constant, the ambient light immunity and true resolution of the lidar are both related to the fill factor. Decreasing the fill factor can improve the lidar's ability to combat ambient light. Therefore, the embodiments of the present invention provide a lidar that reduces the received ambient light intensity by reducing the fill factor.

Referring to FIG. 1 , an embodiment of the present invention provides a laser radar 100 , which includes a transmission driving system 1 , a transmission system 2 , a receiving system 3 , and a signal processing system 4 . The emission system 2 is used to emit outgoing laser light and make the outgoing laser light traverse the detection area in a scanning manner. The outgoing laser is reflected by the object in the detection area and returns to the echo laser. The receiving system 3 is used to receive the echo laser. The launch drive system 1 is used to drive the launch system 2 . The signal processing system 4 is used to calculate the distance information of objects in the detection area based on the outgoing laser light and the echoing laser light.

Please refer to FIG. 2 , the transmitting system 2 includes an array transmitter 21 , and please refer to FIG. 3 at the same time, the array transmitter 21 includes a plurality of light-emitting units 21 a for emitting outgoing laser light, and the array transmitter 21 is used to The light-emitting units 21a are turned on in sequence so that the emitted laser light traverses the detection area in a scanning manner. The array transmitter 21 may adopt a vertical cavity surface emitting laser array (Vertical-Cavity Surface-Emitting Laser array, VCSEL array), a light emitting diode array (Light Emitting Diode array, LED array), a Micro Light Emitting Diode array (Micro Light Emitting Diode array, Micro LED array), pulsed laser deposition array (Pulsed Laser Deposition array, PLD array) or laser diode array (Laser Diode array, LD array) can form array emission devices. In the embodiment of the present invention, the array transmitter 21 is a VCSEL array. For example, the VCSEL array includes m*n light-emitting units 21a that can be individually controlled and switched, and both m and n are integers greater than 1.

In some embodiments, the emitting system 2 further includes a emitting optical module 22 for collimating the outgoing laser light, and emitting the collimated outgoing laser light to the detection area. The transmitting optical module 22 may employ an optical fiber and a ball lens group, a separate ball lens group, a cylindrical lens group, and the like.

The receiving system 3 includes an array detector 31. Please refer to FIG. 4 at the same time. The array detector 31 includes a plurality of detection units 31a for receiving echo laser light. Each detection unit 31a has a photosensitive area smaller than the detection unit 31a. Area. The array detector 31 is used to turn on the selected detection unit 31a to receive the echo laser light, and to detect the detection area scanned by the outgoing laser light emitted by the light emitting unit 21a. The selected detection unit 31a corresponds to the light emitting unit 21a that emits outgoing laser light. The array detector 31 can adopt 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) ), multi-pixel photon counter array (Multi-Pixel Photon Counter array, MPPC array), photomultiplier tube array (photomultiplier tube array, PMT array) and other devices that can be composed of array receiving devices. In the embodiment of the present invention, the array detector 31 is a SAPD array. For example, the SAPD array includes m*n detection units 31a with individually controllable switches, where m and n are both integers greater than 1.

In some embodiments, the receiving system 3 further includes a receiving optical module 32 for condensing the echo laser light, and sending the converged echo laser light to the array detector 31. The receiving optical module 32 may adopt a ball lens, a ball lens group, a cylindrical lens group, or the like.

The signal processing system 4 can use a Field Programmable Gate Array (FPGA), and the FPGA is connected to the emission drive system 1 to control the emission of the outgoing laser light. The FPGA is also connected to the clock pin, data pin and control pin of the receiving system 3 respectively to control the receiving of the echo laser. The FPGA calculates the distance information of objects in the detection area based on the outgoing laser light and the returning laser light.

The specific settings of the array transmitter 21 and the array detector 31 and their working modes will be described below.

The light-emitting units 21a of the array transmitter 21 correspond to the detection units 31a of the array detector 31 one-to-one, so that the outgoing laser light emitted by the light-emitting unit 21a corresponds to the echo laser light received by the detection unit 31a, that is, the outgoing laser light emitted by the light-emitting unit 21a The position irradiated on the detection area corresponds to the position of the detection area detected by the detection unit 31a. For example, if the first light-emitting unit 21a corresponds to the first detection unit, the first outgoing laser light emitted by the first light-emitting unit 21a is reflected by the object in the detection area and then returns to the first echo laser light, and the first detection unit receives the first echo laser light. wave laser. Specifically, for example, the light-emitting unit 21a at the (1,1) position corresponds to the detection unit 31a at the (1,1) position, and is used to detect the R11 region, and the light-emitting units 21a at the (1,2) position and (1,2) The detection unit 31a of the position corresponds to the detection unit 31a for detecting the R12 area... The corresponding light emitting unit 21a and the detection unit 31a are controlled to be turned on and off at the same time.

It can be understood that, in the array emitter 21 and the array detector 31, only the working light-emitting units 21a and the working detection units 31a may be in one-to-one correspondence. For example, only part of the light emitting units 21a in the array emitter 21 work, and only part of the detection units 31a in the array detector 31 work, and the working light emitting units 21a correspond to the working detection units 31a one-to-one. Alternatively, if the number of light-emitting units 21a in the array emitter 21 is greater than the number of detection units 31a in the array detector 31, all the detection units 31a of the array detector 31 correspond to some light-emitting units 21a of the array emitter 21 one-to-one. Alternatively, if the number of light-emitting units 21a in the array emitter 21 is smaller than the number of detection units 31a in the array detector 31, all the light-emitting units 21a of the array emitter 21 correspond to part of the detection units 31a of the array detector 31 one-to-one.

The first order in which the light emitting unit 21a and the detection unit 31a are turned on will be described below.

1. Turn on a single light-emitting unit 21a and detection unit 31a at a time

Turn on the light-emitting unit 21a at the (1,1) position, and synchronously turn on the detection unit 31a at the (1,1) position, thereby realizing the detection of the R11 area; turn on the light-emitting unit 21a at the (1,2) position, and turn on the (1,1) 2) The detection unit 31a of the position, so as to realize the detection of the R12 area... Turn on the last light-emitting unit 21a, and turn on the last detection unit 31a synchronously, so as to realize the detection of the last area.

Alternatively, turn on the light emitting unit 21a at the last position first, turn on the corresponding detection unit 31a synchronously, and scan the detection area in the reverse order of (1,1), (1,2) . . .

2. Turn on the light-emitting unit 21a and the detection unit 31a in a single column/row at a time

Turn on the light-emitting unit 21a of the first row (including (1,1), (1,2)...(1,m)), and turn on the detection unit 31a of the first row synchronously, so as to realize the detection of the R1 area; turn on the first row The light-emitting units 21a of two rows (including (2,1), (2,2)...(2,m)) turn on the detection units 31a of the second row synchronously, so as to realize the detection of the R2 area...the last row is turned on The light-emitting unit 21a (including (n, 1), (n, 2) . Alternatively, the light-emitting units 21a in the last row are turned on first, the corresponding detection units 31a are turned on synchronously, and the detection area is scanned in the reverse order of the above sequence.

Alternatively, turn on the light-emitting units 21a of the first column (including (1,1), (2,1)...(n,1)), and simultaneously turn on the detection units 31a of the first column, thereby realizing the detection of the R1 area; Turn on the light-emitting unit 21a of the second column (including (1,2), (2,2)...(n,2)), and turn on the detection unit 31a of the second column synchronously, so as to realize the detection of the R2 area...turn on The last column of light-emitting units 21a (including (1,m), (2,m) . Alternatively, the light emitting units 21a in the last column are turned on first, the corresponding detection units 31a are turned on synchronously, and the detection area is scanned in the reverse order of the above.

Compared with the above point sending and receiving method, the single column/single row scanning method can reduce the scanning period of a single frame and improve the detection efficiency.

3. Turn on the light-emitting unit 21a and the detection unit 31a in a block area at a time

In the array emitter 21, each area includes p*q light-emitting units 21a, wherein p and q are both integers greater than 1, 1<p<m or 1<q<n. Correspondingly, in the array detector 31, each area includes p*q detection units 31a.

The array emitter 21 first turns on the light emitting units 21a in each area along the first direction and then in the opposite direction of the first direction, or keeps turning on the light emitting units 21a in each area row by row or column along the first direction. The direction can be a horizontal direction or a vertical direction, for example: turn on the light-emitting unit 21a in the first area, turn on the detection unit 31a in the first area synchronously, so as to realize the detection of the R1 area; turn on the light-emitting unit 21a in the second area, turn on synchronously The detection unit 31a in the second row realizes detection of the R2 area... Turn on the light emitting unit 21a in the last area, and simultaneously turn on the detection unit 31a in the last area, so as to realize the detection of the last area.

Compared with the above method of sending and receiving, the area scanning method can reduce the scanning period of a single frame and improve the detection efficiency.

The above is a schematic description of how the light-emitting unit 21a and the detection unit 31a are turned on, and should not be construed to 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 detection unit 31a complete a single scan of the corresponding detection area, the light-emitting unit 21a and the detection unit 31a are synchronously turned off.

In the embodiment of the present invention, the ratio of the area of the photosensitive region to the pixel area of the detection unit 31a is the fill factor of the detection unit 31a, and the fill factor of the detection unit 31a is less than or equal to 0.5. In the lidar 100 of the embodiment of the present invention, the fill factor of the array detector 31 at the receiving end is set to be less than or equal to 0.5, and a smaller fill factor reduces the received ambient light intensity, thereby improving the signal-to-noise ratio and improving the laser power. The radar 100's ability to combat ambient light improves ranging performance. The embodiment of the present invention can exponentially improve the signal-to-noise ratio of the system without the need for complex optical system optimization or increasing the transmit power, lowering the system's requirement for the power of the transmit light source, effectively suppressing the blinding of the single-photon system by ambient light, and reducing the Differences in ranging performance based on day and night use of single-photon detection devices.

Theoretically, the smaller the filling factor of the detection unit 31a, the better 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 not only improve the signal-to-noise ratio, but also meet the requirements of actual processing and applications.

The light-emitting unit 21a includes an active area, and the ratio of the area of the active area to the cavity surface area of the light-emitting unit 21a is the fill factor of the light-emitting unit 21a. In some embodiments, the fill factor of light emitting cell 21a is set to be less than or equal to 0.5. In some embodiments, the fill factor of the light emitting cells 21a is also in the range of 0.4-0.5. Referring to FIG. 5 , the active areas of the light-emitting unit 21a and the detection unit 31a are both small in area, the emission field of view is the same as the reception field of view or the emission field of view is slightly smaller than the reception field of view, and the outgoing laser from a specific pixel at the emission end is All the echo lasers reflected by the target are concentrated in the active area of the pixel center of the receiving end array. By scaling the fill factor of the array transmitter 21 (signal light source) at the transmitting end, most or all of the emitted outgoing laser light reflected by the target object can be received by the array detector 31 to ensure the array detection. The signal light received by the detector 31 is unchanged or only a small part of the signal light is reduced, while the received ambient light intensity is reduced, which further improves the ability of the lidar 100 to resist ambient light, improves the signal-to-noise ratio, and improves the ranging performance. .

The fill factor of the light-emitting unit 21a and the fill factor of the detection unit 31a may be the same or different. When the fill factor of the light emitting unit 21 a is greater than that of the detection unit 31 a , only the echo laser reflected by the target object in most of the emitted outgoing laser light can be received by the array detector 31 . When the fill factor of the light-emitting unit 21a is the same as the fill factor of the detection unit 31a, by scaling the array emitter 21 with the same fill factor as the array detector 31, all the outgoing lasers in the emitted outgoing lasers are echoes reflected by the target object The laser light can be received by the array detector 31, so that the received signal light remains unchanged, and the received ambient light intensity is reduced, which maximizes the ability of the lidar 100 to resist ambient light, improves the signal-to-noise ratio, and improves the detection rate. distance performance. When the fill factor of the light-emitting unit 21a is smaller than the fill factor of the detection unit 31a, similar to the foregoing embodiment with the same fill factor, the echo laser light reflected by the target object in all the emitted outgoing lasers can be received by the array detector 31, The received signal light is kept unchanged, while the received ambient light intensity is reduced, which maximizes the ability of the lidar 100 to resist ambient light.

The principle that the change of the fill factor of the array detector 31 causes the change of the system signal-to-noise ratio will be described below:

_{The calculation of the noise power P noise} and the signal power P _sig detected by the lidar 100 is as follows:

Among them, F is F# (F number), F#=f/d (f is the focal length, d is the entrance pupil diameter), assuming that the pixel of the SAPD array is a rectangle, the active area is a circle, and a is the regular side length of the pixel , b is the diameter of the active region, φ is the resolution, and r is the reflectivity of the target.

The rest are fixed values related to the actual working conditions or the design of the lidar 100 system. For example, E _sun is the solar spectrum, λ is the sun azimuth angle, θ is the angle between the direct sunlight angle and the target normal,

and

is the horizontal and vertical field of view corresponding to the single-pixel active area of the SAPD array, P _t is the emission peak power of the transmitter, t _air is the loss of one-way transmission in the atmosphere, tt and tr are the optical systems of the transmitter and receiver, respectively efficiency, R is the target distance.

For a specific detector, the field of view corresponding to the active area of the SAPD

and

It is only related to the angular resolution of a single pixel, and the side length a and angular resolution φ of the pixel specification of the detector array are fixed. but:

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. Therefore, for a target with a specific distance and reflectivity, under specific system requirements (such as detector arrays) The pixel pitch a and angular resolution φ are required to be fixed), without changing the output power of the transmitter, adjust and select the appropriate size of the receiver lens aperture (ie F#), and only need to reduce b to improve the signal-to-noise ratio of the system. For example, if b is doubled, the signal-to-noise ratio of the system can be increased by 4 times. Therefore, by adopting a smaller fill factor b, the immunity of the system to ambient light can be improved.

When the fill factor is small, the system has better suppression of ambient light, and the peak power of the transmitter required to achieve the system detection performance requirements is also low. With the increase of the fill factor, the higher the transmitter peak power required by the system, the lower the detection performance for highly anti-target targets. Therefore, a reasonable selection of the size of the fill factor can greatly improve the ambient light immunity of the system, restrain the restriction of the system performance due to harsh working conditions, and reduce the cost of the system.

In addition, the noise sources of the system include the dark count rate (Dark Count Rate, DCR), hardware circuit noise, thermal noise, etc. in addition to ambient light noise. The signal-to-noise ratio of the system is defined as follows:

Under different working conditions, the main sources of noise of the system are different. For example, in the night environment, the main source of noise of the system is DCR. In general, DCR, hardware noise and thermal noise are related to SAPD device characteristics and temperature. In a system under specific operating conditions (ambient light and temperature), it can be considered that DCR, hardware noise and thermal noise are customized and compared to ambient For a small amount of light, the above formula (4) can simplify the processing:

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. The calculation formula of the Signal-Noise Ratio (SNR) of the system is:

It can be seen that SNR is related to system parameter settings such as emission peak power P _t , optical system emission efficiency tt, ambient light intensity such as solar spectrum E _sun , target distance R and FF of array detector 31 .

For point-to-point imaging optics, the fill factor FF _{1 of the} array emitter only affects the ratio at which the outgoing peak power P _t can be utilized: i.e. when the fill factor of the array emitter and the array detector is the same or the fill factor FF of the array emitter pixels _{When 1 is} smaller than the filling factor FF _{2 of the} corresponding pixel of the array detector, all the outgoing energy is effective emission energy; when the filling factor FF _{1 of the} array emitter pixel is greater than the filling factor FF _{2 of the} corresponding pixel of the array detector, the outgoing energy is There is a certain loss, at this time there is a modulation factor c≈FF ₂ /FF ₁ , and P _t =c×P _t .

Therefore, no matter the fill factor of the array transmitter and the array detector is the same or different, the signal-to-noise ratio of the system is ultimately determined by a variety of factors, and the value of SNR can be calculated by bringing in any set of parameters that determine the SNR.

Under fixed system design and operating conditions, SNR=f(R,FF). According to the Monte Carlo simulation model, the effective detection probability of the system is P=g(R, SNR), so P=v(SNR, R, FF), that is, the value range of the filling factor of the array detector can be determined by the effective detection probability of the system , the target distance is determined. We can determine the actual fill factor of the array detector according to the effective detection probability to be achieved by the system and the target distance of the application scenario.

The embodiment of the dislocation arrangement of the transceiver array:

In one embodiment, please refer to FIG. 6 , the light emitting units 21 a in adjacent rows are arranged in a staggered arrangement. In the horizontal direction, the horizontal field of view between two adjacent light-emitting units 21a in horizontal projection is the first horizontal field of view, and the horizontal field of view between two adjacent light-emitting units 21a in the same row is the second Horizontal field of view, the first horizontal field of view is less than or equal to 1/2 of the second horizontal field of view, for example, the first horizontal field of view is 1/2, 1/3, 1/2 of the second horizontal field of view 4, 1/6, etc. Referring to FIG. 7 , in this embodiment, the first horizontal viewing angle is 1/4 of the second horizontal viewing angle, for example, the horizontal viewing angle between two adjacent light-emitting units 21 a in the same row is 0.4 °, in the horizontal direction, the horizontal field of view angle between two adjacent light-emitting units 21a in horizontal projection is 0.1°. Referring to FIG. 8 , in this embodiment, the first horizontal field of view is 1/2 of the second horizontal field of view, for example, the horizontal field of view between two adjacent light-emitting units 21 a in the same row is 0.4 °, in the horizontal direction, the horizontal field of view angle between two adjacent light emitting units 21a in horizontal projection is 0.2°.

Correspondingly, the detection units 31a in adjacent rows are also arranged in a staggered arrangement. In the horizontal direction, the horizontal field of view between two adjacent detection units 31a in horizontal projection is the first horizontal field of view, and the horizontal field of view between two adjacent detection units 31a in the same row is the second Horizontal field of view, the first horizontal field of view is less than or equal to 1/2 of the second horizontal field of view, for example, the first horizontal field of view is 1/2, 1/3, 1/2 of the second horizontal field of view 4, 1/6, etc. In this embodiment, the first horizontal field of view angle is 1/4 of the second horizontal field of view angle. For example, the horizontal field of view angle between two adjacent light-emitting units 21a in a row is 0.4°. In the horizontal direction, The horizontal field of view angle between two adjacent light emitting units 21a in horizontal projection is 0.1°.

In another embodiment, please refer to FIG. 9 , the light emitting units 21 a in adjacent columns are arranged in a staggered arrangement. In the vertical direction, the horizontal field of view angle between two adjacent light-emitting units 21a in vertical projection is the third horizontal field of view angle, and the vertical field of view between two adjacent light-emitting units 21a in the same column is the third horizontal field of view angle. is the fourth horizontal field of view, and the third horizontal field of view is less than or equal to 1/2 of the fourth horizontal field of view. For example, the third horizontal field of view is 1/2 and 1/3 of the fourth horizontal field of view. , 1/4, 1/6, etc. Referring to FIG. 10 , in this embodiment, the third horizontal viewing angle is 1/4 of the fourth horizontal viewing angle, for example, the horizontal viewing angle between two adjacent light-emitting units 21 a in the same row is 0.4 °, in the vertical direction, the horizontal field of view angle between two adjacent light emitting units 21a in vertical projection is 0.1°.

Correspondingly, the detection units 31a in adjacent columns are arranged in a staggered arrangement. In the vertical direction, the horizontal field of view angle between the vertically projected two adjacent detection units 31a is the third horizontal field of view angle, and the vertical field of view between the two adjacent detection units 31a in the same column is the fourth horizontal field of view, and the third horizontal field of view is less than or equal to 1/2 of the fourth horizontal field of view. For example, the third horizontal field of view is 1/2 and 1/3 of the fourth horizontal field of view. , 1/4, 1/6, etc. In this embodiment, the third horizontal field of view angle is 1/4 of the fourth horizontal field of view angle, for example, the horizontal field of view angle between two adjacent light-emitting units 21a in the same column is 0.4°, in the vertical direction , the horizontal field of view angle between two adjacent light-emitting units 21a in vertical projection is 0.1°.

In the above embodiment, by dislocating the light-emitting unit 21a and the detection unit 31a respectively, the distance between the active areas of the two nearest pixels in the adjacent pixels is reduced, and a denser arrangement is formed in space. It can use a smaller active area size to suppress ambient light while ensuring sufficient point cloud resolution to avoid missed detection of small far-field targets. There is no need to do complex optimization of the optical system, and there is no need to rely on back-end processing algorithms, which can effectively improve the detection capability of the lidar 100 under the ambient light irradiance of 110KLUX and the dynamic detection range of the system, which is equivalent to improving the system ambient light. Immunity without losing the actual resolution of the system, with a denser point cloud arrangement and true resolution.

A single light-emitting unit 21a corresponds to an embodiment of multiple detection units 31a:

Please refer to Figure 11. The array detector 31 includes a plurality of receiving areas R, each receiving area R includes a plurality of detecting units 31a, and the light-emitting units 21a correspond to the receiving areas R one-to-one, that is, a single light-emitting unit 21a corresponds to a plurality of detecting units 31a. The outgoing laser light emitted by the single light-emitting unit 21a is reflected by the object in the detection area and then returns the echo laser light for being received by one or more detection units 31a in the receiving area R. If the emission field of view of the light-emitting unit 21a is larger than the reception field of view of the detection unit 31a, the outgoing laser light emitted by a single light-emitting unit 21a is reflected by the object in the detection area and the returned echo laser will be detected by multiple detection units in the receiving area R. 31a receiving, the larger the emission field of view of the light-emitting unit 21a, the greater the number of detection units 31a used to receive the corresponding echo laser light. If the emission field of view of the light-emitting unit 21a is smaller than or equal to the reception field of view of the detection unit 31a, the outgoing laser light emitted by a single light-emitting unit 21a is reflected by objects in the detection area and the returned echo laser light is only detected by one of the receiving areas R Unit 31a receives. The detection unit 31 a in each receiving area R that can receive the echo laser can be understood as the active area of the receiving area R. As shown in FIG.

The receiving area R may be a small array composed of a*a detection units 31a, such as 2*2, 3*3, 4*4, 5*5 and so on. In the receiving area R, one or a few detection units 31a are selected as the active area to receive the echo laser light.

The light-emitting units 21a can be arranged adjacently or there is a certain distance between the light-emitting units 21a. In this embodiment, there is a certain distance between the light-emitting units 21a. For example, in the horizontal direction, the distance between any two horizontally projected adjacent light-emitting units 21a is 3 units; in the vertical direction, any two The distance between vertically projected adjacent light-emitting units 21a is one unit. The detection area irradiated by the outgoing laser light emitted by the single light-emitting unit 21a is detected by the single detection unit 31a within the single receiving area R. It can be understood that, the above-mentioned distance can also be set to other number of units.

In actual operation, all detection units 31a in the array detector 31 of the receiving system 3 can be turned on, that is, the above-mentioned selected detection units 31a 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 can be turned on, that is, the selected detection unit 31a mentioned above is the one that can receive the echo laser light in the receiving area R. Detection unit 31a. For example, the system is theoretically designed so that the detection area irradiated by the outgoing laser light emitted by a single light-emitting unit 21a is only detected by a single detection unit 31a in a single receiving area R, but in actual manufacturing, due to process limitations, it may not be possible to realize a single light-emitting unit 21a It is completely aligned with the single detection unit 31a, so during operation, all detection units 31a in the array detector 31 of the receiving system 3 can be selected to be turned on to avoid the situation where only the corresponding single detection unit 31a cannot receive all the echo lasers.

In the above embodiment, several detection units 31a are formed into a small array, and only one of the detection units 31a is selected as the active area, then the fill factor of a 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 area, the fill factor of the receiving area R is reduced, the ability of the lidar 100 to resist ambient light is further improved, the signal-to-noise ratio is improved, and the ranging performance is improved. For example, if there is one detection unit 31a as the active area in the 2*2 receiving area R, the fill factor is 1/4=0.25, and one detection unit 31a is used as the active area in the 4*4 receiving area R , the fill factor is 1/16=0.0625. The greater the total number of detection units 31a in the receiving area R, the smaller the number of detection units 31a in the active area, the smaller the fill factor.

In addition, in the embodiment where only the detection units 31a that can receive the echo laser light in the array detector 31 of the receiving system 3 are selected to be turned on, by selectively allowing one or a few detection units 31a in a small array to work, The other detection units 31a around it do not work, which can reduce the crosstalk generated when the detection units 31a all work.

In addition, the fill 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 the array emitter 21 are manufactured using Front-Side Illumination (FSI) technology, and are filled with full grids, that is, the fill factor is about 1. At this time, since the filling factor of the single receiving area R is reduced, it can be seen that the single receiving area R can be regarded as a single pixel unit, and the detection unit 31a for receiving the echo laser in the receiving area R is regarded as an active area, so It is equivalent to reducing the fill factor of the array detector 31, which can also improve the ability of the lidar 100 to resist ambient light, improve the signal-to-noise ratio, and improve the ranging performance.

The embodiment of multiple transmit and single receive:

Referring to FIG. 12 , the difference from the embodiment shown in FIG. 11 is that the transmitting 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 first array emitter The two-array transmitter includes a plurality of second light-emitting units. The outgoing laser light spots emitted by the first light-emitting unit and the second light-emitting unit are arranged at intervals in the detection area. The first array transmitter and the second array transmitter are used to turn on the first light-emitting unit and the second light-emitting unit in sequence. The first light-emitting unit, the second light-emitting unit and the receiving area R correspond one-to-one, that is, a single first light-emitting unit corresponds to a plurality of detection units 31a, and a single second light-emitting unit corresponds to a plurality of detection units 31a. The outgoing laser light emitted by the single first light-emitting unit is reflected by objects in the detection area and then returned to the echo laser light for being received by one or more detection units 31a in the receiving area R, and the outgoing laser light emitted by the single second light-emitting unit is detected The echo laser light returned after being reflected by objects in the area is used to be received by one or more detection units 31a in the receiving area R.

In this embodiment, there is not only a certain distance between the second light-emitting unit and the third light-emitting unit, but also a distance between the second light-emitting unit and the third light-emitting unit. The distance between the second light-emitting unit and the third light-emitting unit is one unit. Of course, the distance between the second light-emitting unit and the third light-emitting unit may also be two or other number of units. And in the horizontal direction, the interval between any two adjacent second light-emitting units and the third light-emitting unit is also 1 unit; in the vertical direction, any two adjacent vertically projected second light-emitting units The interval between the light-emitting unit and the third light-emitting unit is also one unit. It can be understood that the interval between any two horizontally projected adjacent second light-emitting units and the third light-emitting unit in the horizontal direction, and any two vertically projected adjacent second light-emitting units and third light-emitting units in the vertical direction. The interval between the light-emitting units may also be other units, such as 2 units, 3 units, and so on.

In the above-mentioned embodiment, by using two independent array transmitters 21, the projected light spots are staggered, compared with the scheme of using only one array transmitter 21 as shown in the figure, it can make up for the vacancy of the blind area of vision, without changing the receiving system. 3 can increase the resolution.

Based on the above-mentioned lidar 100, an embodiment of the present invention proposes an autopilot device 200 including the lidar 100 in the above-mentioned embodiment, and the autopilot device 200 may be a car, an airplane, a ship, or any other device that involves the use of lidar for intelligent A device for sensing and detection, the automatic driving device 200 includes a driving device body 201 and the lidar 100 in the above embodiment. The lidar 100 is installed on the driving device body 201 .

Referring to FIG. 13 , the automatic driving device 200 is a driverless car, and the lidar 100 is installed on the side of the car body. Referring to FIG. 14 , the automatic driving device 200 is also a driverless car, and the lidar 100 is installed on the roof of the car.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. The scope of the invention should be included in the scope of the claims and description of the present invention. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (22)

1. A laser radar, characterized in that the laser radar includes a transmission driving system, a transmission system, a receiving system and a signal processing system;

   The emission system includes a plurality of light-emitting units for emitting outgoing laser light, and the emission system is configured to turn on the light-emitting units in a first order so that the outgoing laser light traverses the detection area in a scanning manner;

   The receiving system includes a plurality of detection units for receiving echo laser light, and the receiving system is used to turn on the selected detection unit to receive the echo laser light, and detect the detection of the outgoing laser scan emitted by the light-emitting unit area, the echo laser is the laser returned after the outgoing laser is reflected by the object in the detection area;

   the launch drive system is used to drive the launch system;

   The signal processing system is configured to calculate distance information of objects in the detection area based on the outgoing laser light and the echoed laser light;

   The detection unit includes a photosensitive area, and the ratio of the area of the photosensitive area to the pixel area of the detection unit is a fill factor of the detection unit, and the fill factor of the detection unit is less than or equal to 0.5.
2. The lidar of claim 1, wherein the light-emitting unit includes an active region, and the ratio of the area of the active region to the cavity surface area of the light-emitting unit is a fill factor of the light-emitting unit, The fill factor of the light-emitting unit is less than or equal to 0.5.
3. The lidar of claim 1, wherein the fill factor of the light-emitting unit is less than or equal to the fill factor of the detection unit.
4. The lidar of claim 1, wherein the light-emitting units correspond to the detection units one-to-one.
5. The lidar according to any one of claims 1 to 4, wherein the light emitting units in adjacent rows are arranged in dislocation, and the detection units in adjacent rows are arranged in dislocation.
6. The lidar according to claim 5, wherein, in the horizontal direction, the horizontal field of view angle between the two adjacent light-emitting units in the horizontal projection is the first horizontal field of view angle, and the adjacent light-emitting units in the same line The horizontal viewing angle between the two light-emitting units is a second horizontal viewing angle, and the first horizontal viewing angle is less than or equal to 1/2 of the second horizontal viewing angle;

   In the horizontal direction, the horizontal field of view angle between two adjacent detection units in the horizontal projection is the first horizontal field of view angle, and the horizontal field of view angle between two adjacent detection units in the same row is The second horizontal viewing angle, the first horizontal viewing angle is less than or equal to 1/2 of the second horizontal viewing angle.
7. The lidar of claim 6, wherein the first horizontal field of view angle is 1/4 of the second horizontal field of view angle.
8. The lidar according to any one of claims 1-4, wherein the light emitting units in adjacent columns are arranged in a staggered arrangement, and the detection units in the adjacent columns are arranged in a staggered arrangement.
9. The lidar according to claim 8, wherein, in the vertical direction, the horizontal field of view angle between the two adjacent light-emitting units vertically projected is the third horizontal field of view angle, and the phase in the same column is the third horizontal field of view angle. The vertical viewing angle between the two adjacent light-emitting units is a fourth horizontal viewing angle, and the third horizontal viewing angle is less than or equal to 1/2 of the fourth horizontal viewing angle;

   In the vertical direction, the horizontal field of view angle between the vertically projected two adjacent detection units is the third horizontal field of view angle, and the vertical field of view between the two adjacent detection units in the same row The field angle is a fourth horizontal field angle, and the third horizontal field angle is less than or equal to 1/2 of the fourth horizontal field angle.
10. The lidar of claim 9, wherein the third horizontal field of view angle is 1/4 of the fourth horizontal field of view angle.
11. The lidar according to any one of claims 1-4, wherein the receiving system includes a plurality of receiving areas, each of the receiving areas includes a plurality of detection units, and the light-emitting unit is connected to the receiving area. One-to-one correspondence.
12. The lidar according to claim 11, wherein the outgoing laser light emitted by a single light-emitting unit is reflected by an object in the detection area and then returned to the echo laser for being used by a detection unit in the receiving area take over.
13. The lidar according to any one of claims 1-4, wherein the transmitting system includes a first array transmitter and a second array transmitter, and the first array transmitter 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 in the light spots in the detection area, and the first array detects The emitter and the second array emitter are used to turn on the first light-emitting unit and the second light-emitting unit according to the first order;

    The receiving system includes a plurality of receiving areas, each of the receiving areas includes a plurality of detection units, and the first light-emitting unit, the second light-emitting unit and the receiving area are in one-to-one correspondence.
14. The lidar according to claim 13, wherein the outgoing laser light emitted by a single first light-emitting unit is reflected by an object in the detection area and then returned to be used by one of the receiving areas. The detection unit receives, and the echo laser returned after the outgoing laser light emitted by the single second light-emitting unit is reflected by the object in the detection area is used to be received by another detection unit in the receiving area.
15. The lidar according to any one of claims 11-14, wherein the selected detection unit is all detection units in the receiving system; or, the selected detection unit is the receiving unit The detection unit in the system that can receive the echo laser.
16. The lidar of claim 1, wherein the first sequence is: turning on a plurality of light-emitting units in the first emission area at a first time, and turning on a plurality of light-emitting units in the second emission area at a second time unit until the outgoing laser scans across the detection area.
17. The lidar of claim 16, wherein the transmitting system includes m*n light-emitting units, the first transmitting region includes p*q light-emitting units, and both m and n are is an integer greater than 1, both p and q are integers greater than or equal to 1, 1<p<m or 1<q<n.
18. The lidar of claim 17, wherein:

    The p is smaller than m, and q is smaller than n; the emission system is used to turn on the light-emitting unit reciprocally along the first direction and then along the opposite direction of the first direction, or to keep the first direction row by row or column by column turning on the light-emitting unit; or,

    The p is equal to m, and q is less than n; the emission system is used to turn on the light-emitting unit in the vertical direction; or,

    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 a horizontal direction.
19. 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.
20. The lidar of claim 1, wherein:

    The emission system further includes an emission optical module for collimating the outgoing laser light emitted by the light-emitting unit;

    The receiving system further includes a receiving optical module for converging the echo laser and emitting the converged echo laser to the detection unit.
21. The lidar of claim 1, wherein the fill factor of the detection unit is 0.4-0.5, and the fill factor of the light-emitting unit is 0.4-0.5.
22. An automatic driving device is characterized by comprising a driving device body and the lidar according to any one of claims 1-21, wherein the lidar is installed on the driving device body.

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