WO2023060473A1 - Radar laser et procédé de commande de radar laser - Google Patents

Radar laser et procédé de commande de radar laser Download PDF

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Publication number
WO2023060473A1
WO2023060473A1 PCT/CN2021/123522 CN2021123522W WO2023060473A1 WO 2023060473 A1 WO2023060473 A1 WO 2023060473A1 CN 2021123522 W CN2021123522 W CN 2021123522W WO 2023060473 A1 WO2023060473 A1 WO 2023060473A1
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Prior art keywords
detection
signal
reflected
target
module
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PCT/CN2021/123522
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English (en)
Chinese (zh)
Inventor
汪敬
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深圳市速腾聚创科技有限公司
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Priority to CN202180007911.5A priority Critical patent/CN114938662B/zh
Priority to PCT/CN2021/123522 priority patent/WO2023060473A1/fr
Publication of WO2023060473A1 publication Critical patent/WO2023060473A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • 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
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present application relates to the technical field of radar, and in particular, to a laser radar and a control method of the laser radar.
  • lidars based on frequency modulated continuous wave include lidars based on frequency modulated continuous wave (FMCW).
  • the laser beam emitted by the FMCW radar is a frequency-modulated continuous laser, which divides the laser beam into two, one of which is used as the local oscillator light, and the other beam is used as the emission light to emit to the detection area. After the emission light encounters the target object in the detection area , reflect the emitted light, and calculate the distance of the target object through the reflected emitted light and local oscillator light.
  • FMCW frequency modulated continuous wave
  • the distance to the target object can be calculated based on the output signal of the balanced detector. It should be noted that the balanced detector requires the local oscillator light and the reflected emitted light The polarization state of the light is consistent, and the unknown material of the target object means that the polarization state of the emitted light reflected by the target object is random, which is very prone to detection failure, resulting in the detection success rate of FMCW lidar too low.
  • the present application provides a laser radar and a control method of the laser radar, which can solve the technical problem of how to improve the detection success rate of the laser radar.
  • an embodiment of the present application provides a laser radar, which includes: a frequency modulation light source, a beam splitting module, a target detection module, a polarization beam splitting rotator, and a balanced detection module;
  • a frequency modulated light source is used to generate the input beam and transmit the input beam to the beam splitting module;
  • the beam splitting module is used to receive the input beam, divide the input beam into a detection beam and a local oscillator beam, transmit the detection beam to the target detection module, and transmit the local oscillator beam to the balance detection module;
  • the target detection module is used to receive the detection beam, emit the detection beam to the target object, receive the reflected beam reflected by the target object, and transmit the reflected beam to the polarization beam splitter rotator;
  • the polarization beam splitting rotator is used to receive the reflected beam, convert the polarization state of the reflected beam, obtain the signal beam, and transmit the signal beam to the balance detection module.
  • the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam;
  • the balanced detection module is used to receive the local oscillator beam and the signal beam, perform balanced detection on the local oscillator beam and the signal beam, and output the first detection signal, and the first detection signal is used to obtain the position information of the target object.
  • an embodiment of the present application provides a method for controlling a lidar, the method including:
  • the position information of the target object is acquired based on the first detection signal.
  • the lidar includes: a frequency modulation light source, a target detection module, a polarization beam splitting rotator, a beam splitting module, and a balanced detection module; a frequency modulation light source is used to generate an input beam and transmit the input beam to The beam splitting module; the beam splitting module is used to receive the input beam, divide the input beam into the detection beam and the local oscillator beam, transmit the detection beam to the target detection module, and transmit the local oscillator beam to the balance detection module; the target The detection module is used to receive the detection beam, emit the detection beam to the target object, and receive the reflected beam reflected by the target object, and transmit the reflected beam to the polarization beam splitting rotator; the polarization beam splitting rotator is used to receive the reflected beam, convert Reflect the polarization state of the beam to obtain the signal beam, and transmit the signal beam to the balance detection module, the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam; the balance detection module is
  • the polarization state of the reflected beam reflected by the target object is adjusted through the polarization beam splitting rotator, so as to convert the polarization state of the reflected beam to be consistent with the polarization state of the local oscillator beam, avoiding detection failures caused by inconsistent polarization states , which improves the detection success rate of lidar.
  • FIG. 1 is a schematic structural diagram of a laser radar provided in an embodiment of the present application
  • Fig. 2 is a detection schematic diagram of a laser radar provided by the embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a lidar provided in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a laser radar provided in an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of a lidar provided in an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a lidar provided in an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a lidar provided in an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a control method of a lidar provided in an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of a laser radar control method provided in an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a laser radar control method provided in an embodiment of the present application.
  • FIG. 11 is a schematic flow chart of a lidar control method provided in an embodiment of the present application.
  • FIG. 12 is a schematic flow chart of a lidar control method provided in an embodiment of the present application.
  • FIG. 13 is a schematic structural diagram of a computer device provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14 and a balance detection module 15.
  • the beam splitting module 12 There are at least two output ends in the beam splitting module 12; there are at least two input ends in the target detection module 13, which are respectively the first input end for receiving the detection beam and the second input end for receiving the reflected light beam; balanced detection There are at least two input ends in the module; the output end of the FM light source 11 is connected to the input end of the beam splitting module 12; the first output end of the beam splitting module 12 is connected to the first input end of the target detection module 13, and the splitting The second output end of the beam module 12 is connected with the first input end of the balance detection module 15; the output end of the target detection module 13 is connected with the input end of the polarization beam splitting rotator 14; the output of the polarization beam splitting rotator 14 The end is connected with the second input end of the balance detection module 15.
  • FIG. 2 is a schematic diagram of detection of a laser radar provided by the embodiment of the present application.
  • the frequency-modulated light source 11 generates an input beam, and the input beam refers to a frequency-modulated continuous wave signal (FMCW, Frequency Modulated Continuous Wave), that is, to emit A continuous signal whose frequency is modulated by a specific signal.
  • FMCW Frequency Modulated Continuous Wave
  • the frequency-modulated light source 11 After the frequency-modulated light source 11 generates an input beam, it transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 .
  • the beam splitting module 12 receives the input beam output by the frequency modulation light source 11, and then divides the input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the balance detection module 15, and transmits the detection beam to the target Detection module 13.
  • the target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 .
  • the detection beam enters the target detection module 13 via the beam emission port of the target detection module 13 (ie, the second input end of the target detection module 13, which is both a light exit port and a light entrance port).
  • the detection beam encounters the target object 00 , it is reflected by the target object 00 to form a reflected beam, and the reflected beam is reflected to the target detection module 13 .
  • the target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 .
  • the polarization beam splitting rotator 14 receives the reflected beam, then converts the polarization state of the reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 . It should be noted that the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam.
  • the frequency-modulated light source 11 When the frequency-modulated light source 11 generates the input beam, it generates the beam according to the preset polarization state that the frequency-modulated light source 11 uses in advance.
  • the polarization beam splitting rotator 14 adjusts the polarization state of the reflected beam to a preset polarization state when converting the polarization state of the reflected beam; It is assumed that the polarization state may be a horizontal polarization state, a vertical polarization state, etc., which are not limited here.
  • the balanced detection module 15 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, then performs balanced detection on the local oscillator beam and the signal beam, and outputs a first detection signal, which is It is used to obtain the position information of the target object 00.
  • the laser radar 1 further includes a processing module, the processing module is used to obtain the first detection signal output by the balance detection module 15, and obtain the position information of the target object 00 based on the first detection signal, the position information can be the target The distance between the object 00 and the laser radar 1, the relative orientation of the target object 00 and the laser radar 1, the speed information of the target object 00, etc.
  • the polarization state of the reflected beam reflected by the target object is adjusted through the polarization beam splitting rotator, so that the polarization state of the reflected beam is converted to be consistent with the polarization state of the local oscillator beam, and the polarization state caused by the inconsistent polarization state is avoided
  • the resulting detection failure improves the detection success rate of the lidar.
  • FIG 3 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14.
  • the optical mixing module 16 includes at least two input ports, respectively a first input end for receiving a local oscillator beam and a second input end for receiving a signal beam, and the optical mixing module 16 also includes at least two output ports end.
  • the output end of the FM light source 11 is connected to the input end of the beam splitting module 12; the first output end of the beam splitting module 12 is connected to the first input end of the target detection module 13, and the second input end of the beam splitting module 12 Connected with the first input end of the optical mixing module 16; the output end of the target detection module 13 is connected with the input end of the polarization beam splitting rotator 14; the output end of the polarization beam splitting rotator 14 is connected with the optical mixing module 16
  • the second input end of the optical mixing module 16 is connected to the first input end of the balance detection module 15, and the second output end of the optical mixing module 16 is connected to the first output end of the balance detection module 15. Two input connections.
  • the frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 .
  • the beam splitting module 12 receives the input beam output by the frequency modulation light source 11, and then divides the input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the optical mixing module 16, and transmits the detection beam to the Target detection module 13.
  • the target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 .
  • the target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 .
  • the polarization beam splitting rotator 14 receives the reflected beam, and then converts the polarization state of the reflected beam to obtain a signal beam whose polarization state is consistent with that of the local oscillator beam, and then transmits the signal beam to the optical mixing module 16 .
  • the optical mixing module 16 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, and then optically mixes the received local oscillator beam and signal beam, such as frequency subtraction, Mixing operations such as frequency addition and frequency superposition obtain a first mixed frequency signal, wherein the first mixed frequency signal is a differential signal.
  • the first output terminal outputs a mixed frequency signal whose frequency is subtracted
  • the second output terminal outputs a frequency signal whose frequency is added.
  • the first input end of the balance detection module 15 receives the frequency subtracted mixed frequency signal transmitted by the first output end of the optical frequency mixing module 16, and the second input end of the balance detection module 15 receives the optical frequency mixing mode
  • the second output of group 16 transmits the frequency-summed mixed signal.
  • the balance detection module 15 receives each first mixed frequency signal, then performs balanced detection based on each first mixed frequency signal, and outputs a first detection signal, which is used to obtain the position information of the target object 00 .
  • the optical mixing module consists of at least two optical mixers.
  • the optical mixing module obtains a sufficiently large differential signal, that is, the first mixing signal, thereby improving the detection accuracy of the balanced detection module, thereby improving the detection success rate of the laser radar.
  • FIG 4 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14.
  • a balance detection module 15 a first mode converter 171 , a second mode converter 172 and a mode conversion module 173 .
  • the input end of the first mode converter 171 is connected with the output end of the FM light source 11, the output end of the first mode converter 171 is connected with the input end of the beam splitting module 12; the input end of the second mode converter 172 is connected with the beam splitter The first output end of module 12 is connected, and the output end of second mode converter 172 is connected with the first input end of target detection module 13; The input end of mode conversion module 173 is connected with the output end of target detection module 13 , the output end of the mode conversion module 173 is connected to the input end of the polarization beam splitting rotator 14 .
  • the frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 .
  • the beam splitting module 12 receives the target input beam output by the first mode converter 171, then divides the target input beam into a local oscillator beam and a detection beam according to a preset beam splitting ratio, transmits the local oscillator beam to the balance detection module 15, and The probe beam is transmitted to the second mode converter 172 .
  • the second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to the target detection module 13 .
  • the second preset diameter is larger than the first preset diameter.
  • the target detection module 13 receives the target detection beam output from the second mode converter 172 , and then emits the target detection beam to the target object 00 .
  • the target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the mode conversion module 173 .
  • the mode conversion module 173 receives the reflected beam output by the target detection module 13, then adjusts the beam diameter of the reflected beam to a third preset diameter, obtains a target reflected beam whose beam diameter is the third preset diameter, and converts the target reflected beam transmitted to the polarization beam splitting rotator 14. Wherein, the second preset diameter is larger than the third preset diameter.
  • the polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 .
  • the polarization state of the signal beam is consistent with the polarization state of the local oscillator beam.
  • the frequency-modulated light source 11 When the frequency-modulated light source 11 generates the input beam, it generates the beam according to the preset polarization state that the frequency-modulated light source 11 uses in advance. Then the input beam If the polarization state is known and fixed to a preset polarization state, then the polarization beam splitting rotator 14 adjusts the polarization state of the target reflected beam to a preset polarization state when converting the polarization state of the target reflected beam; exemplary , the preset polarization state may be a horizontal polarization state, a vertical polarization state, etc., which are not limited here.
  • the balanced detection module 15 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, then performs balanced detection on the local oscillator beam and the signal beam, and outputs a first detection signal, which is It is used to obtain the position information of the target object 00.
  • the first The first mode converter, the second mode converter and the mode conversion module switch the beam diameter of the beam, so that each module can work normally, avoiding the problem of excessive beam loss due to excessively large/too small beam diameters, and avoiding The decrease in detection accuracy or detection failure due to beam loss improves the detection success rate of lidar.
  • FIG. 5 is a schematic structural diagram of a laser radar provided by the embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, at least one polarization beam
  • the converters 174 are in one-to-one correspondence with the polarization splitting rotators 14 .
  • the output end of the second mode converter 172 is connected to the input end of the amplifier 131, and the amplifier 131 has at least two output ends, and the number of the output ends of the amplifier 131 is the same as the number of the circulator 132, and each output end of the amplifier 131 is respectively It is connected to the first end of each circulator 132, the second end of each circulator 132 is connected to the first end of the corresponding beam control module 133, and the third end of each circulator 132 is connected to the corresponding third mode converter 174
  • the input end of each third mode converter 174 is connected to the corresponding polarization beam splitting rotator 14, and the output end of each polarization beam splitting rotator 14 is connected to the input end of the balanced detection module 15.
  • the frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 .
  • the beam splitting module 12 receives the target input beam output by the first mode converter 171, and then divides the target input beam into a preset number of local oscillator beams and detection beams according to a preset beam splitting ratio.
  • the preset number is the number of all circulators 132 , each local oscillator beam is transmitted to the balance detection module 15 , and the detection beam is transmitted to the second mode converter 172 .
  • the second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to amplifier 131 .
  • the second preset diameter is larger than the first preset diameter.
  • the amplifier 131 receives the target detection beam output by the second mode converter 172 , and then amplifies the optical power of the target detection beam to obtain a preset number of actual detection beams, and transmits each actual detection beam to each circulator 132 .
  • Each circulator 132 receives the actual detection beam output by the amplifier 131 through the first end, and transmits the actual detection beam to the beam manipulation module 133 through the second end.
  • Each beam control module 133 receives the actual detection beam output by the corresponding circulator 132 through the first end, and then processes the actual detection beam, such as shaping, collimating and scanning, and passes the processed actual detection beam through the first end. The two ends transmit to detect the target object 00 within the corresponding detection range.
  • different beam control modules 133 correspond to different detection angles.
  • the actual detection beam encounters the target object 00, it is reflected by the target object 00 to form a reflected beam, which is reflected to the beam control module 133. in the second end.
  • the beam steering module 133 transmits the reflected beam to the circulator 132 through the first end.
  • the second end of the circulator 132 receives the reflected beam output by the circulator, and transmits the reflected beam to the corresponding third mode converter 174 through the third end.
  • Each third mode converter 174 receives the reflected beam output by the corresponding circulator 132, and then adjusts the beam diameter of the reflected beam to a third preset diameter to obtain a target reflected beam whose beam diameter is the third preset diameter, and the target The reflected beam is transmitted to the corresponding polarization beam splitting rotator 14 .
  • the second preset diameter is larger than the third preset diameter.
  • Each polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 .
  • the balanced detection module 15 receives the local oscillator beams output by the beam splitting module 12 and the signal beams output by each polarization beam splitting rotator 14, then performs balanced detection on each local oscillator beam and each signal beam, and outputs each first detection signal, It should be noted that the balanced detection module 15 performs balanced detection on a signal beam and a local oscillator beam in sequence to obtain corresponding first detection signals, and all first detection signals are used to obtain the position information of the target object 00 .
  • the detectable angle of the lidar is increased, thereby improving the detection range of the lidar.
  • FIG. 6 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitter module 12, a target detection module 13, and at least one polarization beam splitter Rotator 14, balanced detection module 15, first mode converter 171, second mode converter 172, mode conversion module 173 and at least two optical mixers 161, wherein the target detection module 13 includes an optical amplifier 131 , at least one circulator 132 and at least one beam steering module 133, the mode conversion module 173 includes at least one third mode converter 174, the balance detection module 15 includes at least two first balance detectors 151; the circulator 132 and The third mode converter 174 is in one-to-one correspondence, the circulator 132 beam steering module 133 is in one-to-one correspondence, the third mode converter 174 is in one-to-one correspondence with the polarization beam splitting rotator 14, and the polarization beam splitting rotator 14 corresponds to two optical hybrids.
  • the second output end of the beam splitting rotator 14 is connected to the first input end of another corresponding optical mixer 161 , and the second input end of each optical mixer 161 is connected to an output end of the beam splitting module 12 .
  • the first output end of the optical mixer 161 is connected to the first input end of the corresponding first balanced detector 151, and the second output end of the optical mixer 161 is connected to the second input end of the corresponding first balanced detector 151. connect.
  • the frequency-modulated light source 11 generates an input beam, and then transmits the input beam to the first mode converter 171 connected to the frequency-modulated light source 11; the first mode converter 171 receives the input beam output by the frequency-modulated light source 11, and then adjusts the beam diameter of the input beam to the first A preset diameter, to obtain a target input beam whose beam diameter is the first preset diameter, and then transmit the target input beam to the beam splitting module 12 .
  • the beam splitting module 12 receives the target input beam output by the first mode converter 171, and then divides the target input beam into a preset number of local oscillator beams and detection beams according to a preset beam splitting ratio.
  • the preset number is the number of all circulators 132 , each local oscillator beam is transmitted to each optical mixer 161 , and the detection beam is transmitted to the second mode converter 172 .
  • the second mode converter 172 receives the detection beam output by the beam splitting module 12, and then adjusts the beam diameter of the detection beam to a second preset diameter to obtain a target detection beam whose beam diameter is the second preset diameter, and then detects the target The light beam is transmitted to amplifier 131 .
  • the second preset diameter is larger than the first preset diameter.
  • the amplifier 131 receives the target detection beam output by the second mode converter 172 , and then amplifies the optical power of the target detection beam to obtain a preset number of actual detection beams, and transmits each actual detection beam to each circulator 132 .
  • Each circulator 132 receives the actual detection beam output by the amplifier 131 through the first end, and transmits the actual detection beam to the beam manipulation module 133 through the second end.
  • Each beam control module 133 receives the actual detection beam output by the corresponding circulator 132 through the first end, and then processes the actual detection beam, such as shaping, collimating and scanning, and passes the processed actual detection beam through the first end. The two ends transmit to detect the target object 00 within the corresponding detection range.
  • different beam control modules 133 correspond to different detection angles.
  • the actual detection beam encounters the target object 00, it is reflected by the target object 00 to form a reflected beam, which is reflected to the beam control module 133. in the second end.
  • the beam steering module 133 transmits the reflected beam to the circulator 132 through the first end.
  • the second end of the circulator 132 receives the reflected beam output by the circulator, and transmits the reflected beam to the corresponding third mode converter 174 through the third end.
  • Each third mode converter 174 receives the reflected beam output by the corresponding circulator 132, and then adjusts the beam diameter of the reflected beam to a third preset diameter to obtain a target reflected beam whose beam diameter is the third preset diameter, and the target The reflected beam is transmitted to the corresponding polarization beam splitting rotator 14 .
  • the second preset diameter is larger than the third preset diameter.
  • Each polarization beam splitting rotator 14 receives the target reflected beam, then converts the polarization state of the target reflected beam to obtain a signal beam, and then transmits the signal beam to the corresponding two optical mixers 161 .
  • the optical mixer 161 receives the local oscillator beam and signal beam output by the beam module 12 and the polarization beam splitting rotator 14, and then optically mixes the received local oscillator beam and signal beam, such as frequency subtraction and frequency addition Mixing operations such as frequency superposition, at least two beams of different first frequency mixing signals are obtained based on different optical frequency mixing operations, wherein the first frequency mixing signals are differential signals.
  • the optical mixer 161 transmits each first mixed frequency signal to the corresponding first balanced detector 151 through the first output terminal and the second output terminal respectively.
  • the first balanced detector 151 receives each first mixed frequency signal output by the corresponding optical mixer 161, then performs balanced detection on each first mixed frequency signal, and outputs a first detection signal, and the first detection signal is used to obtain the target The location information of object 00.
  • the local oscillator beam and the signal beam are optically mixed by an optical mixer, so as to obtain a sufficiently large differential signal to improve the accuracy of the balanced detector, thereby improving the detection success rate of the lidar.
  • FIG. 7 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the laser radar 1 includes: a frequency modulation light source 11, a beam splitting module 12, a target detection module 13, and a polarization beam splitting rotator 14.
  • a balanced detection module 15 an optical delay line 18 , a coupler 19 and a second balanced detector 20 .
  • the coupler 19 includes a first input terminal, a second input terminal and at least two output terminals.
  • the input end of the optical delay line 18 is connected with the output end of the beam module 12, the output end of the optical delay line 18 is connected with the first input end of the coupler 19, and the second input end of the coupler 19 is connected with the other end of the beam module group.
  • the output terminals are connected, the first output terminal of the coupler 19 is connected with the first input terminal of the second balanced detector 20 , the second output terminal of the coupler 19 is connected with the second input terminal of the second balanced detector 20 .
  • the frequency-modulated light source 11 generates an input beam, and transmits the input beam to the beam splitting module 12 connected to the frequency-modulated light source 11 .
  • the beam splitting module 12 receives the input beam output by the frequency-modulated light source 11, and then divides the input beam into a local oscillator beam, a detection beam, and two calibration beams according to a preset beam splitting ratio, that is, a first calibration beam and a second calibration beam.
  • the vibration beam is transmitted to the balance detection module 15 , the detection beam is transmitted to the target detection module 13 , the first calibration beam is transmitted to the optical delay line 18 , and the second calibration beam is transmitted to the coupler 19 .
  • the target detection module 13 receives the detection beam output by the beam splitting module 12 , and then emits the detection beam to the target object 00 .
  • the target detection module 13 receives the reflected light beam reflected by the target object 00 and transmits the reflected light beam to the polarization beam splitter rotator 14 .
  • the polarization beam splitting rotator 14 receives the reflected beam, then converts the polarization state of the reflected beam to obtain a signal beam, and then transmits the signal beam to the balance detection module 15 .
  • the balanced detection module 15 receives the local oscillator beam output by the beam splitting module 12 and the signal beam output by the polarization beam splitting rotator 14, then performs balanced detection on the local oscillator beam and the signal beam, and outputs a first detection signal, which is It is used to obtain the position information of the target object 00.
  • the optical delay line 18 receives the first calibration beam output by the beam splitting module 12 , the first calibration beam is transmitted through the optical delay line 18 to obtain a delayed beam, and transmits the delayed beam to the coupler 19 .
  • the coupler 19 receives the delayed beam output by the optical extension line 18, receives the second calibration beam output by the beam splitting module 12, and then performs optical mixing on the currently received delayed beam and the second calibration beam, such as frequency subtraction, frequency Mixing operations such as addition and frequency superposition are based on different optical mixing operations to obtain at least two beams of different second mixed signals, wherein the second mixed signals are differential signals.
  • the coupler 19 transmits the second mixed frequency signals to the second balanced detector 20 through the first output terminal and the second output terminal respectively.
  • the second balanced detector 20 receives the second mixed frequency signals output by the coupler 19, then performs balanced detection on each second mixed frequency signal, and outputs a second detection signal, and the second detection signals are used to obtain the adjustment of the frequency modulation light source 11 value.
  • the laser radar 1 further includes a processing module, which is used to obtain the second detection signal output by the second balance detector 20, and obtain an adjustment value of the frequency-modulated light source 11 based on the second detection signal, and the adjustment value may be The optical frequency of the output beam, etc.
  • a processing module which is used to obtain the second detection signal output by the second balance detector 20, and obtain an adjustment value of the frequency-modulated light source 11 based on the second detection signal, and the adjustment value may be The optical frequency of the output beam, etc.
  • the adjustment value of the frequency-modulated light source is obtained by calibrating the optical path (that is, the circuit composed of the beam splitting module, the optical delay line, the coupler, and the second balance detector), so as to adjust the output beam of the frequency-modulated beam in time,
  • the local oscillator beam and detection beam with higher linearity are obtained, and the signal beam with higher linearity is obtained, thereby improving the signal quality of the lidar.
  • the second mode converter 172, the mode conversion module 173, the third mode converter 174, the optical delay line 18, the coupler 19, and the second balanced detector 20 can be integrated on the detection chip, and the detection chip can be implemented by a mature semiconductor Processing technology is used to avoid the situation of discrete devices, improve the integration of lidar, and reduce the complexity, production cost and product volume of lidar.
  • FIG. 8 provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 8, the method may include the following steps S101 to S105.
  • S101 Generate an input beam and divide the input beam into a detection beam and a local oscillator beam.
  • the input beam refers to a frequency modulated continuous wave signal (FMCW, Frequency Modulated Continuous Wave), that is, a continuous signal whose emission frequency is modulated by a specific signal.
  • FMCW Frequency Modulated Continuous Wave
  • the emission frequency of the lidar is an adjustable value; the target object is within the detection range of the lidar objects within.
  • the laser radar After the laser radar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into a detection beam and a local oscillator beam according to the preset splitting ratio.
  • the preset beam splitting ratio is only used to split the input beam, the specific size can be defined by the user, and the laser beam splitting only changes the size of the laser beam.
  • the lidar emits this detection beam at the object of interest. It should be noted that when the detection beam encounters a target object within the detection range of the laser radar, it will be reflected by the target object and reflected back to the laser radar as a reflected beam.
  • the laser radar receives the reflected beam reflected by the target object, and then converts the polarization state of the received reflected beam into a preset polarization state, and uses the reflected beam after the polarization state conversion as the signal beam. It can be understood that the polarization of the signal beam The state coincides with the polarization state of the local oscillator beam.
  • the laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.
  • the polarization state of the reflected beam reflected by the target object is adjusted to convert the polarization state of the reflected beam to be consistent with the polarization state of the local oscillator beam, thereby avoiding detection failures caused by inconsistent polarization states. Thereby improving the detection success rate of lidar.
  • FIG. 9 provides a schematic flowchart of a lidar control method according to an embodiment of the present application. As shown in FIG. 9 , the method may include the following steps S201 to S205.
  • the lidar After the lidar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into the detection beam and the local oscillator beam according to the preset beam splitting ratio. .
  • the laser radar emits the detection beam to the target object, then receives the reflected beam reflected by the target object, converts the polarization state of the received reflected beam into a preset polarization state, and uses the polarized reflected beam as a signal beam.
  • LiDAR is first based on optical mixing of local oscillator beams and signal beams.
  • Optical mixing can be frequency subtraction, frequency addition, frequency superposition and other mixing operations to obtain the first mixing signal, and then based on the first mixing
  • the signal is balanced and detected to obtain the first detection signal, and then signal processing processes such as signal sampling and filtering are performed on the first detection signal, and the position information of the target object is calculated based on the processed signal data.
  • the laser radar may optically mix the local oscillator beam and the signal beam based on the first mixing operation to obtain the first mixing sub-signal, and perform optical mixing on the local oscillator beam and the signal beam based on the second mixing operation, Obtain the second frequency mixing sub-signal, then perform balanced detection based on the first frequency mixing sub-signal and the second frequency mixing sub-signal, obtain the first detection signal, then perform signal processing processes such as signal sampling and filtering on the first detection signal, and The position information of the target object is calculated based on the processed signal data.
  • the detection accuracy of balanced detection is improved, thereby improving the detection success rate of the lidar.
  • FIG. 10 provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 10 , the method may include the following steps S301 to S309.
  • the first preset diameter refers to the maximum beam diameter of the beam that can be transmitted by the integrated chip of the laser radar, and can also be the optimal beam diameter, which is not limited here, but the first preset diameter must be less than or equal to the available beam diameter of the integrated chip.
  • the maximum beam diameter of the transmission beam; the second preset diameter refers to the maximum beam diameter of the non-integrated chip components of the laser radar, and may also be the optimal beam diameter, which is not limited here.
  • the third preset diameter may be the same as the first preset diameter, and the third preset diameter must be smaller than or equal to the maximum beam diameter of the beam transmitted by the integrated chip.
  • the laser radar After receiving the detection command, the laser radar generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and preset polarization state, that is, the input beam, and then adjusts the beam diameter of the input beam to the first preset diameter to obtain the target input beam.
  • the lidar divides the target input beam into a detection beam and a local oscillator beam according to a preset splitting ratio, then adjusts the beam diameter of the detection beam to a second preset diameter, and emits the target detection beam to the target object.
  • the lidar receives the reflected beam reflected by the target object, and then adjusts the beam diameter of the received reflected beam to a third preset diameter to obtain the target reflected beam, and then converts the polarization state of the target reflected beam into a preset polarization state, and Taking the reflected light beam after polarization conversion as the signal light beam, it can be understood that the polarization state of the signal light beam is consistent with the polarization state of the local oscillator light beam.
  • the laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.
  • the beam diameter of the input beam is relatively large, and the beam diameter requirements of integrated chips and non-integrated chip components are different, by switching the beam diameter of the beam, it is avoided that the beam diameter is too large/too small to cause Error, improve the detection success rate of lidar.
  • FIG. 11 provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 11 , the method may include the following steps S401 to S411.
  • S401 generating an input beam, and dividing the input beam into a detection beam and at least two local oscillator beams, the number of local oscillator beams is twice the number of launch angles, and at least one launch angle;
  • the emission angle refers to the emission angle of the laser radar when emitting the emission laser for detection. There is at least one emission angle. If the number of emission angles of the lidar is the first preset number, then The number of local oscillation light beams is the second preset number, and the second preset number is twice the first preset number.
  • the laser radar After receiving the detection command, the laser radar generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and preset polarization state, that is, the input beam, and then adjusts the beam diameter of the input beam to the first preset diameter to obtain the target input beam.
  • the laser radar divides the target input beam into the detection beam and the second preset number of local oscillator beams according to the preset splitting ratio, then adjusts the beam diameter of the detection beam to the second preset diameter, and emits the target detection beam to the target object .
  • the lidar receives the reflected beam reflected by the target object, and then adjusts the beam diameter of the received reflected beam to a third preset diameter to obtain the target reflected beam, and then converts the polarization state of the target reflected beam into a preset polarization state, and Laser beam splitting is performed on the reflected beam after the polarization state conversion to obtain a second preset number of signal beams. It should be noted that there is no difference between the local oscillator beams, and a signal beam and a local oscillator beam are regarded as a set of detection signals, and the signal beams correspond to the local oscillator beams one by one.
  • the laser radar performs balanced detection on the same group of local oscillator beams and signal beams to obtain the first detection signals, and then performs signal processing processes such as signal sampling and filtering on each first detection signal, and calculates based on the processed signal data The location information of the target object.
  • the laser radar cannot detect the target object at a certain emission angle, the laser radar cannot receive the reflected beam corresponding to the emission angle, and there will be no subsequent balanced detection process corresponding to the emission angle.
  • the detection range of the laser radar is improved by increasing the detectable angle of the laser radar.
  • FIG. 12 provides a schematic flowchart of a laser radar control method according to an embodiment of the present application. As shown in FIG. 12 , the method may include the following steps S501 to S509.
  • S501 Generate an input beam, and divide the input beam into a probe beam, a local oscillator beam, a first calibration beam, and a second calibration beam;
  • the laser radar After the laser radar receives the detection command, it generates a continuous frequency-modulated continuous wave signal according to the preset transmission frequency and the preset polarization state, that is, the input beam, and then divides the input beam into the detection beam and the local oscillator beam according to the preset beam splitting ratio.
  • the first calibration beam and the second calibration beam it should be noted that the preset beam splitting ratio is only used to split the input beam, the specific size can be defined by the user, and the laser beam splitting only changes the size of the laser beam.
  • the lidar emits this detection beam at the object of interest.
  • the detection beam encounters a target object within the detection range of the laser radar, it will be reflected by the target object and reflected back to the laser radar as a reflected beam.
  • the laser radar receives the reflected beam reflected by the target object, and then converts the polarization state of the received reflected beam into a preset polarization state, and uses the reflected beam after the polarization state conversion as the signal beam. It can be understood that the polarization of the signal beam The state is the same as the polarization state of the local oscillator beam.
  • the laser radar performs balanced detection on the local oscillator beam and the signal beam to obtain the first detection signal, and then performs signal processing such as signal sampling and filtering on the first detection signal, and calculates the position information of the target object based on the processed signal data.
  • the laser radar prolongs the transmission time of the first calibration signal to obtain a delayed beam, and then optically mixes the delayed beam and the second calibration beam, wherein the optical mixing can be frequency subtraction, frequency addition, frequency superposition, etc.
  • Frequency mixing operation to obtain the second mixing signal, and then perform signal processing such as signal sampling and filtering on the second detection signal, and calculate the adjustment value of the preset transmission frequency based on the processed signal data and the original preset transmission frequency , and then obtain the target preset transmission frequency based on the adjustment value and the preset transmission frequency, and then replace the preset transmission frequency stored in the memory with the target preset transmission frequency.
  • the preset emission frequency is adjusted in time to adjust the output beam to obtain a more reliable local oscillator beam and a detection beam, thereby obtaining a highly reliable signal beam , to achieve the effect of improving the detection success rate of lidar.
  • the embodiment of the present application also provides a storage medium, the storage medium can store multiple program instructions, and the program instructions are suitable for being loaded by the processor and executing the method steps of the above-mentioned embodiments shown in Figures 8 to 12, the specific execution process Reference may be made to the specific descriptions of the embodiments shown in FIGS. 8 to 12 , and details are not repeated here.
  • the computer device 1000 may include: at least one processor 1001, at least one memory 1002, at least one network interface 1003, at least one input and output interface 1004, at least one communication bus 1005 and at least one display unit 1006.
  • the processor 1001 may include one or more processing cores.
  • the processor 1001 uses various interfaces and lines to connect various parts of the entire computer device 1000, and runs or executes instructions, programs, code sets or instruction sets stored in the memory 1002, and calls data stored in the memory 1002 to execute Various functions and processing data of the terminal 1000.
  • the memory 1002 can be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory.
  • the memory 1002 may also be at least one storage device located away from the aforementioned processor 1001 .
  • the network interface 1003 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
  • the communication bus 1005 is used to realize connection communication between these components.
  • the memory 1002 as a storage medium of a terminal device may include an operating system, a network communication module, an input/output interface module, and a laser radar control program.
  • the input and output interface 1004 is mainly used to provide an input interface for the user and the access device, and obtain data input by the user and the access device.
  • the processor 1001 can be used to call the control program of the lidar stored in the memory 1002, and specifically perform the following operations:
  • the position information of the target object is acquired based on the first detection signal.
  • processor 1001 when the processor 1001 performs balanced detection of the local oscillator beam and the signal beam to obtain the first detection signal, specifically perform the following operations:
  • a balanced detection is performed on the first mixed frequency signal to obtain a first detection signal.
  • processor 1001 when the processor 1001 generates the input beam and divides the input beam into the detection beam and the local oscillator beam, specifically perform the following operations:
  • the processor 1001 transmits the detection beam to the target object and receives the reflected beam reflected by the target object, it specifically performs the following operations:
  • the beam diameter of the detection beam to a second preset diameter to obtain the target detection beam, the second preset diameter being greater than the first preset diameter
  • the beam diameter of the reflected beam is adjusted to a third preset diameter to obtain the target reflected beam, and the second preset diameter is larger than the third preset diameter.
  • the processor 1001 transmits the target detection beam to the target object and receives the reflected beam reflected by the target object, the following operations are specifically performed:
  • the actual detection beam is emitted to the target object and the reflected beam reflected by the target object is received.
  • processor 1001 when the processor 1001 generates the input beam and divides the input beam into the detection beam and the local oscillator beam, specifically perform the following operations:
  • An input beam is generated and divided into a probe beam and at least two local oscillator beams, the number of local oscillator beams is twice the number of launch angles, and at least one launch angle.
  • the processor 1001 executes sending the actual detection beam to the target object and receiving the reflected beam reflected by the target object, it specifically performs the following operations:
  • the processor 1001 adjusts the beam diameter of the reflected beam to the third preset diameter to obtain the target reflected beam, specifically perform the following operations:
  • the processor 1001 converts the polarization state of the reflected beam to obtain the signal beam, it specifically performs the following operations:
  • processor 1001 when the processor 1001 performs balanced detection of the local oscillator beam and the signal beam to obtain the first detection signal, specifically perform the following operations:
  • the processor 1001 executes acquiring the position information of the target object based on the first detection signal, specifically perform the following operations:
  • processor 1001 divides the input beam into the detection beam and the local oscillator beam, specifically perform the following operations:
  • the processor 1001 divides the input beam into the detection beam and the local oscillator beam, the following operations are further performed:
  • the adjustment value of the frequency-modulated light source of the laser radar is acquired based on the second detection signal.
  • the polarization state of the reflected beam reflected by the target object is adjusted to convert the polarization state of the reflected beam to be consistent with the polarization state of the local oscillator beam, thereby avoiding detection failures caused by inconsistent polarization states. Thereby improving the detection success rate of lidar.

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

Abstract

La présente demande divulgue un radar laser et son procédé de commande. Le radar laser comprend une source de lumière modulée en fréquence, un module de division de faisceau, un module de détection de cible, un rotateur de division de faisceau de polarisation et un module de détection d'équilibre, la source de lumière modulée en fréquence générant un faisceau de lumière d'entrée ; le module de division de faisceau divisant le faisceau de lumière d'entrée en un faisceau de lumière de détection et en un faisceau de lumière d'oscillateur local ; le module de détection de cible émettant le faisceau de lumière de détection vers un objet cible et recevant un faisceau de lumière réfléchie, qui est réfléchi par l'objet cible ; le rotateur de division de faisceau de polarisation convertissant l'état de polarisation du faisceau de lumière réfléchie, de manière à obtenir un faisceau de lumière de signal, l'état de polarisation du faisceau de lumière de signal étant cohérent avec l'état de polarisation du faisceau de lumière d'oscillateur local ; et le module de détection d'équilibre effectuant une détection d'équilibre sur le faisceau de lumière d'oscillateur local et le faisceau de lumière de signal, et délivrant un premier signal de détection, le premier signal de détection étant utilisé pour acquérir des informations de position de l'objet cible. À l'aide de la présente demande, l'état de polarisation d'un faisceau de lumière réfléchi, qui est réfléchi par un objet cible, est ajusté au moyen d'un rotateur de division de faisceau de polarisation, et la situation d'une défaillance de détection provoquée par des états de polarisation incohérents est empêchée, ce qui permet d'améliorer le taux de réussite de détection du radar laser.
PCT/CN2021/123522 2021-10-13 2021-10-13 Radar laser et procédé de commande de radar laser WO2023060473A1 (fr)

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CN116736270A (zh) * 2023-08-14 2023-09-12 深圳市速腾聚创科技有限公司 硅光芯片、激光雷达及可移动设备
CN116736270B (zh) * 2023-08-14 2023-12-12 深圳市速腾聚创科技有限公司 硅光芯片、激光雷达及可移动设备
CN116908811A (zh) * 2023-09-12 2023-10-20 深圳市速腾聚创科技有限公司 光芯片、激光雷达及可移动设备
CN116908811B (zh) * 2023-09-12 2023-12-12 深圳市速腾聚创科技有限公司 光芯片、激光雷达及可移动设备

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