WO2023065149A1 - 激光雷达及激光雷达控制方法 - Google Patents

激光雷达及激光雷达控制方法 Download PDF

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Publication number
WO2023065149A1
WO2023065149A1 PCT/CN2021/124970 CN2021124970W WO2023065149A1 WO 2023065149 A1 WO2023065149 A1 WO 2023065149A1 CN 2021124970 W CN2021124970 W CN 2021124970W WO 2023065149 A1 WO2023065149 A1 WO 2023065149A1
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optical
signal
optical signal
splitter
local oscillator
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PCT/CN2021/124970
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English (en)
French (fr)
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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 PCT/CN2021/124970 priority Critical patent/WO2023065149A1/zh
Priority to CN202180008156.2A priority patent/CN115210603B/zh
Publication of WO2023065149A1 publication Critical patent/WO2023065149A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4911—Transmitters
    • 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
    • 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
    • G01S7/491—Details of non-pulse systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Definitions

  • the present application relates to the field of detection technology, in particular to a laser radar and a laser radar control method.
  • Lidar is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of targets.
  • Frequency Modulated Continuous Wave (FMCW for short) LiDAR's ranging principle is to transmit a continuous wave with a linearly changing frequency within the frequency sweep period as the outgoing signal, part of the outgoing signal is used as a local oscillator signal, and the rest is sent out for For detection, there is a certain frequency difference between the echo signal reflected by the object and the local oscillator signal, and the distance information between the detected target and the radar can be obtained by measuring the frequency difference. Due to its long detection distance and high ranging accuracy, LiDAR is widely used in autonomous driving, robotics, aerial surveying and mapping and other fields.
  • FMCW Frequency Modulated Continuous Wave
  • the FMCW laser radar has a relatively complex system structure, using a large number of discrete devices, and connecting each discrete device through an optical fiber or a spatial light.
  • Embodiments of the present application provide a laser radar and a laser radar control method, which can enable the laser radar to implement a highly integrated system architecture and reduce the volume of the laser radar. Described technical scheme is as follows:
  • the embodiment of the present application provides a laser radar, which includes: a frequency modulation light source, an optical amplifier, at least one circulator, a beam steering module corresponding to each circulator, and a data processing module.
  • the data processing module is integrated with at least one detection optical path, wherein:
  • the frequency-modulated light source is connected to each detection optical path;
  • the optical amplifier includes an input port and at least one output port, each output port is respectively connected to the first port of each circulator, and the input port is connected to each detection optical path;
  • the second port of each circulator is respectively connected to the beam steering module corresponding to each circulator, and the third port of each circulator is respectively connected to each detection optical path.
  • the embodiment of the present application provides a laser radar control method, the method comprising:
  • the frequency-modulated light source generates a frequency-modulated continuous wave signal, and transmits the frequency-modulated continuous wave signal to a data processing module;
  • the data processing module performs optical splitting processing on the frequency-modulated continuous wave signal to obtain a first transmitted optical signal, and transmits the first transmitted optical signal to an optical amplifier;
  • the optical amplifier amplifies the first transmitted optical signal to obtain at least one second transmitted optical signal, and transmits the at least one second transmitted optical signal to each circulator;
  • Each of the circulators transmits the second transmitted optical signal to a beam steering module corresponding to each of the circulators;
  • Each light beam control module adjusts the second emitted light signal to obtain a third emitted light signal, transmits the third emitted light signal to the detection target, and receives the third emitted light signal through the the reflected light signal reflected back after the detection target, and transmit the reflected light signal to the circulator, so that the circulator transmits the reflected light signal to the data processing module;
  • the data processing module obtains at least one piece of state information corresponding to the detection target based on at least one reflected light signal and the first local oscillator light signal obtained by splitting the frequency-modulated continuous wave.
  • the laser radar includes a frequency modulation light source, an optical amplifier, at least one circulator, a beam steering module corresponding to each circulator, and a data processing module, and the data processing module is integrated with at least one Probe light path.
  • the lidar in the embodiment of the present application integrates the devices included in the detection optical path into the data processing module, unlike the related art, which uses multiple discrete devices, and the discrete devices are connected by optical fiber or spatial light. , which can make the laser radar realize a highly integrated system architecture, thereby reducing the volume of the laser radar and reducing the cost.
  • FIG. 1 is a schematic structural diagram of a laser radar provided in an embodiment of the present application
  • Fig. 2 is a schematic structural diagram of another laser radar provided by the embodiment of the present application.
  • Fig. 3 is a schematic structural diagram of another laser radar provided by the embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of another laser radar provided by the embodiment of the present application.
  • Fig. 5 is a schematic flow chart of a lidar control method provided by an embodiment of the present application.
  • plural means two or more.
  • “And/or” describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B may indicate: A exists alone, A and B exist simultaneously, and B exists independently.
  • the character “/” generally indicates that the contextual objects are an "or” relationship.
  • the speed measurement and distance measurement are realized through the principle of coherent detection.
  • the system emits a continuous laser with a linear frequency change (triangular wave or sawtooth wave) within the frequency sweep period, and the echo light reflected by the object and the original light on the reference arm The vibrating light interferes, and the generated beat frequency signal is detected by the photodetector, and the distance and speed of the target are calculated by measuring the frequency of the beat frequency signal.
  • FMCW lidar has the principle of coherent detection, high ranging accuracy; compared with direct detection, strong anti-interference; can measure speed and distance at the same time; and continuous light emission, does not require high peak power, system power consumption Low, human eye safety and other advantages, are widely used in autonomous driving, robotics, aerial surveying and mapping and other fields.
  • FMCW lidar uses a large number of optoelectronic devices, adopts the method of discrete devices, and connects each discrete device through optical fiber or spatial light, resulting in a relatively complicated system composition and a high degree of integration of the lidar system architecture. Low, high cost, and bulky.
  • the laser radar may include: a frequency-modulated light source, an optical amplifier, at least one circulator, a beam steering module corresponding to each circulator, and a data processing module.
  • the data processing module integrates There is at least one detection light path and one calibration light path.
  • the lidar described in the following embodiments is composed of some or all of the devices described above.
  • FIG. 1 is a schematic structural diagram of a laser radar provided by the embodiment of the present application. The following explains the laser radar in the embodiment of the present application by integrating a data processing module with a detection optical path.
  • the laser radar in the embodiment of the present application may include: a frequency modulation light source 111, an optical amplifier 112, a circulator 113, a beam control module 114, and a data processing module 115.
  • the data processing module 115 is integrated with a
  • the detection optical path 1151 includes a detection target 116 in FIG.
  • the frequency-modulated light source 111 is connected to the detection optical path 1151 for generating a frequency-modulated continuous wave signal and transmitting the frequency-modulated continuous wave signal to the detection optical path 1151 .
  • the output port of the optical amplifier 112 is connected to the first port of the circulator 113, the input port of the optical amplifier 112 is connected to the detection optical circuit 1151, and the optical amplifier 112 is used to transmit the first detection optical circuit 1151.
  • a transmitted optical signal is amplified to obtain a second transmitted optical signal, and the second transmitted optical signal is transmitted to the circulator 113 .
  • the second port of the circulator 113 is connected to the beam control module 114, the third port of the circulator 113 is connected to the detection optical path 1151, and the circulator 113 is used to connect the second The emitted light signal is transmitted to the beam steering module 114 .
  • the light beam control module 114 is configured to adjust and process the second emitted light signal to obtain a third emitted light signal, transmit the third emitted light signal to the detection target 116, and receive the third emitted light signal. transmit the reflected light signal to the circulator 113, so that the circulator 113 transmits the reflected light signal to the detection optical path 1151.
  • the detection optical path 1151 is configured to perform frequency mixing processing on the local oscillator optical signal in the frequency modulated continuous wave signal and the reflected optical signal to obtain state information of the detection target 116 .
  • the status information includes at least one or more of the distance, speed, orientation, altitude, attitude, and shape of the detection target 116 .
  • the frequency-modulated light source may be a light source such as an internally modulated laser light source, a chirped pulse laser light source, or an externally modulated laser light source, and the embodiment of the present application does not limit the light source.
  • transmitting the frequency-modulated continuous wave signal to the detection optical path can be understood as transmitting the frequency-modulated continuous wave signal to the detection optical path so that the detection optical path performs optical splitting processing on the frequency-modulated continuous wave signal, and the detection optical path can also be based on the frequency-modulated continuous wave
  • the signal obtains the status information of the detection target.
  • the optical splitter in the detection optical path can split the FM continuous wave signal to obtain two signals.
  • the optical splitter can be referred to as the first optical splitter, one of which can be the local oscillator optical signal, and the other can be the detection optical signal .
  • the local oscillator light signal can stay in the data processing module, and the detection light signal can be irradiated to the surface of the detection target.
  • the detection light signal is described as the first emission light signal.
  • the local oscillator optical signal can enter another optical splitter in the detection optical path, for example, another optical splitter can be referred to as the second optical splitter, and the second optical splitter performs optical splitting processing on the local oscillator optical signal again to obtain
  • the first local oscillator optical signal, the first local oscillator optical signal may remain in the data processing module.
  • the first transmitted optical signal can enter the optical amplifier, so that the optical amplifier can perform optical amplification processing on the first transmitted optical signal to obtain the second transmitted optical signal.
  • the second emitted light signal can be transmitted to the beam steering module through the circulator, so that the beam steering module can shape, collimate, scan and send the second emitted light signal to the surface of the detection target after processing.
  • a reflected light signal can be obtained, and the reflected light signal can be returned to the beam control module through the original path, and then transmitted to the circulator through the beam control module.
  • the circulator can transmit the reflected optical signal to the detection optical path, so that the detection optical path performs frequency mixing processing on the first local oscillator optical signal and the reflected optical signal split by the second optical splitter, and then the state information of the detection target can be obtained , and the state information may include the values of parameters such as distance, speed, orientation, altitude, attitude, shape, etc. corresponding to the detection target.
  • the devices included in the detection optical path can be integrated on a platform such as silicon-based optoelectronics, instead of using multiple discrete devices in related technologies, each discrete device Connecting them through optical fiber or spatial light can make the laser radar realize a highly integrated system architecture, thereby reducing the volume of the laser radar and reducing the cost.
  • FIG. 2 is a schematic structural diagram of a laser radar provided by the embodiment of the present application.
  • the following explains the laser radar in the embodiment of the present application by integrating a data processing module with a detection optical path and a calibration optical path.
  • the laser radar in the embodiment of the present application may include: a frequency modulation light source 211, an optical amplifier 212, a circulator 213, a beam control module 214, and a data processing module 215.
  • the data processing module 215 is integrated with a
  • connection relationship among the frequency-modulated light source 211, the optical amplifier 212, the circulator 213, the beam steering module 214, and the detection optical path 2151 and the functions and uses of each device can be found in The description of the foregoing embodiment corresponding to FIG. 1 will not be repeated here.
  • the calibration optical path 2152 is connected to the detection optical path 2151, and is used for performing light source calibration on the frequency-modulated continuous wave signal.
  • the calibration optical path 2152 may include devices such as optical splitters, optical delay lines, couplers, and balanced detectors.
  • the frequency-modulated light source may be a light source such as an internally modulated laser light source, a chirped pulse laser light source, or an externally modulated laser light source, and the embodiment of the present application does not limit the light source.
  • transmitting the frequency-modulated continuous wave signal to the detection optical path can be understood as transmitting the frequency-modulated continuous wave signal to the detection optical path so that the detection optical path performs optical splitting processing on the frequency-modulated continuous wave signal, and the detection optical path can also be based on the frequency-modulated continuous wave
  • the signal obtains the status information of the detection target.
  • the optical splitter in the detection optical path can split the FM continuous wave signal to obtain two signals.
  • the optical splitter can be referred to as the first optical splitter, one of which can be the local oscillator optical signal, and the other can be the detection optical signal .
  • the local oscillator light signal can stay locally, and the detection light signal can be irradiated to the surface of the detection target.
  • the detection light signal is described as the first emission light signal.
  • the local oscillator optical signal can enter another optical splitter in the detection optical path, for example, another optical splitter can be referred to as the second optical splitter, and the second optical splitter performs optical splitting processing on the local oscillator optical signal again to obtain Two signals, one as the first local oscillator optical signal, can stay in the data processing module, the other as the second local oscillator optical signal, the second local oscillator optical signal can be used as the calibration optical signal, and can be transmitted to the calibration optical path.
  • the first transmitted optical signal can enter the optical amplifier, so that the optical amplifier can perform optical amplification processing on the first transmitted optical signal to obtain the second transmitted optical signal.
  • the second local oscillator optical signal received by the calibration optical path can be processed by optical delay, frequency mixing, etc., and used as a nonlinear calibration signal of the frequency-modulated light source.
  • the second emitted light signal can be transmitted to the beam steering module through the circulator, so that the beam steering module can shape, collimate, scan and send the second emitted light signal to the surface of the detection target, and the processed After the second transmitted light signal is reflected by the detection target, a reflected light signal can be obtained, and the reflected light signal can be returned to the beam control module through the original path, and then transmitted to the circulator through the beam control module.
  • the circulator can transmit the reflected optical signal to the detection optical path, so that the detection optical path performs frequency mixing processing on the local oscillator optical signal and the reflected optical signal split by the second optical splitter, so as to obtain the state information of the detection target, and
  • the status information may include values of parameters such as distance, speed, orientation, altitude, attitude, shape, etc. corresponding to the detection target.
  • the lidar when the lidar includes a detection optical path and a calibration optical path, the devices included in the detection optical path and the devices included in the calibration optical path can be integrated on a platform such as silicon-based optoelectronics, which is no longer like related technologies.
  • a platform such as silicon-based optoelectronics
  • multiple discrete devices are used, and each discrete device is connected by optical fiber or spatial light, which can make the laser radar realize a highly integrated system architecture, thereby reducing the volume of the laser radar and reducing the cost.
  • FIG. 3 is a schematic structural diagram of a laser radar provided by the embodiment of the present application.
  • the following explains the laser radar in the embodiment of the present application by integrating a data processing module with a detection optical path and a detection optical path.
  • the laser radar in the embodiment of the present application may include: a frequency modulation light source 311, an optical amplifier 312, a circulator 313, a beam control module 314, and a data processing module 320.
  • the data processing module 320 is integrated with a A detection optical path and a calibration optical path, the detection optical path includes a first optical splitter 322, a second optical splitter 324, an optical mixer 326, a second balance detector 327, and the calibration optical path includes the first optical splitter 322,
  • the data processing module 320 is also integrated with the first mode converter 321, the second A mode converter 323 and a third mode converter 325 .
  • the data processing module 320 may be integrated on a chip, and components in the data processing module 320 may be directly connected through optical waveguides.
  • the frequency modulation light source 311 is connected to the input port of the first optical splitter 322 through the first mode converter 321, and is used to generate a frequency modulation continuous wave signal, and transmit the frequency modulation continuous wave signal to the first optical splitter 322.
  • the frequency-modulated light source may include an internally modulated laser light source, a chirped pulse laser light source, and an externally modulated laser light source.
  • the embodiment of the present application does not limit the type of the frequency-modulated light source.
  • the first output port of the first optical splitter 322 is connected to the input port of the optical amplifier 312 through the second mode converter 323, and the second output port of the first optical splitter 322 is connected to the second The input ports of the optical splitter 324 are connected, and the first optical splitter 322 is used to divide the frequency-modulated continuous wave signal into a first local oscillator optical signal and a first transmitted optical signal, and divide the first local oscillator optical signal transmit to the second optical splitter 324, and transmit the first transmitted optical signal to the optical amplifier 312.
  • the output port of the optical amplifier 312 is connected to the first port of the circulator 313, and the optical amplifier 312 is used to amplify the first transmitted optical signal to obtain a second transmitted optical signal, and convert the The second transmitted optical signal is transmitted to the circulator 313.
  • the second port of the circulator 313 is connected to the input port of the beam steering module 314, and the third port of the circulator 313 is connected to the optical mixer 326 through the third mode converter 325.
  • the first input port is connected, and the circulator 313 is used to transmit the second emitted light signal to the beam steering module 314 .
  • the light beam control module 314 is configured to adjust and process the second emitted light signal to obtain a third emitted light signal, transmit the third emitted light signal to the detection target 315, and receive the third emitted light signal. transmit the reflected light signal to the circulator 313, so that the circulator 313 transmits the reflected light signal to the optical mixer frequency converter 326.
  • the first output port of the second optical splitter 324 is connected to the second input port of the optical mixer 326, and the second output port of the second optical splitter 324 is connected to the input of the third optical splitter 228.
  • the second optical splitter 324 is used to divide the first local oscillator optical signal into a second local oscillator optical signal and a third local oscillator optical signal, and transmit the second local oscillator optical signal to The optical mixer 326 transmits the third local oscillator optical signal to the third optical splitter 328 .
  • the output port of the optical mixer 326 is connected to the second balanced detector 327, and the optical mixer 326 is used for mixing the reflected optical signal and the second local oscillator optical signal, A detection light signal is obtained, and the detection light signal is transmitted to the second balance detector 327 .
  • the second balance detector 327 is used to obtain the state information of the detection target 315 based on the detection light signal, and the state information may include parameters such as distance, speed, orientation, height, attitude, shape, etc. corresponding to the detection target 315 value.
  • the first output port of the third optical splitter 328 is connected to the input port of the optical delay line 329, and the second output port of the third optical splitter 328 is connected to the first input port of the 3dB coupler 330. connected, the third optical splitter 328 is used to divide the third local oscillator optical signal into a first delayed optical signal and a coupled optical signal, and transmit the first delayed optical signal to the optical delay line 329, And transmit the coupled optical signal to the 3dB coupler 330 .
  • the output port of the optical delay line 329 is connected to the second input port of the 3dB coupler 330, and the optical delay line 329 is used to delay the first delayed optical signal to obtain a second delayed optical signal , and transmit the second delayed optical signal to the 3dB coupler 330 .
  • the output port of the 3dB coupler 330 is connected to the first balanced detector 331, and the 3dB coupler 330 is used for mixing the coupled optical signal and the second delayed optical signal to obtain a light source calibration signal, and transmit the light source calibration signal to the first balance detector 331 .
  • the first balance detector 331 is configured to perform calibration processing on the frequency modulated continuous wave signal based on the light source calibration signal.
  • the frequency-modulated light source can generate frequency-modulated continuous wave signals, and there are many ways of frequency modulation, such as triangular wave, sawtooth wave, code modulation or noise frequency modulation.
  • all the devices included in the detection optical path and all the devices included in the calibration optical path can be integrated on the chip, and when these integrated devices are connected to the frequency modulation light source, optical amplifier and circulator, there will be a mode field
  • the embodiment of the present application can add a mode converter between these devices, for example, the first mode converter can be used to connect the FM light source and the first optical splitter, and the optical amplifier It can be connected with the first optical splitter through the second mode converter, and can be connected with the circulator and the optical mixer through the third mode converter.
  • the frequency modulated continuous wave signal can be transmitted to the first optical splitter through the first mode converter, so that the first optical splitter can divide the frequency modulated continuous wave signal into the first local oscillator optical signal and the first transmitted optical signal.
  • the first optical splitter can also transmit the first local oscillator optical signal to the second optical splitter, and transmit the first transmitted optical signal to the optical amplifier.
  • the optical amplifier can amplify the first transmitted optical signal to obtain the second transmitted optical signal, and transmit the second transmitted optical signal to the circulator.
  • the circulator can transmit the second emitted light signal to the beam steering module.
  • the light beam manipulation module can perform shaping, collimation, scanning and other processing on the second emitted light signal to obtain the third emitted light signal, and can also send the third emitted light signal to the surface of the detection target, and the third emitted light signal
  • the reflected light signal obtained after being reflected by the detection target can be returned to the light speed control module through the original path, and the light beam control module can also transmit the reflected light signal to the circulator.
  • the circulator can transmit the reflected optical signal to the optical mixer.
  • the second optical splitter may perform optical splitting processing on the first local oscillator optical signal to obtain a second local oscillator optical signal and a third local oscillator optical signal. Further, for the detection optical path, the second optical splitter can transmit the second local oscillator optical signal to the optical mixer; for the calibration optical path, the second optical splitter can transmit the third local oscillator optical signal to the third Splitter.
  • the optical mixer can perform frequency mixing processing on the second local oscillator optical signal and the reflected optical signal to obtain the detection optical signal, and can also transmit the detection optical signal to the second balanced detector.
  • the second balance detector can detect the detection light signal, and can obtain the echo delay of the reflected light signal and the state information of the detection target, and the state information can include the distance, speed, azimuth, height corresponding to the detection target , attitude, shape and other parameters. Since the detection light signal is a linear frequency modulation signal, its instantaneous frequency has a linear relationship with time.
  • the difference frequency signal is obtained by the coherent beat frequency of the reflected light signal and the local oscillator light signal.
  • the generated beat frequency signal can be detected by the second balanced detector, and the second balanced detector calculates the distance and speed of the detection target by measuring the frequency of the beat frequency signal.
  • the third optical splitter can divide the third local oscillator optical signal into the first delayed optical signal and the coupled optical signal, and can also transmit the first delayed optical signal to the optical delay line, and the coupled The optical signal is transmitted to the 3dB coupler.
  • the optical delay line can delay the first delayed optical signal to obtain the second delayed optical signal, and can also transmit the second delayed optical signal to the 3dB coupler.
  • the 3dB coupler can perform frequency mixing processing on the coupled optical signal and the second delayed optical signal to obtain a light source calibration signal, and can also transmit the light source calibration signal to the first balanced detector.
  • the first balance detector can calibrate the frequency-modulated continuous wave signal generated by the frequency-modulated light source through the light source calibration signal.
  • the lidar when the lidar includes one detection optical path and one calibration optical path, by integrating the devices included in the detection optical path and the devices included in the calibration optical path on the chip, and the frequency modulation light source and the first beam splitter 1.
  • a mode converter is used between the first optical splitter and the optical amplifier, the circulator and the optical mixer, which can reduce the coupling loss between these devices.
  • multiple discrete devices are used, and the discrete devices are connected by optical fiber or spatial light, which can make the lidar realize a highly integrated system architecture, and the devices on the chip can be connected through optical waveguides. Connected, the size of the lidar can be reduced, thereby reducing the volume of the lidar, and the mature semiconductor process processing platform can be used, thereby reducing the cost.
  • FIG. 4 is a schematic structural diagram of a laser radar provided by the embodiment of the present application.
  • the laser radar in the embodiment of the present application is explained with the data processing module integrating at least two detection optical paths and one calibration optical path.
  • the lidar in the embodiment of the present application may include: a frequency modulation light source 411, an optical amplifier 412, at least two circulators (for example, a circulator 413, a circulator 415, a circulator 417, etc.), and each A beam control module corresponding to each circulator (for example, a beam control module 414, a beam control module 416, a beam control module 418, etc.), a data processing module 420, the data processing module 420 is integrated with at least two detection optical paths And one calibration optical path, each detection optical path includes a first optical splitter 422, a second optical splitter 424, an optical mixer (such as an optical mixer 428, an optical mixer 429, an optical mixer 430, etc.) and a second a balanced detector (for example, a second balanced detector 431 corresponding to the optical mixer 428, a second balanced detector 432 corresponding to the optical mixer 429, a second balanced detector 433 corresponding to the optical mixer 430),
  • the calibration optical path includes a first optical
  • the data processing module 420 is also integrated with a first mode converter 421, a second mode converter 423, and at least two third mode converters (for example, a third mode converter 425, a third mode converter 426, a third mode converter 427, etc. ). It can be understood that the data processing module 420 may be integrated on a chip, and components in the data processing module 420 may be directly connected through optical waveguides.
  • the frequency-modulated light source 411 is connected to the input port of the first optical splitter 422 through the first mode converter 421, and is used to generate a frequency-modulated continuous wave signal, and transmit the frequency-modulated continuous wave signal to the first optical splitter 422.
  • the first output port of the first optical splitter 422 is connected to the input port of the optical amplifier 412 through the second mode converter 423, and the second output port of the first optical splitter 422 is connected to the second The input ports of the optical splitter 424 are connected, and the first optical splitter 422 is used to divide the frequency-modulated continuous wave signal into a first local oscillator optical signal and a first transmitted optical signal, and divide the first local oscillator optical signal transmit to the second optical splitter 424, and transmit the first transmitted optical signal to the optical amplifier 412.
  • the optical amplifier 412 may include an input port and at least two output ports, each output port is connected to the first port of each circulator (such as the circulator 413, the circulator 415, the circulator 417, etc.), There is a one-to-one correspondence between the output ports of the circulator and the optical amplifier 412, and the optical amplifier 412 is used to amplify the first transmitted optical signal to obtain at least two second transmitted optical signals, and convert the The second transmitted optical signal is transmitted to the circulator, and the circulator corresponds to the second transmitted optical signal one by one.
  • each circulator such as the circulator 413, the circulator 415, the circulator 417, etc.
  • the second port of each circulator is connected to the input port of the beam steering module, and the third port of the circulator is connected to the first input port of the optical mixer through the third mode converter.
  • the ports are connected, the circulator is in one-to-one correspondence with the beam steering module, and there is also a one-to-one correspondence between the circulator, the third mode converter and the optical mixer.
  • the circulator is used to transmit the second emitted light signal to the beam steering module.
  • Each beam control module (for example, beam control module 414, beam control module 416, beam control module 418, etc.) is used to adjust and process the second transmitted light signal to obtain a third transmitted light signal, and transmitting the third transmitted light signal to the detection target 419, and receiving the reflected light signal reflected back by the third transmitted light signal after passing through the detection target 419, and transmitting the reflected light signal to the circulator , so that the circulator transmits the reflected optical signal to the optical mixer.
  • beam control module for example, beam control module 414, beam control module 416, beam control module 418, etc.
  • the second optical splitter 424 includes at least two first output ports and one second output port, each first output port is connected to the second input port of the optical mixer, and the second optical splitter 424
  • the second output port of the second optical splitter 434 is connected to the input port of the third optical splitter 434, and the second optical splitter 424 is used to divide the first local oscillator optical signal into at least two second local oscillator optical signals and one a third local oscillator optical signal, and transmit each of the second local oscillator optical signals to each optical mixer, and transmit the third local oscillator optical signal to the third optical splitter 434, the The second local oscillator optical signals are in one-to-one correspondence with the optical mixers.
  • each optical mixer is connected to the second balanced detector, and each optical mixer is used for mixing the reflected optical signal and the second local oscillator optical signal to obtain detecting optical signals, and transmitting the detecting optical signals to the second balanced detectors, where the detecting optical signals are in one-to-one correspondence with the second balanced detectors.
  • Each second balance detector is configured to obtain distance information of the detection target based on the detection light signal.
  • the first output port of the third optical splitter 434 is connected to the input port of the optical delay line 435, and the second output port of the third optical splitter 434 is connected to the first input port of the 3dB coupler 436. connected, the third optical splitter 434 is used to divide the third local oscillator optical signal into a first delayed optical signal and a coupled optical signal, and transmit the first delayed optical signal to the optical delay line 435, And transmit the coupled optical signal to the 3dB coupler 436 .
  • the output port of the optical delay line 435 is connected to the second input port of the 3dB coupler 436, and the optical delay line 435 is used to delay the first delayed optical signal to obtain a second delayed optical signal , and transmit the second delayed optical signal to the 3dB coupler 436 .
  • the output port of the 3dB coupler 436 is connected to the first balanced detector 437, and the 3dB coupler 436 is used for mixing the coupled optical signal and the second delayed optical signal to obtain a light source calibration signal, and transmit the light source calibration signal to the first balance detector 337.
  • the first balance detector 437 is configured to perform calibration processing on the frequency modulated continuous wave signal based on the light source calibration signal.
  • All the devices included in the detection optical path and all the devices included in the calibration optical path in the embodiment of the present application can be integrated on the chip, and when these integrated devices are connected to the frequency modulation light source, optical amplifier and circulator, there will be a mode Field mismatch problem.
  • the embodiment of the present application can add a mode converter between these devices.
  • a first mode converter can be used to connect the FM light source and the first optical splitter.
  • the amplifier and the first optical splitter may be connected through a second mode converter, and each circulator and the optical mixer corresponding to the circulator may be connected through a third mode converter.
  • the system architecture of the embodiment of the present application can integrate multiple detection optical paths and one calibration optical path on the chip, it can also include multiple circulators and beam steering modules corresponding to each circulator, when there is a one-to-many connection relationship , each output port of the optical amplifier can be connected to a circulator, and each circulator and the beam steering module are connected in one-to-one correspondence, and each circulator and the optical mixer can also be connected one by one through the third mode converter.
  • each output port of the second optical splitter is also connected to the optical mixer in a one-to-one correspondence.
  • the frequency modulated light source can generate frequency modulated continuous wave signals, and can also transmit the frequency modulated continuous wave signals to the first optical splitter through the first mode converter, so that the first optical splitter can divide the frequency modulated continuous wave signals into the first local oscillator light signal and the first transmitted optical signal, and the first optical splitter can also transmit the first local oscillator optical signal to the second optical splitter, and transmit the first transmitted optical signal to the optical amplifier.
  • the optical amplifier can amplify the first optical signal, obtain multiple identical second optical signals, and transmit each second optical signal to the circulator .
  • each circulator can transmit the second emitted light signal to the beam steering module.
  • each beam manipulation module can perform shaping, collimation, and scanning processing on the second emitted light signal to obtain a third emitted light signal, and can also send the third emitted light signal to the surface of the detection target, and the third emitted light signal
  • the reflected light signal obtained after the emitted light is reflected by the detection target can return to the light speed control module through the original path, and the beam control module can also transmit the reflected light signal to the circulator.
  • each circulator can transmit the reflected optical signal to the optical mixer.
  • the second optical splitter can perform optical splitting processing on the first local oscillator optical signal to obtain multiple identical second local oscillator optical signals and third local oscillator optical signals . Further, for the detection optical path, the second optical splitter can transmit each second local oscillator optical signal to the optical mixer; for the calibration optical path, the second optical splitter can transmit the third local oscillator optical signal to third beam splitter.
  • each optical mixer can mix the second local oscillator optical signal and the reflected optical signal to obtain the detection optical signal, and can also transmit the detection optical signal to the second balance detector.
  • each second balance detector can detect the detection light signal, and can obtain the echo delay of the reflected light signal and the state information of the detection target, and the state information can include the distance, speed, and azimuth corresponding to the detection target , height, attitude, shape and other parameters. Since the detection light signal is a linear frequency modulation signal, its instantaneous frequency has a linear relationship with time. When the reflected optical signal, that is, the echo, has an echo delay, an instantaneous frequency difference proportional to the echo delay will be generated between the reflected optical signal and the local oscillator optical signal.
  • the difference frequency signal is obtained by the coherent beat frequency of the reflected light signal and the local oscillator light signal.
  • the generated beat frequency signal can be detected by the second balanced detector, and the second balanced detector calculates the distance and speed of the detection target by measuring the frequency of the beat frequency signal.
  • the third optical splitter can divide the third local oscillator optical signal into the first delayed optical signal and the coupled optical signal, and can also transmit the first delayed optical signal to the optical delay line, and the coupled The optical signal is transmitted to the 3dB coupler.
  • the optical delay line can delay the first delayed optical signal to obtain the second delayed optical signal, and can also transmit the second delayed optical signal to the 3dB coupler.
  • the 3dB coupler can perform frequency mixing processing on the coupled optical signal and the second delayed optical signal to obtain a light source calibration signal, and can also transmit the light source calibration signal to the first balanced detector.
  • the first balance detector can calibrate the frequency-modulated continuous wave signal generated by the frequency-modulated light source through the light source calibration signal.
  • multiple emission light signals can be transmitted to the surface of the same detection target.
  • the average calculation of these distances can be performed to obtain the final distance of the detection target, and the average calculation of these velocities can also be performed to obtain the final speed of the detection target.
  • the mode of these distances can be calculated, and the mode of the distance can be used as the final distance of the detection target, and the mode of these velocities can also be calculated, and the mode of the speed can be used as the final speed of the detection target.
  • a plurality of light beam control modules can be used to achieve a wide-range detection of the detection target and increase the scanning range of the laser radar.
  • the use of multiple beam control modules will inevitably require multiple circulators, multiple optical mixers, and multiple second balanced detectors, and these devices are connected in one-to-one correspondence. Therefore, multiple second balanced The detector can obtain a plurality of state information of the detection target, and each state information can include the value of the distance, speed, azimuth, height and other parameters corresponding to the detection target.
  • the devices included in the multi-channel detection optical path and the devices included in the calibration optical path can be integrated on the chip, and the devices not integrated on the chip can be connected with the devices on the chip by using a mode converter. While improving the integration of the lidar system architecture, it can also reduce the coupling loss between devices.
  • LiDAR can achieve a highly integrated system architecture.
  • the devices on the chip can be connected through optical waveguides, which can reduce the size of LiDAR, which in turn can reduce the volume of LiDAR. It can also use mature semiconductor process processing platforms to reduce the cost. significantly reduced.
  • FIG. 5 is a schematic flowchart of the laser radar control method in the embodiment of the present application.
  • the frequency-modulated light source generates a frequency-modulated continuous wave signal, and transmits the frequency-modulated continuous wave signal to a data processing module.
  • the frequency-modulated light source may be an internally modulated laser light source, a chirped pulsed laser light source, an externally modulated laser light source, and the like.
  • an internally modulated laser capable of directly generating a chirped optical signal
  • Internally modulated lasers can be divided into two categories: the first category is to modulate the laser light intensity with a linear frequency modulation signal, and the output light intensity of the laser is a linear frequency modulation signal; the second category is to change the laser frequency through the modulation signal, and the light field itself is linear.
  • Frequency modulation signal this type of laser is also called frequency-sweeping laser.
  • the modulation method of the first type of laser is simple, and direct detection is generally used to obtain echo information, and the detection distance is relatively short.
  • a chirped pulsed laser light source can be used, and what the chirped pulsed laser light source emits is not continuous light, but an optical signal composed of pulse sequences.
  • the chirped pulsed laser can be regarded as a frequency-modulated continuous-wave optical signal with a low duty cycle.
  • the instantaneous frequency of the light field changes linearly with time, which is consistent with the measurement principle of frequency-modulated continuous-wave laser radar.
  • Chirped pulsed lasers can be generated by various methods, including time-domain stretching, Fourier-domain mode-locked lasers, frequency-shifted feedback lasers, etc.
  • an externally modulated laser light source can be used, and the externally modulated laser light source generally consists of a cascaded single-frequency laser and an optical modulator.
  • the laser signal optical modulator completes the modulation process and outputs a linear frequency modulated optical signal.
  • Commonly used modulation methods include intensity modulation and frequency modulation.
  • the intensity modulation method uses a linear frequency modulation signal to modulate the intensity of the laser, and uses a photodetector at the receiving end to convert the light intensity into a current to obtain the distance information of the target.
  • the frequency modulation method uses electrical signals to modulate the laser frequency. After modulation, the instantaneous frequency of the laser is offset, and the offset is determined by the instantaneous frequency of the modulating signal.
  • the output optical signal is a chirp signal.
  • the beat frequency signal is obtained by coherent detection at the receiving end, and information such as the distance and speed of the target is extracted.
  • the external modulation method transfers the modulation process to the modulator, which reduces the complexity of the light source. Therefore, compared with the internally modulated laser, the nonlinear effect of the externally modulated modulator is extremely small, and the nonlinear error caused by the large bandwidth can be avoided.
  • the chirp optical signal output by the modulator can simultaneously have a large modulation bandwidth and a small instantaneous linewidth, which helps to achieve high-resolution and high-precision measurement at the same time.
  • the data processing module may include at least one detection optical path, and each detection optical path may include a first optical splitter, a second optical splitter, an optical mixer, and a second balanced detector.
  • each detection optical path may include a first optical splitter, a second optical splitter, an optical mixer, and a second balanced detector.
  • the connection relationship between each device can be seen in Fig. 1-the embodiment shown in FIG. 4 will not be repeated here.
  • the frequency modulated light source can transmit the frequency modulated continuous wave signal to the first optical splitter.
  • the data processing module may also include a calibration optical path, and the calibration optical path may include the first optical splitter, the second optical splitter, the third optical splitter, the optical delay line, the 3dB coupler and the first optical splitter in each detection optical path.
  • the connection relationship between each device can refer to the embodiments shown in FIGS. 2-4 , which will not be repeated here.
  • the data processing module may further include a first mode converter, a second mode converter and at least one third mode converter.
  • the connection relationship among the first mode converter, the second mode converter, the third mode converter and each device can be referred to the embodiments shown in FIG. 3-FIG. 4 , which will not be repeated here. It can be understood that, in the embodiment of the present application, the coupling loss between devices can be reduced by using the first mode converter, the second mode converter and the third mode converter.
  • the data processing module performs optical splitting processing on the frequency-modulated continuous wave signal to obtain a first transmitted optical signal, and transmits the first transmitted optical signal to an optical amplifier.
  • the data processing module performs optical splitting processing on the FM continuous wave signal.
  • the first optical splitter can be used to divide the FM continuous wave signal into the local oscillator optical signal and the transmitted optical signal according to the preset optical splitting ratio.
  • the transmitted optical signal obtained by light splitting It is simply referred to as the first transmitted optical signal.
  • the first optical splitter transmits the first emitted optical signal to the optical amplifier.
  • the optical amplifier amplifies the first transmitted optical signal to obtain at least one second transmitted optical signal, and transmits the at least one second transmitted optical signal to each circulator.
  • the optical amplifier can gain the first transmitted light, output at least one second transmitted optical signal with higher optical power, and transmit each second transmitted optical signal to the circulator. It can be understood that the second transmitted optical signal The number of optical signals is equal to the number of circulators, ensuring that each circulator can receive the second transmitted optical signal transmitted by the optical amplifier.
  • Each circulator transmits the second emitted light signal to a light beam steering module corresponding to each circulator.
  • each circulator receives a second transmitted optical signal, and can transmit the second transmitted optical signal to the beam steering module corresponding to the circulator. It can be understood that the number of beam steering modules is equal to that of the circulator.
  • Each beam steering module corresponds to a circulator, and each beam steering module receives a second transmitted optical signal.
  • Each light beam control module adjusts the second emitted light signal to obtain a third emitted light signal, transmits the third emitted light signal to the detection target, and receives the third emitted light signal The reflected light signal is reflected back by the detection target, and the reflected light signal is transmitted to the circulator, so that the circulator transmits the reflected light signal to the data processing module.
  • each beam steering module can process the second emitted light by shaping, collimating, scanning, etc., to obtain a third emitted light signal, and emit the third emitted light signal to the surface of the detection target.
  • a plurality of light beam steering modules can transmit a plurality of second emission light signals to different positions on the surface of the detection target, which can realize a large-angle scanning range.
  • the reflected light signals reflected from the surface of the detection target can be returned to the beam steering module in the original way.
  • multiple beam steering modules can transmit the multiple reflected light signals reflected back to the optical mixer.
  • the data processing module obtains at least one piece of state information corresponding to the detection target based on at least one reflected light signal and the first local oscillator light signal obtained after optically splitting the FM continuous wave.
  • the data processing module can divide the FM continuous wave signal into the local oscillator optical signal and the first transmitted optical signal according to the preset optical splitting ratio through the first optical splitter.
  • the local oscillator optical signal The signal is called the first local oscillator optical signal.
  • the first optical splitter can transmit the first local oscillator optical signal to the second optical splitter, and the second optical splitter performs optical splitting processing on the first local oscillator optical signal to obtain a second local oscillator optical signal and a third local oscillator optical signal.
  • the second optical splitter can transmit the second local oscillator optical signal to the optical mixer, and the second optical splitter can also transmit the third local oscillator optical signal to the third optical splitter.
  • the optical mixer can perform frequency mixing processing on the second local oscillator optical signal and the reflected optical signal to obtain the detection optical signal, and can also transmit the detection optical signal to the second balanced detector.
  • the second balance detector can detect the detection light signal, and can obtain the echo delay of the reflected light signal and the state information of the detection target, and the state information can include the distance, speed, azimuth, height corresponding to the detection target , attitude, shape and other parameters. Since the detection light signal is a linear frequency modulation signal, its instantaneous frequency has a linear relationship with time. When the reflected optical signal, that is, the echo, has an echo delay, an instantaneous frequency difference proportional to the echo delay will be generated between the reflected optical signal and the local oscillator optical signal.
  • the difference frequency signal is obtained by the coherent beat frequency of the reflected light signal and the local oscillator light signal.
  • the generated beat frequency signal can be detected by the second balanced detector, and the second balanced detector calculates the distance and speed of the detection target by measuring the frequency of the beat frequency signal.
  • the third optical splitter may divide the third local oscillator optical signal into the first delayed optical signal and the coupled optical signal, and may also transmit the first delayed optical signal to the optical delay line, and Transfer the coupled optical signal to the 3dB coupler.
  • the optical delay line can delay the first delayed optical signal to obtain the second delayed optical signal, and can also transmit the second delayed optical signal to the 3dB coupler.
  • the 3dB coupler can perform frequency mixing processing on the coupled optical signal and the second delayed optical signal to obtain a light source calibration signal, and can also transmit the light source calibration signal to the first balanced detector.
  • the first balance detector can calibrate the frequency-modulated continuous wave signal generated by the frequency-modulated light source through the light source calibration signal.
  • the laser radar includes a frequency-modulated light source, an optical amplifier, a circulator, a beam steering module, and a data processing module. Some devices are integrated in the data processing module. By integrating the devices contained in the data processing module into the chip In terms of technology, it is no longer like the related technology that uses multiple discrete devices, and the discrete devices are connected by optical fiber or spatial light, which can make the lidar realize a highly integrated system architecture, and the devices on the chip can be connected through The optical waveguide is connected, which can reduce the size of the laser radar, thereby reducing the volume of the laser radar, and can also use a mature semiconductor process processing platform, thereby reducing the cost.
  • the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory or a random access memory, and the like.

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Abstract

一种激光雷达及激光雷达控制方法，该激光雷达包括调频光源（111）、光放大器（112）、至少一个环形器（113）、与每个环形器对应的光束操控模组（114）、数据处理模块（115），数据处理模块（115）集成有至少一路探测光路（1151）。该激光雷达通过将探测光路（1151）所包括的器件集成在数据处理模块（115）中，不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，从而减小激光雷达的体积，降低成本。

Description

激光雷达及激光雷达控制方法 技术领域
本申请涉及探测技术领域，尤其涉及一种激光雷达及激光雷达控制方法。
背景技术
激光雷达，是以发射激光束探测目标的位置、速度等特征量的雷达系统。调频连续波(Frequency Modulated Continuous Wave，简称FMCW)激光雷达的测距原理是在扫频周期内发射频率线性变化的连续波作为出射信号，出射信号的一部分作为本振信号，其余部分向外出射进行探测，被物体反射后返回的回波信号与本振信号有一定的频率差，通过测量频率差可以获得被探测目标与雷达之间的距离信息。激光雷达由于其探测距离远，测距精度高的特点，被广泛应用于自动驾驶、机器人、航空测绘等领域。
相关技术中，FMCW激光雷达的系统构成比较复杂，采用了大量的分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接。
发明内容
本申请实施例提供了一种激光雷达及激光雷达控制方法，可以使激光雷达实现高集成度的系统架构，减小激光雷达的体积。所述技术方案如下：
第一方面，本申请实施例提供了一种激光雷达，所述激光雷达包括：调频光源、光放大器、至少一个环形器、与每个环形器对应的光束操控模组、数据处理模块，所述数据处理模块集成有至少一路探测光路，其中：
所述调频光源，与每路探测光路相连接；
所述光放大器包括一个输入端口和至少一个输出端口，每个输出端口分别与每个环形器的第一端口相连接，所述输入端口与所述每路探测光路相连接；
每个环形器的第二端口分别与所述每个环形器对应的光束操控模组相连接，每个环形器的第三端口分别与所述每路探测光路相连接。
第二方面，本申请实施例提供了一种激光雷达控制方法，所述方法包括：
调频光源产生调频连续波信号，并将所述调频连续波信号传输至数据处理模块；
所述数据处理模块将所述调频连续波信号进行分光处理，得到第一发射光信号，并将所述第一发射光信号传输至光放大器；
所述光放大器将所述第一发射光信号进行放大处理，得到至少一个第二发射光信号，并将所述至少一个第二发射光信号传输至每个环形器；
所述每个环形器将所述第二发射光信号传输至与所述每个环形器对应的光束操控模组；
每个光束操控模组将所述第二发射光信号进行调整后，得到第三发射光信号，并将所述第三发射光信号发射至探测目标，以及接收所述第三发射光信号经所述探测目标后反射回来的反射光信号，并将所述反射光信号传输至所述环形器，以使所述环形器将所述反射光信号传输至所述数据处理模块；
所述数据处理模块基于至少一个反射光信号，以及将所述调频连续波分光处理后得到的第一本振光信号，得到所述探测目标对应的至少一个状态信息。
本申请一些实施例提供的技术方案带来的有益效果至少包括：
在本申请一个或多个实施例中，激光雷达包括调频光源、光放大器、至少一个环形器、与每个环形器对应的光束操控模组、数据处理模块，所述数据处理模块集成有至少一路探测光路。本申请实施例中的激光雷达通过将探测光路所包括的器件集成在数据处理模块中， 不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，从而减小激光雷达的体积，降低成本。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种激光雷达的结构示意图；
图2是本申请实施例提供的另一种激光雷达的结构示意图；
图3是本申请实施例提供的又一种激光雷达的结构示意图；
图4是本申请实施例提供的又一种激光雷达的结构示意图；
图5是本申请实施例提供的一种激光雷达控制方法的流程示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要理解的是，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。在本申请的描述中，需要说明的是，除非另有明确的规定和限定，“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。此外，在本申请的描述中，除非另有说明，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。字符“/”一般表示前后关联对象是一种“或”的关系。
对于激光雷达，如FMCW激光雷达，通过相干探测原理来实现测速测距，系统在扫频周期内发射频率线性变化(三角波或锯齿波)的连续激光，物体反射的回波光和参考臂上的本振光发生干涉，产生的拍频信号被光电探测器探测，通过测量拍频信号的频率来计算目标的距离和速度。
FMCW激光雷达具有利用相干探测原理，测距精度高；与直接探测的方式相比，抗干扰性强；可以同时测量速度和距离；以及连续光发射，不需要很高的峰值功率，系统功耗低，人眼安全等优点，被广泛应用于自动驾驶、机器人、航空测绘等领域。
相关技术中，FMCW激光雷达使用了大量的光电器件，采用了分立器件的方式，各个分立器件之间通过光纤或者空间光的方式进行连接，导致系统组成比较复杂，激光雷达系统架构的集成度很低，成本很高，体积很大。
下面结合具体的实施例对本申请实施例提供的激光雷达进行详细介绍。
需要说明的是，本申请实施例提供的激光雷达，可以包括：调频光源、光放大器、至少一个环形器、与每个环形器对应的光束操控模组、数据处理模块，所述数据处理模块集成有至少一路探测光路和一路校准光路。
以下实施例所描述的激光雷达，由上述所描述的部分器件或者全部器件所构成。
请参见图1，为本申请实施例提供的一种激光雷达的结构示意图，下面以数据处理模块集成有一路探测光路对本申请实施例中的激光雷达进行解释说明。
如图1所示，本申请实施例的所述激光雷达可以包括：调频光源111、光放大器112、环形器113、光束操控模组114、数据处理模块115，所述数据处理模块115集成有一路探测光路1151，除了组成激光雷达的各个器件，图1中还包括探测目标116。
所述调频光源111，与探测光路1151相连接，用于产生调频连续波信号，并将所述调频连续波信号传输至所述探测光路1151。
所述光放大器112的输出端口与环形器113的第一端口相连接，所述光放大器112的输入端口与所述探测光路1151相连接，所述光放大器112用于将探测光路1151传输的第一发射光信号进行放大处理，得到第二发射光信号，并将所述第二发射光信号传输至所述环形器113。
所述环形器113的第二端口与所述光束操控模组114相连接，所述环形器113的第三端口与所述探测光路1151相连接，所述环形器113用于将所述第二发射光信号传输至所述光束操控模组114。
所述光束操控模组114，用于将所述第二发射光信号进行调整处理，得到第三发射光信号，并将所述第三发射光信号发射至探测目标116，以及接收所述第三发射光信号经所述探测目标116后反射回来的反射光信号，将所述反射光信号传输至所述环形器113，以使所述环形器113将所述反射光信号传输至所述探测光路1151。
所述探测光路1151，用于将所述调频连续波信号中的本振光信号和所述反射光信号进行混频处理，得到所述探测目标116的状态信息。其中，所述状态信息至少包括所述探测目标116对应的距离、速度、方位、高度、姿态、形状中的一种或多种。
基于以上器件和光路之间的连接关系，以下对本申请实施例的原理进行解释说明。
其中，调频光源可以是内调制激光光源、啁啾脉冲激光光源、外调制激光光源等光源，本申请实施例对光源不作限制。可以理解的是，将调频连续波信号传输至探测光路，可以理解为，将调频连续波信号传输至探测光路以使探测光路对调频连续波信号进行分光处理，还可使探测光路基于调频连续波信号得到探测目标的状态信息。探测光路中的光学分光器可以对调频连续波信号进行分光处理得到两路信号，比如，光学分光器可以简称为第一分光器，其中一路可以是本振光信号，另一路可以是探测光信号。本振光信号可以留在数据处理模块中，探测光信号可以照射至探测目标表面。为描述方便，在本申请实施例中，将探测光信号描述为第一发射光信号。
进一步的，一方面，本振光信号可以进入探测光路中的另一光学分光器，比如，另一光学分光器可以简称为第二分光器，第二分光器对本振光信号再次进行分光处理得到第一本振光信号，第一本振光信号可以留在数据处理模块中。另一方面，第一发射光信号可以进入光放大器中，以使光放大器可以对第一发射光信号进行光放大处理，得到第二发射光信号。
进一步的，第二发射光信号可以经环形器传输至光束操控模组，以使光束操控模组对第二发射光信号进行整形、准直以及扫描等处理后发射至探测目标表面，而处理后的第二发射光信号经探测目标反射后，可以得到反射光信号，反射光信号可以原路返回至光束操控模组，并经光束操控模组传输至环形器。
进一步的，环形器可以将反射光信号传输至探测光路，以使探测光路对第二分光器分光得到的第一本振光信号与反射光信号进行混频处理，进而可以得到探测目标的状态信息，而状态信息可以包括探测目标对应的距离、速度、方位、高度、姿态、形状等参数的值。
在本申请实施例中，当激光雷达包括一路探测光路时，可以将探测光路所包括的器件 在硅基光电子等平台上面进行集成，不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，从而减小激光雷达的体积，降低成本。
请参见图2，为本申请实施例提供的一种激光雷达的结构示意图，下面以数据处理模块集成有一路探测光路和一路校准光路对本申请实施例中激光雷达进行解释说明。
如图2所示，本申请实施例的所述激光雷达可以包括：调频光源211、光放大器212、环形器213、光束操控模组214、数据处理模块215，所述数据处理模块215集成有一路探测光路2151和一路校准光路2152，除了组成激光雷达的各个器件，图2中还包括探测目标216。
本申请实施例中，所述调频光源211、所述光放大器212、所述环形器213、所述光束操控模组214以及所述探测光路2151之间的连接关系和各个器件的功能用途可参见图1对应的上述实施例的描述，在此不再赘述。
在本申请实施例中，所述校准光路2152与所述探测光路2151相连接，用于对所述调频连续波信号进行光源校准。
可选的，所述校准光路2152可以包括分光器、光延迟线、耦合器以及平衡探测器等器件。
基于以上器件和光路之间的连接关系，以下对本申请实施例的原理进行解释说明。
其中，调频光源可以是内调制激光光源、啁啾脉冲激光光源、外调制激光光源等光源，本申请实施例对光源不作限制。可以理解的是，将调频连续波信号传输至探测光路，可以理解为，将调频连续波信号传输至探测光路以使探测光路对调频连续波信号进行分光处理，还可使探测光路基于调频连续波信号得到探测目标的状态信息。探测光路中的光学分光器可以对调频连续波信号进行分光处理得到两路信号，比如，光学分光器可以简称为第一分光器，其中一路可以是本振光信号，另一路可以是探测光信号。本振光信号可以留在本地，探测光信号可以照射至探测目标表面。为描述方便，在本申请实施例中，将探测光信号描述为第一发射光信号。
进一步的，一方面，本振光信号可以进入探测光路中的另一光学分光器，比如，另一光学分光器可以简称为第二分光器，第二分光器对本振光信号再次进行分光处理得到两路信号，一路作为第一本振光信号，可以留在数据处理模块中，另一路作为第二本振光信号，第二本振光信号可以作为校准光信号，可以传输至校准光路。另一方面，第一发射光信号可以进入光放大器中，以使光放大器可以对第一发射光信号进行光放大处理，得到第二发射光信号。
进一步的，一方面，校准光路所接收的第二本振光信号可以进行光延迟、混频等处理，作为调频光源的非线性校准信号。另一方面，第二发射光信号可以经环形器传输至光束操控模组，以使光束操控模组对第二发射光信号进行整形、准直以及扫描等处理后发射至探测目标表面，而处理后的第二发射光信号经探测目标反射后，可以得到反射光信号，反射光信号可以原路返回至光束操控模组，并经光束操控模组传输至环形器。
进一步的，环形器可以将反射光信号传输至探测光路，以使探测光路对第二分光器分光得到的本振光信号与反射光信号进行混频处理，进而可以得到探测目标的状态信息，而状态信息可以包括探测目标对应的距离、速度、方位、高度、姿态、形状等参数的值。
在本申请实施例中，当激光雷达包括一路探测光路和一路校准光路时，可以将探测光路所包括的器件和校准光路所包括的器件在硅基光电子等平台上面进行集成，不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，从而减小激光雷达的体积，降低成本。
请参见图3，为本申请实施例提供的一种激光雷达的结构示意图，下面以数据处理模块集成有一路探测光路和一路探测光路对本申请实施例中的激光雷达进行解释说明。
如图3所示，本申请实施例的所述激光雷达可以包括：调频光源311、光放大器312、环形器313、光束操控模组314、数据处理模块320，所述数据处理模块320集成有一路探测光路和一路校准光路，所述探测光路包括第一分光器322、第二分光器324、光混频器326、第二平衡探测器327，所述校准光路包括所述第一分光器322、所述第二分光器324、第三分光器328、光延迟线329、3dB耦合器330以及第一平衡探测器331，所述数据处理模块320，还集成有第一模式转换器321、第二模式转换器323以及第三模式转换器325。可以理解的是，数据处理模块320可以集成在芯片上，数据处理模块320中的各器件之间可以直接通过光波导相连。
所述调频光源311，通过所述第一模式转换器321与所述第一分光器322的输入端口相连接，用于产生调频连续波信号，并将所述调频连续波信号传输至所述第一分光器322。
可选的，调频光源可以包括内调制激光光源，啁啾脉冲激光光源以及外调制激光光源等，本申请实施例对调频光源的光源类型不作限制。
所述第一分光器322的第一输出端口通过所述第二模式转换器323与所述光放大器312的输入端口相连接，所述第一分光器322的第二输出端口与所述第二分光器324的输入端口相连接，所述第一分光器322用于将所述调频连续波信号分为第一本振光信号和第一发射光信号，并将所述第一本振光信号传输至所述第二分光器324，以及将所述第一发射光信号传输至所述光放大器312。
所述光放大器312的输出端口与所述环形器313的第一端口相连接，所述光放大器312用于将所述第一发射光信号进行放大处理，得到第二发射光信号，并将所述第二发射光信号传输至所述环形器313。
所述环形器313的第二端口与所述光束操控模组314的输入端口相连接，所述环形器313的第三端口通过所述第三模式转换器325与所述光混频器326的第一输入端口相连接，所述环形器313用于将所述第二发射光信号传输至所述光束操控模组314。
所述光束操控模组314，用于将所述第二发射光信号进行调整处理，得到第三发射光信号，并将所述第三发射光信号发射至探测目标315，以及接收所述第三发射光信号经所述探测目标315后反射回来的反射光信号，将所述反射光信号传输至所述环形器313，以使所述环形器313将所述反射光信号传输至所述光混频器326。
所述第二分光器324的第一输出端口与所述光混频器326的第二输入端口相连接，所述第二分光器324的第二输出端口与所述第三分光器228的输入端口相连接，所述第二分光器324用于将所述第一本振光信号分为第二本振光信号和第三本振光信号，并将所述第二本振光信号传输至所述光混频器326，以及将所述第三本振光信号传输至所述第三分光器328。
述光混频器326的输出端口与所述第二平衡探测器327相连接，所述光混频器326用于将所述反射光信号和所述第二本振光信号进行混频处理，得到探测光信号，并将所述探测光信号传输至所述第二平衡探测器327。
所述第二平衡探测器327，用于基于所述探测光信号得到所述探测目标315的状态信息，而状态信息可以包括探测目标315对应的距离、速度、方位、高度、姿态、形状等参数的值。
所述第三分光器328的第一输出端口与所述光延迟线329的输入端口相连接，所述第三分光器328的第二输出端口与所述3dB耦合器330的第一输入端口相连接，所述第三分光器328用于将所述第三本振光信号分为第一延迟光信号和耦合光信号，并将所述第一延 迟光信号传输至所述光延迟线329，以及将所述耦合光信号传输至所述3dB耦合器330。
所述光延迟线329的输出端口与所述3dB耦合器330的第二输入端口相连接，所述光延迟线329用于将所述第一延迟光信号进行延迟处理，得到第二延迟光信号，并将所述第二延迟光信号传输至所述3dB耦合器330。
所述3dB耦合器330的输出端口与所述第一平衡探测器331相连接，所述3dB耦合器330用于将所述耦合光信号和所述第二延迟光信号进行混频处理，得到光源校准信号，并将所述光源校准信号传输至所述第一平衡探测器331。
所述第一平衡探测器331，用于基于所述光源校准信号对所述调频连续波信号进行校准处理。
基于以上器件之间的连接关系，以下对本申请实施例的原理进行解释说明。
可以理解的是，调频光源可以产生调频连续波信号，调频方式也有多种，通常可以有三角波、锯齿波、编码调制或者噪声调频等。本申请实施例中，探测光路包含的所有器件和校准光路包含的所有器件可以集成在芯片上，而这些集成在芯片上的器件与调频光源、光放大器以及环形器进行连接时，会存在模场失配问题，为了解决这一问题，本申请实施例可以在这些器件之间加入模式转换器，比如，在调频光源与第一分光器之间可以通过第一模式转换器进行连接，在光放大器和第一分光器之间可以通过第二模式转换器进行连接，在环形器和光混频器之间可以通过第三模式转换器进行连接。
进一步的，可以将调频连续波信号通过第一模式转换器传输至第一分光器，以使第一分光器可以将调频连续波信号分为第一本振光信号和第一发射光信号。第一分光器还可以将第一本振光信号传输至第二分光器，并将第一发射光信号传输至光放大器。
一方面，对于传输的第一发射光信号来说，光放大器可以对第一发射光信号进行放大处理，得到第二发射光信号，并将第二发射光信号传输至环形器。进一步的，环形器可以将第二发射光信号传输至光束操控模组。进一步的，光束操控模组可以对第二发射光信号进行整形、准直和扫描等处理，得到第三发射光信号，还可以将第三发射光信号发射至探测目标表面，而第三发射光经探测目标反射后所得到的反射光信号可以原路返回至光速操控模组，光束操控模组还可以将反射光信号传输至环形器。进一步的，环形器可以将反射光信号传输至光混频器。
另一方面，对于传输的第一本振光信号来说，第二分光器可以将第一本振光信号进行分光处理，得到第二本振光信号和第三本振光信号。进一步的，对于探测光路来说，第二分光器可以将第二本振光信号传输至光混频器；对于校准光路来说，第二分光器可以将第三本振光信号传输至第三分光器。
进一步的，对于探测光路来说，光混频器可以将第二本振光信号和反射光信号进行混频处理，得到探测光信号，还可以将探测光信号传输至第二平衡探测器。进一步的，第二平衡探测器可以通过对探测光信号进行探测，可以获取反射光信号的回波延时以及探测目标的状态信息，而状态信息可以包括探测目标对应的距离、速度、方位、高度、姿态、形状等参数的值。由于探测光信号为线性调频信号，其瞬时频率与时间成线性关系。当反射回来的反射光信号，也就是回波，当回波延时存在时，反射光信号与本振光信号间将产生正比于回波延时的瞬时频率差。在实际激光雷达系统中，该差频信号由反射光信号与本振光信号相干拍频获得。相干拍频时，产生的拍频信号可以被第二平衡探测器探测，第二平衡探测器通过测量拍频信号的频率来计算探测目标的距离和速度。
进一步的，对于校准光路来说，第三分光器可以将第三本振光信号分为第一延迟光信号和耦合光信号，还可以将第一延迟光信号传输至光延迟线，并将耦合光信号传输至3dB耦合器。进一步的，光延迟线可以将第一延迟光信号进行延迟处理，得到第二延迟光信号，还可以将第二延迟光信号传输至3dB耦合器。进一步的，3dB耦合器可以将耦合光信号和 第二延迟光信号进行混频处理，得到光源校准信号，还可以将光源校准信号传输至第一平衡探测器。
进一步的，第一平衡探测器可以通过光源校准信号校准调频光源产生的调频连续波信号。
在本申请实施例中，当激光雷达包括一路探测光路和一路校准光路时，通过将探测光路所包括的器件和校准光路所包括的器件集成在芯片上时，并在调频光源与第一分光器、第一分光器与光放大器、环形器与光混频器之间采用模式转换器，可以降低这些器件之间的耦合损耗。不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，芯片上的器件之间可以通过光波导相连，可以降低激光雷达的尺寸，从而可以减小激光雷达的体积，还可以利用成熟的半导体工艺加工平台，从而可以降低成本。
请参见图4，为本申请实施例提供的一种激光雷达的结构示意图，以数据处理模块集成有至少两路探测光路和一路校准光路对本申请实施例中的激光雷达进行解释说明。
如图4所示，本申请实施例的所述激光雷达可以包括：调频光源411、光放大器412、至少两个环形器(比如，环形器413、环形器415、环形器417等)、与每个环形器对应的光束操控模组(比如，光束操控模组414、光束操控模组416、光束操控模组418等)、数据处理模块420，所述数据处理模块420集成有至少两路探测光路和一路校准光路，每路探测光路包括第一分光器422、第二分光器424、光混频器(比如光混频器428、光混频器429、光混频器430等)以及第二平衡探测器(比如，与光混频器428对应的第二平衡探测器431、光混频器429对应的第二平衡探测器432、光混频器430对应的第二平衡探测器433)，所述校准光路包括所述第一分光器422、所述第二分光器424、第三分光器434、光延迟线435、3dB耦合器436以及第一平衡探测器437，所述数据处理模块420，还集成有第一模式转换器421、第二模式转换器423以及至少两个第三模式转换器(比如，第三模式转换器425、第三模式转换器426、第三模式转换器427等)。可以理解的是，数据处理模块420可以集成在芯片上，数据处理模块420中的各器件之间可以直接通过光波导相连。
所述调频光源411，通过所述第一模式转换器421与所述第一分光器422的输入端口相连接，用于产生调频连续波信号，并将所述调频连续波信号传输至所述第一分光器422。
所述第一分光器422的第一输出端口通过所述第二模式转换器423与所述光放大器412的输入端口相连接，所述第一分光器422的第二输出端口与所述第二分光器424的输入端口相连接，所述第一分光器422用于将所述调频连续波信号分为第一本振光信号和第一发射光信号，并将所述第一本振光信号传输至所述第二分光器424，以及将所述第一发射光信号传输至所述光放大器412。
所述光放大器412可以包括一个输入端口和至少两个输出端口，每个输出端口与所述每个环形器(比如环形器413、环形器415、环形器417等)的第一端口相连接，所述环形器和所述光放大器412的输出端口一一对应，所述光放大器412用于将所述第一发射光信号进行放大处理，得到至少两个第二发射光信号，并将所述第二发射光信号传输至所述环形器，所述环形器与所述第二发射光信号一一对应。
所述每个环形器的第二端口与所述光束操控模组的输入端口相连接，所述环形器的第三端口通过所述第三模式转换器与所述光混频器的第一输入端口相连接，所述环形器和所述光束操控模组一一对应，所述环形器、所述第三模式转换器以及所述光混频器这三者之间也一一对应，所述环形器用于将所述第二发射光信号传输至光束操控模组。
每个光束操控模组(比如，光束操控模组414、光束操控模组416、光束操控模组418等)，用于将所述第二发射光信号进行调整处理，得到第三发射光信号，并将所述第三发 射光信号发射至探测目标419，以及接收所述第三发射光信号经所述探测目标419后反射回来的反射光信号，将所述反射光信号传输至所述环形器，以使所述环形器将所述反射光信号传输至所述光混频器。
所述第二分光器424包括至少两个第一输出端口和一个第二输出端口，每个第一输出端口与所述光混频器的第二输入端口相连接，所述第二分光器424的第二输出端口与所述第三分光器434的输入端口相连接，所述第二分光器424用于将所述第一本振光信号分为至少两个第二本振光信号和一个第三本振光信号，并将所述每个第二本振光信号传输至每个光混频器，以及将所述第三本振光信号传输至所述第三分光器434，所述第二本振光信号和所述光混频器一一对应。
每个光混频器的输出端口与所述第二平衡探测器相连接，所述每个光混频器用于将所述反射光信号和所述第二本振光信号进行混频处理，得到探测光信号，并将所述探测光信号传输至所述第二平衡探测器，所述探测光信号和所述第二平衡探测器一一对应。
每个第二平衡探测器，用于基于所述探测光信号得到所述探测目标的距离信息。
所述第三分光器434的第一输出端口与所述光延迟线435的输入端口相连接，所述第三分光器434的第二输出端口与所述3dB耦合器436的第一输入端口相连接，所述第三分光器434用于将所述第三本振光信号分为第一延迟光信号和耦合光信号，并将所述第一延迟光信号传输至所述光延迟线435，以及将所述耦合光信号传输至所述3dB耦合器436。
所述光延迟线435的输出端口与所述3dB耦合器436的第二输入端口相连接，所述光延迟线435用于将所述第一延迟光信号进行延迟处理，得到第二延迟光信号，并将所述第二延迟光信号传输至所述3dB耦合器436。
所述3dB耦合器436的输出端口与所述第一平衡探测器437相连接，所述3dB耦合器436用于将所述耦合光信号和所述第二延迟光信号进行混频处理，得到光源校准信号，并将所述光源校准信号传输至所述第一平衡探测器337。
所述第一平衡探测器437，用于基于所述光源校准信号对所述调频连续波信号进行校准处理。
基于以上器件之间的连接关系，以下对本申请实施例的原理进行解释说明。
本申请实施例中的所有探测光路包含的所有器件和校准光路包含的所有器件可以集成在芯片上，而这些集成在芯片上的器件与调频光源、光放大器以及环形器进行连接时，会存在模场失配问题，为了解决这一问题，本申请实施例可以在这些器件之间加入模式转换器，比如，在调频光源与第一分光器之间可以通过第一模式转换器进行连接，在光放大器和第一分光器之间可以通过第二模式转换器进行连接，在每个环形器和与环形器对应的光混频器之间可以通过第三模式转换器进行连接。
由于本申请实施例的系统架构可以集成多路探测光路和一路校准光路在芯片上，还可以包括多个环形器和与每个环形器对应的光束操控模组，当存在一对多的连接关系时，光放大器的每个输出端口可以连接一个环形器，每个环形器和光束操控模组一一对应连接，每个环形器和光混频器之间还可以通过第三模式转换器进行一一对应连接，第二分光器的每个输出端口和光混频器也一一对应连接。
调频光源可以产生可以将调频连续波信号，还可以通过第一模式转换器将调频连续波信号传输至第一分光器，以使第一分光器可以将调频连续波信号分为第一本振光信号和第一发射光信号，第一分光器还可以将第一本振光信号传输至第二分光器，并将第一发射光信号传输至光放大器。
一方面，对于传输的发射光信号来说，光放大器可以对第一发射光信号进行放大处理，可以得到多个相同的第二发射光信号，并将每个第二发射光信号传输至环形器。进一步的，每个环形器可以将第二发射光信号传输至光束操控模组。进一步的，每个光束操控模组可 以对第二发射光信号进行整形、准直和扫描等处理，得到第三发射光信号，还可以将第三发射光信号发射至探测目标表面，而第三发射光经探测目标反射后所得到的反射光信号可以原路返回至光速操控模组，光束操控模组还可以将反射光信号传输至环形器。进一步的，每个环形器可以将反射光信号传输至光混频器。
另一方面，对于传输的第一本振光信号来说，第二分光器可以将第一本振光信号进行分光处理，得到多个相同的第二本振光信号和第三本振光信号。进一步的，对于探测光路来说，第二分光器可以将每个第二本振光信号传输至光混频器；对于校准光路来说，第二分光器可以将第三本振光信号传输至第三分光器。
进一步的，对于每路探测光路来说，每个光混频器可以将第二本振光信号和反射光信号进行混频处理，得到探测光信号，还可以将探测光信号传输至第二平衡探测器。进一步的，每个第二平衡探测器可以通过对探测光信号进行探测，可以获取反射光信号的回波延时以及探测目标的状态信息，而状态信息可以包括探测目标对应的距离、速度、方位、高度、姿态、形状等参数的值。由于探测光信号为线性调频信号，其瞬时频率与时间成线性关系。当反射回来的反射光信号，也就是回波，当回波延时存在时，反射光信号与本振光信号间将产生正比于回波延时的瞬时频率差。在实际激光雷达系统中，该差频信号由反射光信号与本振光信号相干拍频获得。相干拍频时，产生的拍频信号可以被第二平衡探测器探测，第二平衡探测器通过测量拍频信号的频率来计算探测目标的距离和速度。
进一步的，对于校准光路来说，第三分光器可以将第三本振光信号分为第一延迟光信号和耦合光信号，还可以将第一延迟光信号传输至光延迟线，并将耦合光信号传输至3dB耦合器。进一步的，光延迟线可以将第一延迟光信号进行延迟处理，得到第二延迟光信号，还可以将第二延迟光信号传输至3dB耦合器。进一步的，3dB耦合器可以将耦合光信号和第二延迟光信号进行混频处理，得到光源校准信号，还可以将光源校准信号传输至第一平衡探测器。进一步的，第一平衡探测器可以通过光源校准信号校准调频光源产生的调频连续波信号。
可以理解的是，采用多个光束操控模组，可以将多个发射光信号发射至同一探测目标的表面。进一步的，对于发射至同一探测目标的多个发射光信号，可以有与每个发射光信号对应的反射光信号原路返回至光束操控模组，而光束操控模组可以将每个反射光信号传输至环形器，再经环形器传输至光混频器，以使每个第二平衡探测器，都可以根据探测光信号，得到同一探测目标的距离、速度、方位等参数的值。也就是说，本申请实施例的多个第二平衡探测器可以得到同一探测目标不同位置的多个距离、多个速度、多个方位等不同参数的多个值。
可选的，可以对这些距离进行均值计算，得到探测目标最终的距离，也可以对这些速度进行均值计算，得到探测目标最终的速度。
可选的，可以计算出这些距离的众数，将距离的众数作为探测目标最终的距离，也可以计算出这些速度的众数，将速度的众数作为探测目标最终的速度。
在本申请实施例中，采用多个光束操控模组，可以得到实现对探测目标大范围的探测，增大激光雷达的扫描范围。而采用多个光束操控模组，必然需要多个环形器、多个光混频器以及多个第二平衡探测器，并且这些器件都是一一对应的连接关系，因此，多个第二平衡探测器可以得到探测目标的多个状态信息，每个状态信息可以包括探测目标对应的距离、速度、方位、高度等参数的值。另外，本申请实施例可以将多路探测光路所包括的器件和校准光路所包括的器件集成在芯片上，采用模式转换器将未集成在芯片上的器件和芯片上的器件进行连接，可以在提高激光雷达的系统架构的集成度的同时，还可以减小器件之间的耦合损耗。激光雷达可以实现高集成度的系统架构，芯片上的器件可以通过光波导相连，可以减小激光雷达的尺寸，进而可以减小激光雷达的体积，还可以利用成熟的半导体工艺 加工平台，使得成本大幅度降低。
进一步的，本申请实施例还提供了一种基于以上实施例所描述的激光雷达的激光雷达控制方法，请参见图5，为本申请实施例的激光雷达控制方法的流程示意图。
S501，调频光源产生调频连续波信号，并将所述调频连续波信号传输至数据处理模块。
具体的，调频光源可以是内调制激光光源、啁啾脉冲激光光源、外调制激光光源等。
在一些实施方式中，调频连续波激光雷达中，为了获得线性调频光信号，可采用能够直接产生啁啾光信号的内调制激光器。内调制激光器又可分为两类：第一类是采用线性调频信号调制激光光强，此时激光器输出光强为线性调频信号；第二类则通过调制信号改变激光频率，光场本身为线性调频信号，该类激光器又称为扫频激光器。其中，第一类激光器调制方式简单，一般采用直接探测获取回波信息，探测距离较短。
在一些实施方式中，可采用啁啾脉冲激光光源，啁啾脉冲激光光源发射的并不是连续光，而是由脉冲序列组成的光信号。但是，啁啾脉冲激光可视为占空比较低的调频连续波光信号，在脉冲内，光场瞬时频率随时间线性变化，与调频连续波激光雷达的测量原理一致。啁啾脉冲激光可通过多种方法产生，包括时域拉伸、傅里叶域锁模激光器，移频反馈激光器等。
在一些实施方式中，可采用外调制激光光源，外调制激光光源一般由单频激光器和光调制器级联组成。激光信号光调制器完成调制过程，输出线性调频光学信号。常用的调制方式包括强度调制和频率调制等。强度调制方式采用线性调频信号对激光进行强度调制，并在接收端利用光电探测器将光强转换为电流，获得目标的距离信息。频率调制方式则采用电信号调制激光频率。调制后，激光的瞬时频率产生偏移，偏移量由调制信号的瞬时频率决定。当调制信号为线性调频信号时，输出光信号即为线性调频信号。最后，在接收端利用相干探测获得拍频信号，提取目标的距离和速度等信息。外调制方式将调制过程转移到调制器中，降低了光源的复杂度。因此，相较于内调制激光器，外调制方式的调制器的非线性效应极小，可以避免大带宽导致的非线性误差。采用窄线宽激光器作为光源，调制器输出的线性调频光信号可以同时具有较大的调制带宽和较小的瞬时线宽，有助于同时实现高分辨率和高精度测量。
具体的，数据处理模块可以包括至少一路探测光路，每路探测光路可以包括第一分光器、第二分光器、光混频器以及第二平衡探测器，各器件之间的连接关系可参见图1-图4所示的实施例，在此不再赘述。调频光源可以将调频连续波信号传输至第一分光器。
可选的，数据处理模块中还可以包括一路校准光路，校准光路中可以包括每路探测光路中的第一分光器和第二分光器、第三分光器、光延迟线、3dB耦合器以及第一平衡探测器，各器件之间的连接关系，可以参见图2-图4所示的实施例，在此不再赘述。
可选的，数据处理模块中还可以包括一个第一模式转换器、一个第二模式转换器以及至少一个第三模式转换器。第一模式转换器、第二模式转换器以及第三模式转换器和各器件之间的连接关系，可参见图3-图4所示的实施例，在此不再赘述。可以理解的是，本申请实施例中，采用第一模式转换器、第二模式转换器以及第三模式转换器可以减小器件之间的耦合损耗。
S502，所述数据处理模块将所述调频连续波信号进行分光处理，得到第一发射光信号，并将所述第一发射光信号传输至光放大器。
具体的，数据处理模块将调频连续波信号进行分光处理，可以使用第一分光器将调频连续波信号按照预设的分光比，分成本振光信号和发射光信号，这里分光得到的发射光信号就简称为第一发射光信号。进一步的，第一分光器将第一发射光信号传输至光放大器。
S503，所述光放大器将所述第一发射光信号进行放大处理，得到至少一个第二发射光 信号，并将所述至少一个第二发射光信号传输至每个环形器。
具体的，光放大器可以对第一发射光进行增益，输出光功率更高的至少一个第二发射光信号，并将每个第二发射光信号传输至环形器，可以理解的是，第二发射光信号的数量和环形器的数量是相等的，保证每个环形器都可以接收到光放大器传输的第二发射光信号。
S504，所述每个环形器将所述第二发射光信号传输至与所述每个环形器对应的光束操控模组。
具体的，每个环形器都接收到一个第二发射光信号，并可以将第二发射光信号传输至与环形器对应的光束操控模组，可以理解的是，光束操控模组的数量等于环形器的数量，每个光束操控模组对应一个环形器，每个光束操控模组接收一个第二发射光信号。
S505，每个光束操控模组将所述第二发射光信号进行调整后，得到第三发射光信号，并将所述第三发射光信号发射至探测目标，以及接收所述第三发射光信号经所述探测目标后反射回来的反射光信号，并将所述反射光信号传输至所述环形器，以使所述环形器将所述反射光信号传输至所述数据处理模块。
具体的，每个光束操控模组可以将第二发射光进行整形、准直和扫描等处理后，得到第三发射光信号，并将第三发射光信号发射至探测目标的表面。可以理解的是，多个光束操控模组可以将多个第二发射光信号发射至探测目标表面的不同位置，可以实现大角度的扫描范围。而从探测目标表面反射回来的反射光信号可以原路返回至光束操控模组，进一步的，多个光束操控模组可以把反射回来的多个反射光信号传输至光混频器。
S506，所述数据处理模块基于至少一个反射光信号，以及将所述调频连续波分光处理后得到的第一本振光信号，得到所述探测目标对应的至少一个状态信息。
具体的，在S502中提到，数据处理模块可以通过第一分光器将调频连续波信号按照预设的分光比，分成本振光信号和第一发射光信号，为描述方便，把本振光信号称为第一本振光信号。第一分光器可以将第一本振光信号传输至第二分光器，第二分光器将第一本振光信号进行分光处理，得到第二本振光信号和第三本振光信号，第二分光器可以将第二本振光信号传输至光混频器，第二分光器还可以将第三本振光信号传输至第三分光器。
进一步的，光混频器可以将第二本振光信号和反射光信号进行混频处理，得到探测光信号，还可以将探测光信号传输至第二平衡探测器。进一步的，第二平衡探测器可以通过对探测光信号进行探测，可以获取反射光信号的回波延时以及探测目标的状态信息，而状态信息可以包括探测目标对应的距离、速度、方位、高度、姿态、形状等参数的值。由于探测光信号为线性调频信号，其瞬时频率与时间成线性关系。当反射回来的反射光信号，也就是回波，当回波延时存在时，反射光信号与本振光信号间将产生正比于回波延时的瞬时频率差。在实际激光雷达系统中，该差频信号由反射光信号与本振光信号相干拍频获得。相干拍频时，产生的拍频信号可以被第二平衡探测器探测，第二平衡探测器通过测量拍频信号的频率来计算探测目标的距离和速度。
可选的，在本申请实施例中，第三分光器可以将第三本振光信号分为第一延迟光信号和耦合光信号，还可以将第一延迟光信号传输至光延迟线，并将耦合光信号传输至3dB耦合器。进一步的，光延迟线可以将第一延迟光信号进行延迟处理，得到第二延迟光信号，还可以将第二延迟光信号传输至3dB耦合器。进一步的，3dB耦合器可以将耦合光信号和第二延迟光信号进行混频处理，得到光源校准信号，还可以将光源校准信号传输至第一平衡探测器。进一步的，第一平衡探测器可以通过光源校准信号校准调频光源产生的调频连续波信号。
在本申请实施例中，激光雷达中包括调频光源、光放大器、环形器、光束操控模组以及数据处理模块，数据处理模块中集成有部分器件，通过将数据处理模块所包含的器件集成在芯片上，不再像相关技术中，采用多个分立器件，各个分立器件之间通过光纤或者空 间光的方式进行连接，可以使得激光雷达实现高集成度的系统架构，芯片上的器件之间可以通过光波导相连，可以降低激光雷达的尺寸，从而可以减小激光雷达的体积，还可以利用成熟的半导体工艺加工平台，从而可以降低成本。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体或随机存储记忆体等。
以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。

Claims (16)

  1. 一种激光雷达，其特征在于，包括调频光源、光放大器、至少一个环形器、与每个环形器对应的光束操控模组、数据处理模块，所述数据处理模块集成有至少一路探测光路，其中：
    所述调频光源，与每路探测光路相连接；
    所述光放大器包括一个输入端口和至少一个输出端口，每个输出端口分别与每个环形器的第一端口相连接，所述输入端口与所述每路探测光路相连接；
    每个环形器的第二端口分别与所述每个环形器对应的光束操控模组相连接，每个环形器的第三端口分别与所述每路探测光路相连接。
  2. 根据权利要求1所述的激光雷达，其特征在于，所述数据处理模块还集成有一路校准光路，所述校准光路与所述每路探测光路相连接。
  3. 根据权利要求2所述的激光雷达，其特征在于，当所述数据处理模块集成有一路探测光路时，所述探测光路包括第一分光器、第二分光器、光混频器、以及第二平衡探测器，其中：
    所述第一分光器的输入端口与所述调频光源相连接，所述第一分光器的第一输出端口与所述光放大器的输入端口相连接，所述第一分光器的第二输出端口与所述第二分光器的输入端口相连接；
    所述第二分光器的第一输出端口与所述光混频器的第一输入端口相连接；
    所述光混频器的第二输入端口与所述环形器的第三端口相连接，所述光混频器的输出端口与所述第二平衡探测器相连接。
  4. 根据权利要求3所述的激光雷达，其特征在于，所述数据处理模块还包括第一模式转换器、第二模式转换器以及第三模式转换器，其中：
    所述第一分光器的输入端口通过所述第一模式转换器与所述调频光源相连接，所述第一分光器的第一输出端口通过所述第二模式转换器与所述光放大器的输入端口相连接；
    所述光混频器的第二输入端口通过所述第三模式转换器与所述环形器的第三端口相连接。
  5. 根据权利要求1-4任意一项所述的激光雷达，其特征在于，所述调频光源，用于产生调频连续波信号，并将所述调频连续波信号传输至所述第一分光器；
    所述第一分光器，用于将所述调频连续波信号分为第一本振光信号和第一发射光信号，并将所述第一本振光信号传输至所述第二分光器，以及将所述第一发射光信号传输至所述光放大器；
    所述光放大器，用于将所述第一发射光信号进行放大处理，得到第二发射光信号，并将所述第二发射光信号传输至所述环形器；
    所述环形器，用于将所述第二发射光信号传输至所述光束操控模组；
    所述光束操控模组，用于将所述第二发射光信号进行调整处理，得到第三发射光信号，并将所述第三发射光信号发射至探测目标，以及接收所述第三发射光信号经所述探测目标后反射回来的反射光信号，将所述反射光信号传输至所述环形器，以使所述环形器将所述反射光信号传输至所述光混频器；
    所述第二分光器，用于将所述第一本振光信号进行分光处理得到第二本振光信号，并 将所述第二本振光信号传输至所述光混频器；
    所述光混频器，用于将所述反射光信号和所述第二本振光信号进行混频处理，得到探测光信号，并将所述探测光信号传输至所述第二平衡探测器；
    所述第二平衡探测器，用于基于所述探测光信号得到所述探测目标的状态信息。
  6. 根据权利要求4所述的激光雷达，其特征在于，当所述数据处理模块还集成有所述校准光路时，所述校准光路包括所述第一分光器、所述第二分光器、第三分光器、光延迟线、3 dB耦合器以及第一平衡探测器，其中：
    所述第二分光器的第二输出端口与所述第三分光器的输入端口相连接；
    所述第三分光器的第一输出端口与所述光延迟线的输入端口相连接，所述第三分光器的第二输出端口与所述3 dB耦合器的第一输入端口相连接；
    所述光延迟线的输出端口与所述3 dB耦合器的第二输入端口相连接；
    所述3 dB耦合器的输出端口与所述第一平衡探测器相连接。
  7. 根据权利要求6所述的激光雷法，其特征在于，所述第二分光器，还用于将所述第一本振光信号进行分光处理得到第三本振光信号，并将所述第三本振光信号传输至所述第三分光器；
    所述第三分光器，用于将所述第三本振光信号分为第一延迟光信号和耦合光信号，并将所述第一延迟光信号传输至所述光延迟线，以及将所述耦合光信号传输至所述3 dB耦合器；
    所述光延迟线，用于将所述第一延迟光信号进行延迟处理，得到第二延迟光信号，并将所述第二延迟光信号传输至所述3 dB耦合器；
    所述3 dB耦合器，用于将所述耦合光信号和所述第二延迟光信号进行混频处理，得到光源校准信号，并将所述光源校准信号传输至所述第一平衡探测器；
    所述第一平衡探测器，用于基于所述光源校准信号对所述调频连续波信号进行校准处理。
  8. 根据权利要求1所述的激光雷达，其特征在于，当所述数据处理模块集成有至少两路探测光路时，所述每路探测光路包括第一分光器、第二分光器、光混频器、以及与所述光混频器对应的第二平衡探测器，其中：
    所述第一分光器的输入端口与所述调频光源相连接，所述第一分光器的第一输出端口与所述光放大器的输入端口相连接，所述第一分光器的第二输出端口与所述第二分光器的输入端口相连接；
    所述第二分光器包括至少两个第二输出端口，所述第二分光器的每个第二输出端口与每个光混频器的第一输入端口相连接；
    每个光混频器的第二输入端口与每个环形器的第三端口相连接，每个光混频器的输出端口与每个第二平衡探测器相连接。
  9. 根据权利要求8所述的激光雷达，其特征在于，所述数据处理模块还包括第一模式转换器、第二模式转换器以及至少两个第三模式转换器，其中：
    所述第一分光器的输入端口通过所述第一模式转换器与所述调频光源相连接，所述第一分光器的第一输出端口通过所述第二模式转换器与所述光放大器的输入端口相连接；
    所述每个光混频器的第二输入端口分别通过每个第三模式转换器与每个环形器的第三端口相连接。
  10. 根据权利要求9所述的激光雷达，其特征在于，当所述数据处理模块还集成有一路校准光路时，所述校准光路包括所述第一分光器、所述第二分光器、第三分光器、光延迟线、3 dB耦合器以及第一平衡探测器，其中：
    所述第二分光器还包括第一输出端口，所述第二分光器的所述第一输出端口与所述第三分光器的输入端口相连接；
    所述第三分光器的第一输出端口与所述光延迟线的输入端口相连接，所述第三分光器的第二输出端口与所述3 dB耦合器的第一输入端口相连接；
    所述光延迟线的输出端口与所述3 dB耦合器的第二输入端口相连接；
    所述3 dB耦合器的输出端口与所述第一平衡探测器相连接。
  11. 根据权利要求8-10任意一项所述的激光雷达，其特征在于，所述调频光源，用于产生调频连续波信号，并将所述调频连续波信号传输至所述第一分光器；
    所述第一分光器，用于将所述调频连续波信号分为第一本振光信号和第一发射光信号，并将所述第一本振光信号传输至所述第二分光器，以及将所述第一发射光信号传输至所述光放大器；
    所述光放大器，用于将所述第一发射光信号进行放大处理，得到至少两个第二发射光信号，并将每个第二发射光信号传输至每个环形器；
    所述每个环形器，用于将所述每个第二发射光信号传输至与所述每个环形器对应的光束操控模组；
    每个光束操控模组，用于将所述每个第二发射光信号进行调整处理，得到与所述每个第二发射光信号对应的第三发射光信号，并将每个第三发射光信号发射至探测目标，以及接收所述每个第三发射光信号经所述探测目标后反射回来的反射光信号，将每个反射光信号传输至所述每个环形器，以使所述每个环形器将所述每个反射光信号传输至所述每路探测光路中的光混频器；
    所述第二分光器，用于将所述第一本振光信号分为至少两个第二本振光信号和第三本振光信号，并将每个第二本振光信号传输至所述每路探测光路中的光混频器，以及将所述第三本振光信号传输至所述第三分光器；
    所述每路探测光路中的光混频器，用于将所述每个反射光信号和所述每个第二本振光信号进行混频处理，得到探测光信号，并将所述探测光信号传输至与所述光混频器对应的第二平衡探测器；
    所述每路探测光路中的第二平衡探测器，用于基于每个探测光信号得到所述探测目标的至少两个状态信息；
    所述第三分光器，用于将所述第三本振光信号分为第一延迟光信号和耦合光信号，并将所述第一延迟光信号传输至所述光延迟线，以及将所述耦合光信号传输至所述3 dB耦合器；
    所述光延迟线，用于将所述第一延迟光信号进行延迟处理，得到第二延迟光信号，并将所述第二延迟光信号传输至所述3 dB耦合器；
    所述3 dB耦合器，用于将所述耦合光信号和所述第二延迟光信号进行混频处理，得到光源校准信号，并将所述光源校准信号传输至所述第一平衡探测器；
    所述第一平衡探测器，用于基于所述光源校准信号对所述调频连续波信号进行校准处理。
  12. 一种权利要求1-11任意一项所述的激光雷达的激光雷达控制方法，其特征在于， 所述方法包括：
    调频光源产生调频连续波信号，并将所述调频连续波信号传输至数据处理模块；
    所述数据处理模块将所述调频连续波信号进行分光处理，得到第一发射光信号，并将所述第一发射光信号传输至光放大器；
    所述光放大器将所述第一发射光信号进行放大处理，得到至少一个第二发射光信号，并将所述至少一个第二发射光信号传输至每个环形器；
    所述每个环形器将所述第二发射光信号传输至与所述每个环形器对应的光束操控模组；
    每个光束操控模组将所述第二发射光信号进行调整后，得到第三发射光信号，并将所述第三发射光信号发射至探测目标，以及接收所述第三发射光信号经所述探测目标后反射回来的反射光信号，并将所述反射光信号传输至所述环形器，以使所述环形器将所述反射光信号传输至所述数据处理模块；
    所述数据处理模块基于至少一个反射光信号，以及将所述调频连续波分光处理后得到的第一本振光信号，得到所述探测目标对应的至少一个状态信息。
  13. 根据权利要求12所述的方法，其特征在于，所述数据处理模块将所述调频连续波信号进行分光处理，得到第一发射光信号，并将所述第一发射光信号传输至光放大器，包括：
    所述数据处理模块通过第一分光器将所述调频连续波信号进行分光处理，得到第一发射光信号，所述第一分光器通过将所述第一发射光信号传输至光放大器。
  14. 根据权利要求13所述的方法，其特征在于，所述数据处理模块基于至少一个反射光信号，以及将所述调频连续波分光处理后得到的第一本振光信号，得到所述探测目标对应的至少一个状态信息，包括：
    所述数据处理模块通过与每个环形器对应的光混频器分别接收所述每个环形器传输的反射光信号；
    所述数据处理模块通过第二分光器接收所述第一分光器将所述调频连续波信号分光处理后得到的第一本振光信号，所述第二分光器将所述第一本振光信号进行分光处理，得到至少一个第二本振光信号，所述第二分光器将所述至少一个第二本振光信号分别传输至每个光混频器；
    所述每个光混频器将所述第二本振光信号和所述反射光信号进行混频处理，得到探测光信号，并将所述探测光信号传输至与所述每个光混频器对应的第二平衡探测器；
    每个第二平衡探测器基于所述探测光信号得到所述探测目标对应的每个状态信息。
  15. 根据权利要求12所述的方法，其特征在于，所述方法还包括：
    所述数据处理模块基于所述第一本振光信号，对所述调频连续波信号进行校准处理。
  16. 根据权利要求15所述的方法，其特征在于，所述所述数据处理模块基于所述第一本振光信号，对所述调频连续波信号进行校准处理，包括：
    所述数据处理模块通过第二分光器将所述第一本振光信号进行分光处理，得到第三本振光信号，所述第二分光器将所述第三本振光信号传输至第三分光器；
    所述第三分光器将所述第三本振光信号分为第一延迟光信号和耦合光信号，并将所述第一延迟光信号传输至所述光延迟线，以及将所述耦合光信号传输至所述3 dB耦合器；
    所述光延迟线将所述第一延迟光信号进行延迟处理，得到第二延迟光信号，并将所述 第二延迟光信号传输至所述3 dB耦合器；
    所述3 dB耦合器将所述耦合光信号和所述第二延迟光信号进行混频处理，得到光源校准信号，并将所述光源校准信号传输至第一平衡探测器；
    所述第一平衡探测器基于所述光源校准信号对所述调频连续波信号进行校准处理。
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