WO2024045884A1 - Lidar, dispositif électronique et véhicule - Google Patents

Lidar, dispositif électronique et véhicule Download PDF

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Publication number
WO2024045884A1
WO2024045884A1 PCT/CN2023/105328 CN2023105328W WO2024045884A1 WO 2024045884 A1 WO2024045884 A1 WO 2024045884A1 CN 2023105328 W CN2023105328 W CN 2023105328W WO 2024045884 A1 WO2024045884 A1 WO 2024045884A1
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WO
WIPO (PCT)
Prior art keywords
laser
dimensional scanner
laser beam
lidar
axis direction
Prior art date
Application number
PCT/CN2023/105328
Other languages
English (en)
Chinese (zh)
Inventor
周勇
徐运强
陈实
杨川
肖流长
陈洪福
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2024045884A1 publication Critical patent/WO2024045884A1/fr

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Classifications

    • 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
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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 embodiments of the present application relate to the technical field of lidar, and in particular to a lidar, electronic equipment and vehicles.
  • Lidar is a radar system that emits a laser beam to detect the position, speed and other characteristics of the target to be measured.
  • the laser transmitting system of the lidar emits laser to the target to be measured with a predetermined power.
  • the laser diffusely reflects after encountering the target to be measured and is received by the laser receiving system of the lidar.
  • the performance of lidar can be measured by angular resolution and detection distance.
  • the smallest target that lidar can measure can be calculated based on angular resolution and detection distance.
  • the angular resolution of lidar in related technologies is 0.2°.
  • the detection effect of lidar can meet the detection requirements.
  • lidar in related technologies cannot meet the usage requirements.
  • Embodiments of the present application provide a lidar, electronic equipment, and a vehicle.
  • the lidar can meet usage requirements when used in detection scenarios of long-distance and small targets.
  • a first aspect of this application provides a lidar, which includes at least a laser transmitting component, a laser receiving component, and a two-dimensional scanner.
  • the laser emitting component is used to emit at least two laser beams with included angles within the vertical field of view of the laser emitting component.
  • the two-dimensional scanner is used to reflect the laser beam emitted from the laser emitting component to a target object, and to reflect the laser beam reflected back from the target object to the laser receiving component.
  • the two-dimensional scanner satisfies the relationship: 1/2 ⁇ 2 ⁇ 3/2 ⁇ , and the 2 ⁇ , where the ⁇ is a single rotation angle of the two-dimensional scanner in the slow axis direction, The ⁇ is the angle between two adjacent laser beams.
  • the single rotation angle in the slow axis direction refers to the angle at which the two-dimensional scanner scans one rotation in the slow axis direction within the unit period of the two-dimensional scanner scanning along the fast axis direction.
  • the fast axis direction refers to the horizontal field of view direction of the two-dimensional scanner
  • the slow axis direction refers to the vertical field of view direction of the two-dimensional scanner.
  • the laser emitting component will always emit at least two laser beams with an angle within the vertical field of view of the laser emitting component for detecting the target object.
  • the angle between any two laser beams within the vertical field of view of the laser emitting component is not equal to 0°.
  • the two-dimensional scanner scans along the fast axis direction and the slow axis direction, so that the laser beam emitted by the laser emitting component is reflected to the target object, and the laser beam reflected from the target object is reflected to the laser receiving component to obtain the target. information about the object.
  • the two-dimensional scanner scans once in the slow axis direction, and the angle at which the two-dimensional scanner scans once in the slow axis direction and rotates in the slow axis direction is ⁇ . Since the two-dimensional scanner satisfies the relationship: 1/2 ⁇ 2 ⁇ 3/2 ⁇ , and 2 ⁇ , the laser beam scanned by the two-dimensional scanner in the slow axis direction can be changed from the adjacent laser beam in the previous unit period.
  • the angle between the laser beams can increase the scanning density of the two-dimensional scanner in the slow axis direction, thereby improving the vertical angular resolution of the lidar in the slow axis direction, thereby improving the resolution of the lidar. Therefore, due to the improved angular resolution, lidar can detect small targets at long distances and meet usage requirements.
  • the ⁇ is 1/4 ⁇ , which is set so that the angular interval between any two adjacent point clouds is the same.
  • the two-dimensional scanner satisfies the relationship: S 1 ⁇ 30mm 2 , where S 1 is the effective receiving area of the two-dimensional scanner.
  • S 1 is the effective receiving area of the two-dimensional scanner.
  • Such a setting can further improve the two-dimensional scanner. The energy received helps improve the lidar's ability to detect small targets at long distances.
  • the laser receiving component and the two-dimensional scanner satisfy the relationship: 0.5 ⁇ S 2 /S 1 ⁇ 2, where S 2 is the effective receiving area of the laser receiving component, S 1 is the effective receiving area of the two-dimensional scanner. This setting helps to increase the energy received by the laser receiving component to increase the detection distance of the lidar.
  • the two-dimensional scanner is a 2D galvanometer or a micro-electromechanical system galvanometer.
  • the method further includes: a first beam splitter, the first beam splitter is located on the optical path between the laser emitting component and the two-dimensional scanner, and the first beam splitter further Located on the optical path between the laser receiving component and the two-dimensional scanner.
  • the first spectroscope is provided with a dichroic film, or the first spectroscope is provided with a dichroic hole.
  • the first beam splitter can separate and combine the laser beam emitted by the laser emitting component and the laser beam received by the laser receiving component, so that the emitting light path and the receiving light path are arranged on the same optical axis.
  • the transmitting optical path refers to the optical path within the laser transmitting component
  • the receiving optical path refers to the optical path within the laser receiving component.
  • the laser emitting component includes a laser group and a transmitting lens group.
  • the laser group is used to emit at least two laser beams.
  • the emission lens group is used to reflect the laser beam emitted from the laser group to the two-dimensional scanner.
  • the laser group includes a plurality of lasers arranged side by side along the vertical field of view direction of the laser group, and each of the plurality of lasers is used to emit at least one beam of the laser beam.
  • Laser beam there are at least two laser beams arranged side by side and spaced apart in the slow axis direction to meet the detection requirements.
  • the laser group includes a laser and a spectroscopic unit, the laser is used to emit a laser beam, and the spectroscopic unit is used to divide a laser beam emitted by the laser into Multiple laser beams.
  • the laser group includes a laser and a spectroscopic unit, the laser is used to emit a laser beam, and the spectroscopic unit is used to divide a laser beam emitted by the laser into Multiple laser beams.
  • the laser is an edge emitter or a vertical cavity surface emitting laser.
  • the light splitting unit includes any one of the following devices: a second light splitter or a diffractive optical element.
  • the light-emitting surface of the laser group is located on the focal plane of the light-emitting mirror group. Such an arrangement can collimate the laser beam emitted by the laser group.
  • the emitting lens group includes any one or more of the following lenses: spherical lenses, aspherical lenses or cylindrical lenses.
  • the laser receiving component includes a receiving lens group and a detector.
  • the receiving lens group is used to reflect the laser beam reflected from the two-dimensional scanner to the detector.
  • the detector is a silicon photomultiplier tube, an avalanche photodiode or a single photon avalanche diode.
  • the receiving lens group includes any one or more of the following lenses: spherical lenses, aspherical lenses or cylindrical lenses.
  • the optical axis of the laser emitting component is parallel to the optical axis of the laser receiving component.
  • the laser emitting component and the laser receiving component satisfy the relationship: -2° ⁇ 2°, where ⁇ is the optical axis of the laser emitting component and the laser receiving component The angle between the optical axis of the component and the two-dimensional scanner. This setting helps reduce the difficulty of manufacturing lidar.
  • the method further includes: a viewing window located between the two-dimensional scanner and the target object, and the viewing window is a flat plate structure or a curved plate structure.
  • the window allows the laser beam emitted by the laser emitting component to contact the target object, and also allows the laser beam reflected by the target object to contact the two-dimensional scanner.
  • the viewing window satisfies the relationship: 0 ⁇ 45°, where ⁇ is the tilt angle of the viewing window.
  • ⁇ is the tilt angle of the viewing window.
  • the at least one beam bending mirror is used to bend the laser optical path.
  • the laser optical path includes at least one of the following optical paths: an optical path within the laser emitting component or an optical path within the laser receiving component.
  • the beam deflecting mirror can bend the laser optical path, thereby reducing the size of the laser optical path in a certain direction. inches to improve the compactness inside the lidar.
  • the number of the at least one beam-bending mirror satisfies the relationship: 1 ⁇ M ⁇ 15, where M is the total number of the at least one beam-bending mirror. Such an arrangement helps To reduce the cost of lidar.
  • a second aspect of the present application provides an electronic device, which at least includes a body and the above-mentioned lidar, and the lidar is installed on the body.
  • a third aspect of the present application provides a vehicle, which at least includes a vehicle body and the lidar as described above, and the lidar is installed on the vehicle body.
  • Figure 1 is a schematic diagram of a scene of a lidar application vehicle provided by an embodiment of the present application
  • Figure 2 is a schematic three-dimensional structural diagram of a laser radar provided by an embodiment of the present application.
  • Figure 3 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • Figure 4 is a schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application
  • Figure 5 is a first three-dimensional structural schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application
  • Figure 6 is a divergence angle distribution diagram of the laser emitting component in the fast axis direction of the embodiment shown in Figure 4;
  • Figure 7 is a divergence angle distribution diagram of the laser emitting component in the slow axis direction of the embodiment shown in Figure 4;
  • Figure 8 is a diagram of the reception effect in the slow axis direction of a laser receiving component that cooperates with the embodiment shown in Figure 4;
  • Figure 9 is a schematic diagram of the angle of rotation of the laser beam when reflected by the two-dimensional scanner.
  • Figure 10 is a schematic diagram of the angle between two laser beams before and after reflection
  • Figure 11 is a second three-dimensional structural schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application.
  • Figure 12 is a third three-dimensional structural schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application.
  • Figure 13 is a fourth three-dimensional structural schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application.
  • Figure 14A is a schematic diagram of the scanning of four laser beams when the single rotation angle of the two-dimensional scanner provided by the embodiment of the present application is 1/2 ⁇ ;
  • Figure 14B is a schematic scanning diagram of the three point cloud images in Figure 14A after merging
  • Figure 15A is a schematic diagram of the scanning of four laser beams when the single rotation angle of the two-dimensional scanner provided by the embodiment of the present application is 0.12°;
  • Figure 15B is a schematic scanning diagram of the three point cloud images in Figure 15A after merging
  • Figure 16 is a schematic structural diagram of a laser group provided by an embodiment of the present application.
  • Figure 17 is a schematic structural diagram of another laser group provided by an embodiment of the present application.
  • Figure 18 is a schematic structural diagram of a laser receiving component provided by an embodiment of the present application.
  • FIG 19 is a schematic structural diagram of another lidar provided by an embodiment of the present application.
  • Laser receiving component 210. Receiving lens group; 220. Detector;
  • the fast axis direction refers to the horizontal field of view direction of the two-dimensional scanner, or it can also refer to the horizontal field of view direction in front of the lidar detection (for example, the X direction in Figure 2).
  • the slow axis direction refers to the vertical field of view direction of the two-dimensional scanner, and the slow axis direction is perpendicular to the fast axis direction (for example, as shown in Figure 2 Z direction), can also refer to the vertical field of view direction in front of the lidar detection.
  • Target objects refer to objects detected by lidar, which can include but are not limited to pedestrians, vehicles, buildings and other targets around lidar.
  • Point cloud refers to the received point data signal of lidar. Each point data contains three-dimensional coordinate information.
  • Ranging capability refers to the farthest measurement distance of lidar.
  • Angular resolution refers to the angle of separation between lidar point clouds and point clouds, which is divided into vertical angular resolution and horizontal angular resolution.
  • the horizontal angular resolution and the vertical angular resolution respectively represent the angle between points on the horizontal plane and the angle between points on the vertical plane.
  • the focal plane is also called the front focal plane or the object-side focal plane.
  • the plane perpendicular to the main optical axis of the system is called the first focal plane.
  • Micro-Electro-Mechanical System also known as micro-electro-mechanical system, micro-system, micro-machine, micro-electro-mechanical system galvanometer, etc., refers to high-tech devices with dimensions of several millimeters or even smaller.
  • Lidar 1000 is a target detection technology.
  • the lidar 1000 emits a laser beam through the laser 111.
  • the laser beam encounters a target object and is diffusely reflected.
  • the detector 220 receives the reflected beam, and determines the distance, orientation, and height of the target object based on the emitted beam and the reflected beam. , speed, attitude, shape and other characteristic quantities.
  • LiDAR 1000 The application fields of LiDAR 1000 are very wide. In addition to being used in the military field, it is also widely used in life fields, including but not limited to: vehicles, intelligent driving vehicles, intelligent driving aircraft, 3D printing, virtual reality (Virtua).
  • the lidar 1000 of the embodiment of the present application is applied to electronic equipment such as drones, smart furniture equipment, or intelligent manufacturing equipment, the lidar 1000 can be installed on the body of the electronic equipment.
  • the lidar 1000 provided in the embodiment of the present application is applied to a vehicle, the lidar 1000 can be used as an auxiliary component of the intelligent driving system to detect surrounding vehicles, pedestrians, obstacles, etc.
  • the vehicle 2000 can be an electric vehicle/electric vehicle (EV) or an electric food delivery vehicle, or it can also be an electric delivery vehicle. , or it can also be a pure electric vehicle (Pure Electric Vehicle/Battery Electric Vehicle, referred to as: PEV/BEV), a hybrid electric vehicle (Hybrid Electric Vehicle, referred to as: HEV), or a range extended electric vehicle (Range Extended Electric Vehicle, referred to as REEV) , Plug-in Hybrid Electric Vehicle (PHEV), New Energy Vehicle (New Energy Vehicle).
  • EV Electric Vehicle/Battery Electric Vehicle
  • HEV Hybrid Electric Vehicle
  • REEV Range Extended Electric Vehicle
  • PHEV Plug-in Hybrid Electric Vehicle
  • New Energy Vehicle New Energy Vehicle
  • FIG. 1 is a schematic diagram of a vehicle scenario for lidar application provided by an embodiment of the present application.
  • a vehicle 2000 includes a vehicle body 2100 and at least one lidar 1000 .
  • three laser radars 1000 are provided on the vehicle body 2100 .
  • the lidar 1000 can be installed on the roof, lights, front windshield, bumper and other parts of the vehicle body 2100, and is not specifically limited in the embodiment of the present application.
  • two lidars 1000 are provided on the front bumper of the vehicle body 2100
  • one lidar 1000 is provided on the rear bumper of the vehicle body 2100 .
  • the number of lidar 1000 includes but is not limited to 3.
  • the lidar 1000 can scan the surrounding environment of the vehicle 2000 by rapidly and repeatedly emitting a laser beam to obtain information reflecting the topography, position, and motion of one or more objects in the surrounding environment.
  • Point cloud data the lidar 1000 emits a laser beam to the surrounding environment, and receives the echo beam reflected back by the objects in the surrounding environment, and calculates the distance between the emission time point of the laser beam and the return time point of the echo beam. time delay to determine the location information of each object.
  • the lidar 1000 can also determine the angle information describing the spatial orientation of the laser beam, combine the position information of each object with the angle information of the laser beam, and generate a three-dimensional map including each object of the scanned surrounding environment, using this three-dimensional map.
  • the map can guide the autonomous driving of the vehicle 2000.
  • LiDAR 1000 meets detection needs can be measured through performance indicators such as angular resolution and ranging capabilities.
  • the size of the angular resolution determines the total number of point clouds that can be obtained by the lidar 1000 in one scan and the minimum obstacle size that the lidar 1000 can detect.
  • the angular resolution of the lidar 1000 in the related art is 0.2°
  • the detection distance is 150m
  • the distance between two laser beams at 150 meters is 150m*tan0.2° ⁇ 0.524m.
  • the lidar 1000 can only detect targets higher than 0.524m, and cannot accurately detect targets smaller than 0.524m.
  • the lidar 1000 in the related technology cannot meet the usage requirements when used in long-distance and small target detection scenarios.
  • the long range in the embodiment of the present application may refer to a detection distance greater than 150m
  • the small target may refer to a target less than 0.524m.
  • embodiments of the present application provide a lidar 1000.
  • the laser emitting component 100 of the lidar 1000 can emit at least two laser beams with included angles within the vertical field of view of the laser emitting component 100.
  • the single rotation angle of the two-dimensional scanner 300 in the slow axis direction satisfies the relationship: 1/2 ⁇ 2 ⁇ 3/2 ⁇ , and 2 ⁇ ,
  • Such a setting can increase the scanning density of the lidar 1000 in the slow axis direction, thereby improving the angular resolution of the lidar 1000.
  • the lidar 1000 can be used in long-distance and small target detection scenarios to meet usage requirements.
  • FIG. 2 is a schematic three-dimensional structural diagram of a laser radar provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a laser radar provided by an embodiment of the present application.
  • the lidar 1000 of the embodiment of the present application may include a laser emitting component 100 , a laser receiving component 200 , a two-dimensional scanner 300 , a first beam splitter 400 , a window 500 and a housing 700 .
  • the laser emitting component 100, the laser receiving component 200, the two-dimensional scanner 300 and the first beam splitter 400 are located in the housing 700.
  • the window 500 is embedded in the side wall of the housing 700 .
  • the laser emitting component 100 and the laser receiving component 200 are spaced apart along the X direction in FIG. 2 .
  • the two-dimensional scanner 300 is close to the viewing window 500 and is spaced apart from the first beam splitter 400 along the X direction in FIG. 2 .
  • the first beam splitter 400 is located on the emission optical path between the laser emitting component 100 and the two-dimensional scanner 300 , and the first beam splitter 400 is also located on the receiving optical path between the laser receiving component 200 and the two-dimensional scanner 300 .
  • the first beam splitter 400 can separate and combine the laser beam emitted by the laser emitting component 100 and the laser beam received by the laser receiving component 200, so that the emitting light path and the receiving light path are arranged on the same optical axis.
  • the window 500 is used to protect the laser emitting component 100, the laser receiving component 200, the two-dimensional scanner 300 and other components provided inside the lidar 1000. In addition, it can also ensure that the laser beam emitted by the laser emitting component 100 can contact the target, and The laser beam reflected by the target object can be brought into contact with the two-dimensional scanner 300 .
  • the laser beam emitted by the laser emitting assembly 100 contacts the two-dimensional scanner 300 through the first beam splitter 400, is then reflected by the two-dimensional scanner 300 and passes through the viewing window 500, and finally the laser beam contacts the target object. And diffuse reflection occurs. Part of the laser beam that contacts the target object will be reflected. The reflected laser beam passes through the window 500 and is reflected by the two-dimensional scanner 300 to the laser receiving component 200, so that the lidar 1000 can obtain relevant information about the target object.
  • the relevant information of the target includes distance, orientation, height, speed, attitude, shape and other characteristic quantities.
  • the laser emitting component 100 is used to emit at least two laser beams with angles within the vertical field of view of the laser emitting component 100.
  • FIG. 4 is a schematic diagram of a laser emitting component emitting laser beams according to an embodiment of the present application.
  • the laser emitting component 100 emits six laser beams within the vertical field of view of the laser emitting component 100, namely laser beam L1, laser beam L2, laser beam L3, laser beam L4, laser beam L5, laser beam Bundle L6.
  • the angle between any two adjacent laser beams is ⁇ , for example, the angle between laser beam L1 and laser beam L2 is ⁇ , and the angle between laser beam L3 and laser beam L4 is ⁇ .
  • the pointing angle refers to the angle between the laser beam and the horizontal reference line perpendicular to the window surface of the laser emitting component 100.
  • the pointing angle w1 of the laser beam L1 is -0.14°
  • 0.28°.
  • the position of the laser beam within the vertical field of view of the laser emitting assembly 100 can be determined by the pointing angle.
  • the pointing angle of the laser beam L6 is -0.7°.
  • FIG. 5 is a first three-dimensional structural schematic diagram of a laser emitting component emitting a laser beam according to an embodiment of the present application. Referring to FIG.
  • FIG. 6 is a divergence angle distribution diagram of the laser emitting component of the embodiment shown in FIG. 4 in the fast axis direction
  • FIG. 7 is a divergence angle distribution diagram of the laser emitting component of the embodiment shown in FIG. 4 in the slow axis direction.
  • FIG. 8 is a diagram showing the reception effect in the slow axis direction of a laser receiving component that cooperates with the embodiment shown in FIG. 4 .
  • the laser emitting component 100 emits 6 laser beams: 0.14° ⁇ 0.04°, 0.42° ⁇ 0.04°, 0.7° ⁇ 0.04°, -0.14° ⁇ 0.04°, -0.42° ⁇ 0.04°, -0.7° ⁇ 0.04 °
  • the reception effect of the laser receiving component 200 is shown in Figure 8, forming 6 light spots in the slow axis direction.
  • Figure 9 is a schematic diagram of the angle of rotation of the laser beam when reflected by the two-dimensional scanner.
  • Figure 10 is a schematic diagram of the angle between the two laser beams before and after reflection.
  • Figure 11 is a diagram of the angle emitted by a laser emitting component provided in an embodiment of the present application.
  • Figure 12 is a third three-dimensional structural diagram of a laser emitting component provided by an embodiment of the present application emitting a laser beam.
  • Figure 13 is a laser beam emitted by a laser emitting component provided by an embodiment of the present application.
  • the fourth three-dimensional structural schematic diagram of FIG. 14B is a scanning schematic diagram of the two-dimensional scanner provided by the embodiment of the present application.
  • FIG. 15B is another scanning schematic diagram of the two-dimensional scanner provided by the embodiment of the present application.
  • the two-dimensional scanner 300 satisfies the relational expression: 1/2 ⁇ 2 ⁇ 3/2 ⁇ , and 2 ⁇ .
  • ⁇ is the single rotation angle of the two-dimensional scanner in the slow axis direction
  • ⁇ is the angle between two adjacent laser beams.
  • the single rotation angle in the slow axis direction refers to the angle of one rotation of the two-dimensional scanner 300 in the slow axis direction within the unit period of the two-dimensional scanner 300 scanning along the fast axis direction.
  • the included angle can thereby increase the scanning density of the two-dimensional scanner 300 in the slow axis direction, thereby improving the vertical angular resolution. It should be noted that no matter how many unit periods the two-dimensional scanner 300 scans, within the same unit period, the angle between two adjacent laser beams will not change. In addition, the smaller the angle between the laser beam scanned in the slow axis direction of the two-dimensional scanner 300 and the adjacent laser beam in the previous unit period, the higher the angular resolution will be (that is, the angle between the laser beams will be higher). The smaller the angle value, the smaller objects can be recognized, and the angular resolution is high).
  • the laser beam reflected by the two-dimensional scanner 300 rotates through an angle of 2 ⁇ .
  • the laser beam L1 is reflected by the two-dimensional scanner 300 into the laser beam L11 , and the laser beam L1 and the laser beam L11 are symmetrical about the normal line F0 .
  • the position of the two-dimensional scanner 300 becomes 300', and the normal F0 will also rotate by an angle ⁇ .
  • the laser beam L1 passes through the two-dimensional scanner 300 is reflected as laser beam L11', and the angle between laser beams L11 and L11' is 2 ⁇ . Therefore, when the two-dimensional scanner 300 rotates at an angle ⁇ in the slow axis direction, the laser reflected by the two-dimensional scanner 300 The beam will rotate 2 ⁇ , that is, the two-dimensional scanner 300 scans once at a single rotation angle (rotation ⁇ ), and the reflected laser beam will rotate 2 ⁇ .
  • the laser beam L1 is reflected by the two-dimensional scanner 300 and becomes the laser beam L11.
  • the laser beam L2 is reflected by the two-dimensional scanner 300 and becomes the laser beam L22.
  • the angle between the laser beam L1 and the laser beam L2 is ⁇ .
  • the angle between L11 and laser beam L22 is also ⁇ . Therefore, for the laser beam L1 and the laser beam L2 in Figure 2 in the above content, the angle between the laser beam L1 and the laser beam L2 before reflection is ⁇ , and the angle between the laser beams L11 and L22 reflected by the laser beam L1 and the laser beam L2 is The angle between them is also ⁇ . Therefore, as shown in FIGS. 9 and 10 , the angle at which the reflected laser beam rotates can be changed by controlling the single rotation angle of the two-dimensional scanner 300 in the slow axis direction, thereby changing the angular resolution.
  • the two-dimensional scanner 300 will continuously scan the object in front and complete one scan within one cycle.
  • the above describes the situation when the two-dimensional scanner 300 scans once in the slow axis.
  • the two-dimensional scanner 300 will scan for multiple cycles, and then acquire point cloud images scanned in multiple cycles, thereby further realizing target recognition.
  • the cycles may be continuous or spaced, and are not limited here.
  • the two-dimensional scanner 300 scans in the fast axis direction and the slow axis direction respectively.
  • the following describes in detail the scanning process of the two-dimensional scanner 300 in the fast axis direction and the slow axis direction within one cycle, that is, within the unit cycle.
  • the two-dimensional scanner 300 scans from the laser beam L22 position to the laser beam L22x position, and then returns from the laser beam L22x position.
  • the two-dimensional scanner 300 will move from the laser beam
  • the L22 position is scanned to the laser beam L22z position (can be understood as a nodding movement).
  • the scan within one cycle is completed. Therefore, the angle between the position of laser beam L22 and the position of laser beam L22z is 2 times the single rotation angle (ie, 2 ⁇ ).
  • the two-dimensional scanner 300 can scan from the laser beam L22z position along the X-axis for one round and return to the laser beam L22z position.
  • the 2D scanner 300 will scan the 2 ⁇ angle (not shown in the figure) from the laser beam L22z position, and then nod once.
  • the 2D scanner 300 will raise its head and return to The position when the head is not nodding (such as the initial position), and then scan in the next cycle.
  • t1 is the time it takes for the two-dimensional scanner 300 to scan from the L22 position to the L22x position
  • t2 is the time it takes the two-dimensional scanner 300 to return from the L22x position to the L22 position
  • the unit period is equal to the sum of time t1 and t2.
  • the scanning process of the two-dimensional scanner 300 in the fast axis direction is: first, scan from the L22 position in the clockwise direction to the L22x position, and then scan in the counterclockwise direction from the L22x position. Sweep to L22 position.
  • the scanning process of the two-dimensional scanner 300 in the fast axis direction can also be: first scanning from the L22x position in the counterclockwise direction to the L22 position, and then scanning in the clockwise direction from the L22 position to the L22x position. L22x position.
  • the following describes the angular resolution of the lidar 1000 under several different single rotation angles of the two-dimensional scanner 300.
  • the laser beam L22 reflected by the two-dimensional scanner 300 rotates 2 ⁇ and then moves to the position of the laser beam L22z.
  • the reflected laser beam L11 rotates 2 ⁇ and then moves to the position of the laser beam L11z.
  • the laser beam L22 reflected by the two-dimensional scanner 300 rotates 2 ⁇ and then moves to the position of the laser beam L22z.
  • the angle between the laser beam L22z and the laser beam L11 becomes half of the angle between two adjacent laser beams in the previous scanning cycle (the angle ⁇ between the laser beam L11 and the laser beam L22 in Figure 12), so that the laser radar 1000 emitted
  • the laser beam is more densely packed, allowing for improved angular resolution.
  • the laser beam L22 reflected by the two-dimensional scanner 300 rotates 2 ⁇ and then moves to the position of the laser beam L22z, and The laser beam L22z coincides with the laser beam L11.
  • the laser beam L11 reflected by the two-dimensional scanner 300 rotates 2 ⁇ and then moves to the position of the laser beam L11z, and the laser beam L11z coincides with the laser beam L33. Due to the difference between the laser beam L11 and the laser beam L22
  • the laser beams in two adjacent scanning cycles overlap the angle between the two adjacent laser beams is always ⁇ , and the angular resolution does not change. Therefore, the single rotation angle ⁇ 1/2 ⁇ of the two-dimensional scanner 300 , that is, 2 ⁇ .
  • the following is a point cloud image obtained by scanning in three cycles to further illustrate the angular resolution of the lidar 1000 at several different single rotation angles of the two-dimensional scanner 300.
  • the scanning diagram of the two-dimensional scanner 300 is shown in Figure 14A.
  • the two-dimensional scanner 300 scans four laser beams, and the point cloud No. 1 is The point cloud image obtained by the two-dimensional scanner 300 scanning in a certain period in the slow axis direction, here is set as the first period (can be any period); the point cloud No. 2 is the point cloud obtained by the two-dimensional scanner 300 in the slow axis direction in the second period.
  • point cloud No. 1 is a point cloud image obtained by scanning the first period of the two-dimensional scanner 300 in the slow axis direction. It is the same as point cloud No. 1 in Figure 14A. However, in Figure 15A, point cloud No.
  • the point cloud image No. 2 is inserted into 1 In point cloud No. 3, point cloud No. 3 is inserted into point cloud image No. 2, finally forming a flower arrangement point cloud image.
  • a high angular resolution point cloud can be obtained to improve the angular resolution.
  • the angular resolution value can reach 0.04° (angular resolution between the two nearest point clouds).
  • the scanning density is increased and the angular resolution is improved to achieve Scanning of long-distance and small targets.
  • the scanning density can improve the angular resolution of the lidar 1000 in the slow axis direction to meet the application scenarios of long distances and small targets.
  • the two-dimensional scanner 300 may be a 2D galvanometer or a micro-electromechanical system galvanometer.
  • the two-dimensional scanner 300 can also satisfy the relationship: S 1 ⁇ 30mm 2 .
  • S 1 is the effective receiving area of the two-dimensional scanner 300
  • the effective receiving area refers to the area where the two-dimensional scanner 300 receives the laser beam.
  • the larger the effective receiving area the more laser beams the two-dimensional scanner 300 can receive, and thus the laser receiving component 200 can also receive more energy. Therefore, on the basis of improving the angular resolution, by increasing the effective receiving area of the two-dimensional scanner 300, the detection range of the lidar 1000 can be further increased, thereby improving the detection ability of the lidar 1000 to detect small targets at long distances.
  • the two-dimensional scanner 300 and the laser receiving component 200 can also satisfy the relationship: 0.5 ⁇ S 2 /S 1 ⁇ 2, where S 2 is the effective receiving area of the laser receiving component 200, S 1 is the effective receiving area of the two-dimensional scanner 300.
  • S 2 is the effective receiving area of the laser receiving component 200
  • S 1 is the effective receiving area of the two-dimensional scanner 300.
  • the optical axis of the laser emitting component 100 can be parallel to the optical axis of the laser receiving component 200. Such an arrangement can reduce errors and allow the two-dimensional scanner 300 to receive more energy, which helps To improve the detection range of lidar 1000.
  • the optical axis of the laser emitting component 100 and the optical axis of the laser receiving component 200 may satisfy the relationship: -2° ⁇ ⁇ 2°. Wherein, ⁇ is the angle between the optical axis of the laser emitting component 100 and the optical axis of the laser receiving component 200 on the two-dimensional scanner 300 .
  • FIG. 16 is a schematic structural diagram of a laser group provided by an embodiment of the present application
  • FIG. 17 is a schematic structural diagram of another laser group provided by an embodiment of the present application.
  • the laser emitting assembly 100 may include a laser group 110 and an emitting mirror. Group 120.
  • the laser group 110 can emit at least two laser beams with included angles within the vertical field of view of the laser group 110 .
  • the emission lens group 120 is used to reflect the laser beam emitted by the laser group 110 to the two-dimensional scanner 300 .
  • the laser group 110A may include four lasers 111 spaced apart within the vertical field of view of the laser group 110A.
  • Each laser 111 is used to emit at least one laser beam, so that the laser group 110A emits at least two laser beams in the vertical direction.
  • Laser beams with included angles within the field of view in addition to the four lasers 111 in the figure, the number of lasers 111 can also be 2, 3, 5, 6, etc. In addition, the number of laser beams that each laser 111 can emit may be the same or different. For example, in the figure, each laser 111 emits one laser beam.
  • the laser group 110B can It includes a laser 111 and a spectroscopic unit 112.
  • one laser 111 is used to emit at least one laser beam.
  • one laser 111 emits one laser beam.
  • the spectroscopic unit 112 is located between the laser 111 and the emission lens group 120 .
  • the spectroscopic unit 112 is used to divide a laser beam emitted by a laser 111 into multiple laser beams, so that the laser group 110B emits at least two laser beams with an included angle within the vertical field of view of the laser group 110B.
  • the beam splitting unit 112 may include any one of the following devices: a second beam splitter or a diffractive optical element.
  • a second beam splitter or a diffractive optical element.
  • the laser 111 may be an edge emitter (Edge Emitting Laser, EEL for short), or the laser 111 may be a vertical-cavity surface-emitting laser 111 (vertical-cavity surface-emitting laser, vcsel for short).
  • EEL Edge Emitting Laser
  • vcsel vertical-cavity surface-emitting laser
  • the laser group 110 includes multiple lasers 111, all lasers 111 are of the same type, or the multiple lasers 111 include at least two types of lasers 111, for example, some of the lasers 111 are edge emitters, and some of the lasers 111 are vertical Cavity surface emitting laser 111.
  • the light-emitting surface of the laser group 110 can also be located on the focal plane of the light-emitting mirror group. With this arrangement, the laser beam emitted by the laser group 110 can be collimated.
  • the emitting lens group 120 includes any one or more of the following lenses: spherical lenses, aspherical lenses, or cylindrical lenses.
  • the emission lens group 120 may include a spherical lens and an aspheric lens, or the emission lens group 120 may include an aspheric mirror and a cylindrical lens, or all lenses of the emission lens group 120 may be spherical mirrors.
  • Figure 18 is a schematic structural diagram of a laser receiving component provided by an embodiment of the present application.
  • the laser receiving assembly 200 may include a receiving lens group 210 and a detector 220 .
  • the receiving lens group 210 is used to reflect the laser beam reflected from the two-dimensional scanner 300 to the detector 220 .
  • the number of detectors 220 can also be multiple, so that the lidar 1000 can form a radar architecture with one transmitter and multiple receivers.
  • the detector 220 may be an avalanche photodiode (Avalanche Photodiode, APD), a PIN photodiode (PIN Photodiode, PIN PD), a single photon avalanche diode (Single Photo Avalanche photodiode, SPAD) or a multi-pixel photon counter (Multi-pixel photo counter) , MPPC) etc.
  • APD avalanche photodiode
  • PIN Photodiode PIN Photodiode
  • SPAD Single Photo Avalanche photodiode
  • MPPC multi-pixel photon counter
  • the specific type of the detector 220 may be determined according to detection requirements, which are not specifically limited here.
  • the detection requirements include at least one or more of the following indicators: detection sensitivity, detection distance, or response speed.
  • the receiving lens group 210 may include any one or more of the following lenses: spherical lenses, aspherical lenses, or cylindrical lenses. For example, when the number of lenses in the receiving lens group 210 is multiple, all the lenses in the receiving lens group 210 are spherical lenses, or the receiving lens group 210 includes both spherical lenses and aspherical lenses.
  • the first beam splitter 400 may be provided with a beam splitting film or a beam splitting hole, so that the receiving light path and the transmitting light path can be arranged on the same optical axis.
  • the window 500 may be a flat plate structure or a curved plate structure.
  • the housing 700 has a through hole through which the laser beam passes, and the window 500 is located in the housing 700 and covers the through hole.
  • the material of the window 500 may be glass or plastic that can transmit light.
  • the material of the window 500 may be polycarbonate.
  • the viewing window 500 can also satisfy the relationship: 0 ⁇ 45°, where ⁇ is the tilt angle of the viewing window 500.
  • ⁇ is the tilt angle of the viewing window 500.
  • the echo beam refers to the beam reflected by the target object to the two-dimensional scanner 300, and the echo beam includes a laser beam and a stray beam.
  • the tilt angle of the window 500 refers to the tilt angle of the window 500 relative to the two-dimensional scanner 300.
  • the window 500 can be tilted inward or outward, which is not limited here.
  • FIG 19 is a schematic structural diagram of another lidar provided by an embodiment of the present application.
  • the lidar 1000 may further include: at least one beam deflecting mirror 600 .
  • a beam bending mirror 600 is disposed on the optical path between the laser emitting component 100 and the first beam splitter 400 .
  • the beam deflecting mirror 600 refracts the optical path within the laser emitting component 100, thereby reducing the size of the laser emitting component 100 in a certain direction and helping to improve the internal compactness of the laser radar 1000.
  • the beam deflecting mirror 600 can also be used to deflect the laser connector. Receive the light path within the component 200.
  • at least one of the laser emitting component 100 and the laser receiving component 200 has a beam refracting mirror 600 .
  • there is a beam refracting mirror 600 in the laser emitting component 100 when there are beam bending mirrors 600 in both the laser emitting assembly 100 and the laser receiving assembly 200, the number of beam bending mirrors 600 in the laser emitting assembly 100 may be the same as the number of beam bending mirrors 600 in the laser receiving assembly 200. Or not the same.
  • the number of the beam bending mirror 600 is at least one, and there is no specific limitation here.
  • the number of the beam bending mirror 600 is 1, 2, 3, 4, etc.
  • the number of beam bending mirrors 600 can also satisfy the relationship: 1 ⁇ M ⁇ 15. Wherein, M is the total number of beam deflecting mirrors 600 . Such an arrangement can, on the one hand, meet the requirements for refraction, and on the other hand, reduce the cost of the beam refractor 600 .
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a fixed connection.
  • Indirect connection through an intermediary can be the internal connection between two elements or the interaction between two elements.

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

Abstract

Des modes de réalisation de la présente demande concernent un lidar, un dispositif électronique et un véhicule. Le lidar comprend un ensemble d'émission laser, un ensemble de réception laser et un scanner bidimensionnel, l'ensemble d'émission laser étant utilisé pour émettre au moins deux faisceaux laser, qui présentent un angle d'ouverture entre eux se situant au sein d'un champ de vision vertical de l'ensemble d'émission laser ; le scanner bidimensionnel est utilisé pour réfléchir les faisceaux laser, qui sont émis par l'ensemble d'émission laser, en direction d'un objet cible, ainsi que pour réfléchir les faisceaux laser, renvoyés par l'objet cible, en direction de l'ensemble de réception laser ; et le scanner bidimensionnel est tel que : 1/2β ≤ 2α ≤ 3/2β, et 2α ≠ β, α étant l'angle de rotation du scanner bidimensionnel dans la direction de l'axe lent à un moment unique, et β étant l'angle d'ouverture entre deux faisceaux laser adjacents. Grâce à une telle configuration, la densité de balayage du scanner bidimensionnel dans la direction de l'axe lent peut être accrue, de façon à améliorer la résolution angulaire verticale dans la direction de l'axe lent, si bien qu'une petite cible éloignée peut être détectée.
PCT/CN2023/105328 2022-08-31 2023-06-30 Lidar, dispositif électronique et véhicule WO2024045884A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109031345A (zh) * 2018-06-13 2018-12-18 北京经纬恒润科技有限公司 一种mems微镜扫描激光雷达系统及其扫描方法
CN210123470U (zh) * 2018-12-27 2020-03-03 北京经纬恒润科技有限公司 一种激光扫描雷达
CN113534105A (zh) * 2020-03-31 2021-10-22 华为技术有限公司 激光扫描控制方法、装置、mems振镜和激光雷达
CN113567994A (zh) * 2020-08-05 2021-10-29 北京一径科技有限公司 激光雷达的光学系统和激光雷达系统
US20220187471A1 (en) * 2020-08-24 2022-06-16 Innoviz Technologies Ltd. Lidar system with variable resolution multi-beam scanning

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109031345A (zh) * 2018-06-13 2018-12-18 北京经纬恒润科技有限公司 一种mems微镜扫描激光雷达系统及其扫描方法
CN210123470U (zh) * 2018-12-27 2020-03-03 北京经纬恒润科技有限公司 一种激光扫描雷达
CN113534105A (zh) * 2020-03-31 2021-10-22 华为技术有限公司 激光扫描控制方法、装置、mems振镜和激光雷达
CN113567994A (zh) * 2020-08-05 2021-10-29 北京一径科技有限公司 激光雷达的光学系统和激光雷达系统
US20220187471A1 (en) * 2020-08-24 2022-06-16 Innoviz Technologies Ltd. Lidar system with variable resolution multi-beam scanning

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