Drive device for lidar light-emitting device and lidar

Abstract

The present invention provides a driving device for a light-emitting device of a lidar and a lidar including the driving device. The driving device includes: an inverter module, whose input end is connected to a pulse voltage signal, the high potential of the pulse voltage signal is a fixed first potential, the low potential of the pulse voltage signal is a variable second potential, and the output end is connected to a driving module for selecting to provide the first potential or the second potential to the driving module; a driving module for providing a driving current to the light-emitting device to make the light-emitting device of the lidar emit light; and a power supply module for providing a voltage of the first potential to the inverter module and the driving module; wherein the driving current is adjusted according to the second potential. The solution of the present invention can achieve direct control of the driving current for the light-emitting device of the lidar, and has relatively simple circuit design, short current transmission path and fast response speed.

Description

Technical Field

[0001] The present invention relates to the field of lidar, and more particularly, to a driving device for a lidar light-emitting device and a lidar including the driving device. Background Art

[0002] With the rapid development of artificial intelligence technology, application scenarios such as autonomous driving, face recognition, and 3D photography have gradually matured. Lidar is an important environmental perception device for autonomous driving. Figure 1 A schematic diagram showing the working principle of an exemplary lidar 100 is shown. As Figure 1 shown, the lidar 100 is, for example, a 16-line lidar, which can emit a total of 16 laser beams L1, L2, …, L15, L16 along the Figure 1 vertical direction shown. Each laser beam corresponds to a channel of the lidar 100, with a total of 16 channels, for detecting the surrounding environment. During the detection process, the lidar 100 can rotate along its vertical axis. During the rotation, the light-emitting device ( Figure 1 not shown in the figure) inside the lidar 100 emits laser beams L1, L2, …, L15, L16 through each channel in sequence according to a certain time interval (for example, 1 microsecond) and performs detection, thereby completing a line scan in the vertical field of view. After that, the lidar 100 performs the next line scan of the vertical field of view at a certain angle interval (for example, 0.1 degree or 0.2 degree) in the horizontal field of view direction. The receiver of the lidar 100 can receive the echoes reflected back after the laser beams emitted by each channel encounter obstacles, and detect the distance and azimuth of the obstacles by calculating the round-trip flight time of the laser beams, thereby forming point cloud data. Multiple detections are performed during the entire rotation process of the lidar 100 to form the point cloud data of the obstacles, thereby perceiving the status of the surrounding environment.

[0003] From the above working principle of the lidar, it can be seen that the light-emitting device of the lidar is an important part of the entire lidar, and it is necessary to ensure the consistency and stability of the light-emitting energy among different temperatures, different batches, and different channels. At present, the design of the driving circuit for the lidar light-emitting device is a difficult problem in the implementation of the lidar circuit.

[0004] In the actual application process, since the distance and reflectivity of the detection target of the lidar are constantly changing, it is required that the light intensity of the light-emitting device can be adjusted quickly accordingly, which poses higher requirements for the driving circuit of the light-emitting device.

[0005] Figure 2 A schematic diagram of a driving circuit for a lidar light-emitting device in the prior art is shown. As Figure 2As shown, the drive circuit includes devices M0 to M5, where M0 to M3 are high-voltage NMOS devices and M4 to M5 are high-voltage PMOS devices. In Figure 2 In the shown drive circuit, M0 to M3 form a typical NMOS current mirror circuit, and M4 to M5 form a typical PMOS current mirror circuit. By controlling the device sizes (such as the width-to-length ratio) of M0 to M5, a current ratio of 1:K1:K2:K3:KN can be achieved.

[0006] As Figure 2 shown in, assuming the input current of the drive circuit is I1, the maximum value of the output current (i.e., the input current of the light-emitting device D1) is KN*I1*(K1 + K2 + K3) / K3, and the minimum value is KN*I1 / K3. The resistor R2 is used to control the gate-source voltage of the PMOS transistors M4 and M5, and S1 and S1N; S2 and S2N; S3 and S3N are three pairs of mutually exclusive switches. Here, a mutually exclusive switch means that in the same state, one switch is on and the other switch is off.

[0007] In the prior art solution as Figure 1 shown, the output current is adjusted by controlling the states of the switches S1 and S1N; S2 and S2N; S3 and S3N. Since the current mirror circuit needs to perform current conversion step by step, its response speed is slow, the circuit is relatively complex, the parasitic capacitance in the nodes is relatively large, and it is difficult to achieve precise current control. Summary of the Invention

[0008] In view of the above problems, the present invention proposes a driving device for a light-emitting device of a lidar and a lidar including the driving device.

[0009] According to one aspect of the present invention, a driving device for a light-emitting device of a lidar is provided. The driving device includes: an inverting module, whose input terminal is connected to a pulse voltage signal, the high potential of the pulse voltage signal is a fixed first potential, the low potential of the pulse voltage signal is a variable second potential, and the output terminal is connected to a driving module, and is used to select to provide the first potential or the second potential to the driving module; a driving module, which is used to provide a driving current to the light-emitting device to make the light-emitting device emit light; and a power supply module, which provides the voltage of the first potential to the inverting module and the driving module; wherein the driving current is adjusted according to the second potential.

[0010] In one embodiment, when the second potential increases, the on-resistance of the driving module increases and the driving current decreases; and when the second potential decreases, the on-resistance of the driving module decreases and the driving current increases.

[0011] In one embodiment, the maximum value of the driving current is determined based on the first potential, the on-resistance of the driving module, and the parasitic resistance of the light-emitting device.

[0012] In one embodiment, the inverting module includes a first transistor and a second transistor. The first poles of the first transistor and the second transistor are both connected to the pulse voltage signal. The third pole of the first transistor is connected to the third pole of the second transistor. The second pole of the first transistor is connected to the first potential, and the second pole of the second transistor is connected to the second potential.

[0013] In one embodiment, the driving module includes a third transistor. The first pole of the third transistor is connected to the third pole of the first transistor and the third pole of the second transistor. The second pole of the third transistor is connected to the first potential, and the third pole of the third transistor is connected to the light-emitting device of the lidar to provide a driving current for the light-emitting device.

[0014] In one embodiment, the first transistor is a PMOS transistor, the second transistor is an NMOS transistor, the first pole is the gate, the second pole is the source, and the third pole is the drain.

[0015] In one embodiment, the first transistor is a PNP transistor, the second transistor is an NPN transistor, the first pole is the base, the second pole is the emitter, and the third pole is the collector.

[0016] In one embodiment, the third transistor is a PMOS transistor, and the first pole is the gate, the second pole is the source, and the third pole is the drain.

[0017] In one embodiment, the third transistor is a PNP transistor, and the first pole is the base, the second pole is the emitter, and the third pole is the collector.

[0018] In one embodiment, the driving device further includes a stable voltage conversion module configured to receive the input of an adjustable voltage source and keep the output second potential changing stably when adjusting the adjustable voltage source.

[0019] In one embodiment, the stable voltage conversion module includes a low dropout linear regulator (LDO).

[0020] According to another aspect of the present invention, a lidar is provided. The lidar includes: the driving device as described above; and the light-emitting device of the lidar. The light-emitting device includes a parasitic resistance, a parasitic inductance, and a light-emitting device. The parasitic resistance and the parasitic inductance are connected to the high-end side of the light-emitting device, and the low-end side of the light-emitting device is grounded.

[0021] In one embodiment, the light-emitting device includes an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL).

[0022] Using the solution of the present invention can achieve direct control of the drive current of the light-emitting device for lidar, and the circuit design is relatively simple, the current transmission path is short, the response speed is fast, and it can control laser pulses in the nanosecond (ns) level; at the same time, using a high-side drive circuit to control the output current can achieve precise control of light emission. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram showing the working principle of an exemplary lidar;

[0024] Figure 2 A schematic diagram showing a drive circuit of a light-emitting device for lidar in the prior art;

[0025] Figure 3 A schematic diagram showing the structure of a lidar according to an embodiment of the present invention;

[0026] Figure 4 Shown for Figure 3 A schematic diagram of a drive device for the light-emitting device of the lidar shown;

[0027] Figure 5 A schematic diagram of a signal waveform of a drive device according to an embodiment of the present invention;

[0028] Figure 6 Shown Figure 4 A schematic diagram of an embodiment of the drive device shown;

[0029] Figure 7 A schematic diagram showing the structure of a stable voltage conversion module that can be used for a drive device according to an embodiment of the present invention; and

[0030] Figure 8 Shown Figure 4 A schematic diagram of another embodiment of the drive device shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The following will describe each embodiment of the present invention in detail with reference to the drawings, so as to more clearly understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not limitations on the scope of the present invention, but only to illustrate the essential spirit of the technical solution of the present invention.

[0032] In the following description, certain specific details are set forth in order to provide a thorough understanding of various disclosed embodiments. However, those skilled in the relevant art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail so as to avoid unnecessarily obscuring the description of the embodiments.

[0033] Unless the context requires otherwise, throughout the specification and claims, the words "comprise" and its variations, such as "comprises" and "comprising" should be construed in an open, inclusive sense, i.e., to mean "including, but not limited to".

[0034] References to "one embodiment" or "some embodiments" in the specification throughout mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of "in one embodiment" or "in some embodiments" in various places throughout the specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics may be combined in any manner in one or more embodiments.

[0035] As used in this specification and the appended claims, the singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. It should be noted that the term "or" is generally used in its inclusive sense of "and / or" unless the context clearly dictates otherwise.

[0036] The inventive concept of the present invention is directed to a driving device for a lidar light-emitting device, which replaces the step-by-step current conversion method and adopts a direct control method to control the driving current output to the light-emitting device. Specifically, the driving device for the lidar light-emitting device of the present invention can input a pulsed voltage signal with a variable low potential, and adjust the output current of the driving device (i.e., the driving current of the light-emitting device) by adjusting this low potential.

[0037] Figure 3 A schematic structural diagram of a lidar 1 according to an embodiment of the present invention is shown. As Figure 3 shown, the lidar 1 includes a light-emitting device 20 and a driving device 10 for providing a driving current Id to the light-emitting device 20. The light-emitting device 20 includes a parasitic resistor 22, a parasitic inductor 24, and a light-emitting device 26 connected in series, where the parasitic resistor 22 and the parasitic inductor 24 are connected in series on the power supply side (i.e., the high-end side) of the light-emitting device 26, and the low-end side of the light-emitting device 26 is grounded (GND). Since the driving current Id of the driving device 10 is injected into the light-emitting device 26 from the power supply side of the light-emitting device 26, thus Figure 3The structure shown can also be referred to as a high-side-driven lidar light-emitting device. Those skilled in the art can understand that for the sake of simplicity, only the light-emitting device and its driving device part of the lidar 1 are shown here, while other parts of the lidar 1, such as the receiving device, etc., are omitted.

[0038] In some embodiments, the light-emitting device 26 can be an edge-emitting laser (EEL) or a vertical-cavity surface-emitting laser (VCSEL), etc.

[0039] Figure 4 Shown for Figure 3 A schematic diagram of the driving device 10 of the light-emitting device 20 of the lidar 1 shown. As Figure 4 shown, the driving device 10 can include an inverting module 12, whose input terminal is connected to the pulse voltage signal Vin, where the pulse voltage signal Vin is as Figure 5 shown, the high potential of the pulse voltage signal Vin is the first potential VDD1, and the low potential is the second potential V2. The pulse voltage signal Vin can be generated, for example, by a signal generator 19 based on two different potentials VDD1 and V2. A detailed description of the signal generator 19 will be given below. In one embodiment, the pulse voltage signal Vin is a short pulse signal, that is, the duration of the first potential VDD1 is much shorter than the duration of the second potential V2.

[0040] In addition, as Figure 4 shown, the second potential V2 is also separately provided to the inverting module 12. In one embodiment, the driving device 10 can further include a stable voltage transformation module 17, which is configured to receive the reference level VREF of the adjustable voltage source 18 and keep the output second potential V2 changing stably when adjusting the adjustable voltage source 18. That is to say, the stable voltage transformation module 17 is used to implement the conversion from the level VREF to the level V2, where the transfer coefficient is K1, K1 = V2 / VREF. The output terminal of the voltage stabilization transformation module 17 is also grounded (GND) through the isolation capacitor C1. In this way, a stable and changing second potential V2 can be obtained by adjusting the adjustable voltage source 18.

[0041] In some embodiments, the driving device 10 can further include a pulse signal generator 19, which receives the first potential VDD1 from the power supply module 16 and the second potential V2 from the stable voltage transformation module 17 to generate the pulse voltage signal Vin and input it to the inverting module 12.

[0042] The output terminal of the inverting module 12 is connected to the driving module 14, and is used to select to provide the first potential VDD1 or the second potential V2 to the driving module 14. The output voltage Vx of the inverting module 12 is inversely related to its input voltage Vin (as Figure 5As shown, when the input voltage Vin is at a low potential (the second potential V2), the output voltage Vx is at a high potential (the first potential VDD1); conversely, when the input voltage Vin is at a high potential (the first potential VDD1), the output voltage Vx is at a low potential (the second potential V2).

[0043] The driving module 14 receives the first potential VDD1 or the second potential V2 from the inverting module 12, and provides a driving current Id to the light-emitting device 20 to cause the light-emitting device 20 to emit light.

[0044] In addition, the driving device 10 further includes a power supply module 16, which provides a voltage of the first potential VDD1 to the inverting module 12 and the driving module 14.

[0045] In Figure 4 In the driving device 10 shown, the first potential VDD1 is fixed, while the second potential V2 is variable, so that the driving current Id generated by the driving device 10 can be adjusted according to the second potential V2 ( Figure 5 detailed in).

[0046] According to an embodiment of the present invention, the minimum value of the driving current Id is 0, and the maximum value of the driving current Id is Imax. Among them, the maximum value Imax of the driving current Id is determined by the first potential VDD1, the on-resistance Rdson of the driving module 14, and the parasitic resistance 22 of the light-emitting device 20. For example, the maximum value Imax of the driving current Id can be expressed by the following formula (1):

[0047] Imax = VDD1 / (R1 + Rdson) (1)

[0048] Where R1 is the resistance value of the parasitic resistance 22 of the light-emitting device 20, and Rdson is the on-resistance of the driving module 14.

[0049] In one embodiment, the on-resistance Rdson of the driving module 14 can be expressed by the following formula (2):

[0050]

[0051] Where k is a constant, W is the channel width of the third transistor 142, L is the channel length of the third transistor 142, and Vth is the on-threshold voltage of the third transistor 142. Here, those skilled in the art can know that the constant k is a constant determined by the properties of silicon-based devices and depends on Planck's constant.

[0052] As can be seen from the foregoing formulas (1) and (2), when the second potential V2 increases, the on-resistance of the driving module 14 increases and the driving current Id decreases; conversely, when the second potential V2 decreases, the on-resistance of the driving module 14 decreases and the driving current Id increases.

[0053] As Figure 6 shown, when the input pulse voltage signal Vin is at a low potential (the second potential V2), the first transistor 122 is turned on, the second transistor 124 is turned off, the output voltage Vx of the inverting module 12 is at a high potential (the first potential VDD1), and the third transistor 142 is turned off, so that the driving current Id is 0; conversely, when the input pulse voltage signal Vin is at a high potential (the first potential VDD1), the first transistor 122 is turned off, the second transistor 124 is turned on, the output voltage Vx of the inverting module 12 is at a low potential (the second potential V2), and the third transistor 142 is turned on, so that the driving current Id reaches its maximum value Imax, where the driving current Id is a short pulse current signal, and its pulse peak (maximum value) Imax can be adjusted according to the second potential V2.

[0054] It can be seen that through the driving device 10 according to the embodiments of the present invention, the input short pulse voltage signal Vin can be converted into a short pulse current signal Id to be provided to the light-emitting device 20 as the driving current of the light-emitting device 20, and by adjusting the second level V2 of the input short pulse voltage signal Vin, the driving current Id (the maximum value Imax) can be conveniently adjusted.

[0055] Therefore, the stable voltage conversion module 17 for precisely adjusting the second level V2 is very important for adjusting the magnitude of the driving current Id.

[0056] In one embodiment, the stable voltage conversion module 17 may include a low dropout linear regulator (LDO).

[0057] Figure 7 shows a schematic structural diagram of the stable voltage conversion module 17 that can be used for the driving device 10 according to the embodiments of the present invention.

[0058] As Figure 7 shown, the stable voltage conversion module 17 includes an error amplifier 172, a driving stage 174, an output stage 176, and a feedback loop 178. The error amplifier 172 is used to perform error amplification on the input reference level VREF and the level Vfb obtained from the feedback loop 178, and finally achieve VREF = Vfb, thereby realizing the open-loop high gain of the system.

[0059] The driving stage 174 is used to drive the output stage 176 of the stable voltage conversion module 17. Since the output stage 176 usually has a large device size, a dedicated driving stage 174 is configured to drive it.

[0060] The output stage 176 is the output module of the stable voltage conversion module 17, and is used to output the target level V2.

[0061] The feedback loop 178 is used to sample the output level V2 and feed the sampled signal back to the error amplifier 172, so as to achieve the closed-loop transmission coefficient K.

[0062] Using a low-dropout linear regulator (LDO) as the stable voltage conversion module 17 can stably regulate the second potential V2 with high regulation accuracy, achieve precise regulation of the second potential V2, and thus precisely control the drive current Id for driving the light-emitting device. The solution of the present invention can achieve direct control of the drive current Id, and the circuit design is relatively simple, the current transmission path is short, the response speed is fast, and it can control laser pulses in the nanosecond (ns) level; at the same time, using a high-side transistor to control the output current can achieve precise control from current to light emission.

[0063] Figure 6 shows Figure 4 a schematic diagram of an embodiment of the driving device 10 shown.

[0064] In the embodiment as Figure 6 shown, the inverting module 12 may include a first transistor 122 and a second transistor 124. The first poles of the first transistor 122 and the second transistor 124 are both connected to the pulse voltage signal Vin, the third pole of the first transistor 122 is connected to the third pole of the second transistor 124, the second pole of the first transistor 122 is connected to the first potential VDD1 of the power supply module 16, and the second pole of the second transistor 124 is connected to the second potential V2.

[0065] The driving module 14 includes a third transistor 142, wherein the first pole of the third transistor 142 is connected to the third poles of the first transistor 122 and the second transistor 124, the second pole of the third transistor 142 is connected to the first potential VDD1, and the third pole of the third transistor 142 is connected to the light-emitting device 20 of the lidar 1, and is used to provide a drive current Id for the light-emitting device 20.

[0066] In the embodiment as Figure 6 shown, the first transistor 122 may be a PMOS transistor, more specifically, it is a high-voltage PMOS transistor, the second transistor 124 may be an NMOS transistor, more specifically, it is a high-voltage NMOS transistor, and the first pole is the gate (G), the second pole is the source (S), and the third pole is the drain (D).

[0067] In addition, the third transistor 142 can be a PMOS transistor. More specifically, it is a high-voltage PMOS transistor, and the first pole is the gate (G), the second pole is the source (S), and the third pole is the drain (D).

[0068] Here, the MOS transistor refers to MOSFET, that is, Metal-Oxide-Semiconductor Field-Effect Transistor. The PMOS transistor refers to a P-channel MOS transistor, and the NMOS transistor refers to an N-channel MOS transistor.

[0069] Figure 8 shows Figure 4 a schematic diagram of another embodiment of the driving device 10 shown.

[0070] In the embodiment as Figure 8 shown, the inverting module 12 can include a first transistor 122' and a second transistor 124'. The first poles of the first transistor 122' and the second transistor 124' are both connected to the pulse voltage signal Vin. The third pole of the first transistor 122' is connected to the third pole of the second transistor 124'. The second pole of the first transistor 122' is connected to the first potential VDD1 of the power supply module 16, and the second pole of the second transistor 124' is connected to the second potential V2.

[0071] The driving module 14 includes a third transistor 142'. The first pole of the third transistor 142' is connected to the third pole of the first transistor 122' and the third pole of the second transistor 124'. The second pole of the third transistor 142' is connected to the first potential VDD1, and the third pole of the third transistor 142' is connected to the light-emitting device 20 of the lidar 1 for providing a driving current Id to the light-emitting device 20.

[0072] In the embodiment as Figure 8 shown, the first transistor 122' can be a PNP transistor, the second transistor 124' is an NPN transistor, and the first pole is the base (B), the second pole is the emitter (E), and the third pole is the collector (C).

[0073] In addition, the third transistor 142' can be a PNP transistor, and the first pole is the base (B), the second pole is the emitter (E), and the third pole is the collector (C).

[0074] Here, the PNP transistor refers to a PNP-type transistor, which is a triode composed of two pieces of P-type semiconductor with one piece of N-type semiconductor sandwiched in the middle. Similarly, the NPN transistor refers to an NPN-type transistor, which is a triode composed of two pieces of N-type semiconductor with one piece of P-type semiconductor sandwiched in the middle.

[0075] In Figure 6In the illustrated embodiment, the third transistor 142 is described as a PMOS transistor of the same type as the first transistor 122. In Figure 8 In the illustrated embodiment, the third transistor 142' is described as a PNP transistor of the same type as the first transistor 122'. However, those skilled in the art can understand that the present invention is not limited thereto, but various transistors can be used in combination. For example, in Figure 6 In the illustrated embodiment, the first transistor 122 can be implemented as a PMOS transistor, while the third transistor 142 can be implemented as a PNP transistor. Or, in Figure 8 In the illustrated embodiment, the first transistor 122' can be implemented as a PNP transistor, while the third transistor 142' can be implemented as a PMOS transistor.

[0076] Those skilled in the art can understand that depending on different application scenarios, the solution according to the inventive concept of the present invention can be easily implemented as a hardware circuit (such as an FPGA or an ASIC), a driving method, or a corresponding driver program.

[0077] When using the driving device 10 according to the present invention to drive the light emitting device 20 of the lidar, if the light intensity of the echo received by the receiver of the lidar (not shown in the figure) is too strong or too weak and thus the obstacle cannot be well detected, the controller of the lidar (not shown in the figure) can automatically send a control signal to the driving device 10 according to the echo intensity to reduce or increase the driving current Id of the light emitting device 20, thereby reducing or increasing the light intensity emitted by the light emitting device 20.

[0078] In one example, when the driving device 10 receives a control signal from the controller to increase the light intensity of the light emitting device 20, before the next pulse voltage signal Vin is input to the driving device 10, the stable voltage conversion module 17 reduces the voltage value of the adjustable level V2 output according to this control signal (for example, by reducing the reference level VREF of the adjustable voltage source 18). According to the above formula (2), when V2 decreases, the on-resistance Rdson of the driving module 14 decreases, so that the maximum value Imax of the driving current Id increases (as shown in the above formula (1)).

[0079] In one example, when the driving device 10 receives a control signal from the controller to reduce the light intensity of the light emitting device 20, before the next pulse voltage signal Vin is input to the driving device 10, the stable voltage conversion module 17 increases the voltage value of the adjustable level V2 output according to this control signal (for example, by increasing the reference level VREF of the adjustable voltage source 18). According to the above formula (2), when V2 increases, the on-resistance Rdson of the driving module 14 increases accordingly, so that the maximum value Imax of the driving current Id decreases (as shown in the above formula (1)).

[0080] In this way, every time the light-emitting device 20 of the lidar emits light, the control signal can be used to control the stable voltage transformation module 17 to stably adjust the level value of the variable level V2 output, so as to stably adjust the maximum value Imax of the drive current Id of the light-emitting device 20.

[0081] The various aspects of the embodiments of the present invention have been described above with reference to the accompanying drawings. It should be understood that the above description is merely exemplary, and the present invention is not limited to the specific implementation manners shown in the above description and the drawings. Many modifications and changes are obvious to those of ordinary skill in the art without departing from the scope and spirit of the illustrated embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A driving device for a laser radar light-emitting device, the driving device being connected to the high-end side of the light-emitting device, the driving device comprising: an inverting module, wherein a first input terminal is connected to a pulse voltage signal, a high potential of the pulse voltage signal is a fixed first potential, a low potential of the pulse voltage signal is a variable second potential, a second input terminal receives the second potential, and an output terminal is connected to a driving module, for selectively providing the first potential or the second potential to the driving module; a driving module, configured to provide a driving current to the light emitting device to cause the light emitting device to emit light; as well as a power supply module, configured to provide the first potential voltage to the inverting module and the driving module; The driving current is adjusted according to the second potential. When the second potential increases, the on-resistance of the driving module increases and the driving current decreases; and when the second potential decreases, the on-resistance of the driving module decreases and the driving current increases. 2 . The driving device according to claim 1 , wherein the maximum value of the driving current is determined based on the first potential, an on-resistance of the driving module, and a parasitic resistance of the light emitting device.

3. The driving device according to claim 1 , wherein the inverting module comprises a first transistor and a second transistor, The first electrodes of the first transistor and the second transistor are both connected to the pulse voltage signal, The third electrode of the first transistor is connected to the third electrode of the second transistor, The second electrode of the first transistor is connected to the first potential, and The second electrode of the second transistor is connected to the second potential.

4. The driving device as claimed in claim 1, wherein the driving module includes a third transistor, wherein the first electrode of the third transistor is connected to the third electrode of the first transistor and the third electrode of the second transistor, the second electrode of the third transistor is connected to the first potential, and the third electrode of the third transistor is connected to the light-emitting device of the laser radar, for providing a driving current for the light-emitting device. 5 . The driving device according to claim 3 , wherein the first transistor is a PMOS transistor, the second transistor is an NMOS transistor, the first electrode is a gate electrode, the second electrode is a source electrode, and the third electrode is a drain electrode. 6 . The driving device according to claim 3 , wherein the first transistor is a PNP transistor, the second transistor is an NPN transistor, the first electrode is a base, the second electrode is an emitter, and the third electrode is a collector. 7 . The driving device according to claim 4 , wherein the third transistor is a PMOS transistor, and the first electrode is a gate electrode, the second electrode is a source electrode, and the third electrode is a drain electrode. 8 . The driving device according to claim 4 , wherein the third transistor is a PNP transistor, wherein the first electrode is a base, the second electrode is an emitter, and the third electrode is a collector.

9. The driving device according to claim 1, further comprising: The voltage stabilization transformation module is configured to receive an input of an adjustable voltage source and maintain the second output potential to change stably when the adjustable voltage source is adjusted.

10. The driving device according to claim 9, wherein the voltage stabilization and transformation module comprises a low dropout linear regulator (LDO).

11. A laser radar comprising: The drive device according to any one of claims 1 to 10; as well as The light-emitting device of the laser radar includes a parasitic resistor, a parasitic inductor and a light-emitting device, and the parasitic resistor and parasitic inductor are connected to the high-end side of the light-emitting device, and the low-end side of the light-emitting device is grounded.

12. The laser radar of claim 11, wherein the light emitting device comprises an edge emitting laser (EEL) or a vertical cavity surface emitting laser (VCSEL).

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