A lidar and a vehicle comprising the same

Abstract

The application discloses a laser radar and a vehicle comprising the same, the laser radar comprising: a laser chip column, a laser lens group and a stretching lens; the laser chip column is used for emitting multiple columns of laser beams in a channel; the laser lens group is used for transmitting the multiple columns of laser beams; the stretching lens is located on a side of the laser lens far from the laser chip column, and the stretching lens is used for forming flat laser spots from the multiple columns of laser beams; wherein the stretching lens comprises a correction part, the correction part comprises correction column regions corresponding to the multiple columns of laser beams, the laser beams are perpendicularly incident to the corresponding correction column regions, and each correction column region is arranged corresponding to each column in the laser chip column. Thus, each laser beam passing through the laser lens group can be perpendicularly incident to the corresponding correction column region, so as to improve the distortion of the laser spots formed by the laser beams.

Description

Technical Field

[0001] This invention relates to the field of radar technology, and more particularly to a lidar and a vehicle including the lidar. Background Technology

[0002] With the development of science and technology, vehicle lidar is generally installed on vehicles to achieve functions such as vehicle positioning, navigation, control, and ranging. Currently, lidar is divided into mechanical lidar, semi-solid-state lidar, and pure solid-state lidar. Pure solid-state lidar is generally further divided into one-dimensional pure solid-state lidar and two-dimensional pure solid-state lidar. For one-dimensional pure solid-state lidar, common technical solutions to achieve a large field of view include using discrete chip arrays with extremely high aspect ratios and multiple lenses, or using multi-channel chip arrays and fewer lenses. However, the former involves more lenses and higher costs, while the latter results in greater light spot distortion. Summary of the Invention

[0003] The present invention provides a lidar and a vehicle including the lidar to improve the problem of large laser spot distortion in related technologies.

[0004] To address the aforementioned problems, one embodiment of the present invention proposes a lidar, comprising: a laser chip array, a laser lens group, and a stretching lens;

[0005] The laser chip array is used to emit multiple laser beams through multiple channels; the laser lens group is used to transmit the multiple laser beams; the stretching lens is located on the side of the laser lens group away from the laser chip array, and the stretching lens is used to form each laser beam into a straight laser spot;

[0006] The stretching lens includes a correction section, which includes correction column regions corresponding to the multiple laser beams. The laser beams are incident perpendicularly onto the corresponding correction column regions, and each correction column region is configured to correspond to each column in the laser chip column.

[0007] Optionally, the correction section forms an arc-shaped lens along the arrangement direction of each of the correction column regions; the curvature of the arc-shaped lens is the same along the extending direction of the correction column regions.

[0008] Optionally, the stretching lens further includes a light-uniforming section, wherein the light-uniforming section has multiple rows of microstructures arranged along the arrangement direction of each of the correction column regions, the extension direction of the multiple rows of microstructures intersects with the extension direction along each of the correction column regions, and the multiple rows of microstructures are used for light uniformity.

[0009] Optionally, the light-uniforming section is located on the side of the stretching lens adjacent to the laser lens group, and the correction section is located on the side of the stretching lens away from the laser lens group.

[0010] Optionally, the light-diffusing part and the correction part are integrally formed to form the stretching lens.

[0011] Optionally, the microstructure includes a protruding ridge bent toward the laser lens assembly and / or a groove bent toward the stretching lens.

[0012] Optionally, along the extending direction of each of the correction column regions, there is a row of groove microstructures between adjacent rows of the protruding ridge microstructures, a row of protruding ridge microstructures between adjacent rows of the groove microstructures, and the surface shape of the multiple rows of microstructures is wavy.

[0013] Optionally, the surface profile of the multiple rows of microstructures extends along the direction of the correction column region, satisfying the following formula:

[0014]

[0015] Where x is the value within the period of the wave shape along the extension direction of the correction column region, y is the surface size, A, α, and k are constants, and n is 2.

[0016] Optionally, the ratio of the length of the laser chip array extending along the direction of the correction column region to the length along the direction of the correction column arrangement is less than 1.

[0017] Optionally, the lidar further includes a receiver chip array, wherein the ratio of the length of the receiver chip array along a first direction to the length along a second direction is the same as the ratio of the length of the laser chip array along the second direction to the length along the first direction, the first direction being the extension direction of the correction column region, and the second direction being the direction in which the correction columns are arranged.

[0018] Optionally, the laser lens assembly includes a first lens, a second lens, a third lens, an aperture stop, a fourth lens, a fifth lens, and a sixth lens arranged sequentially along the light emission direction. The first side and the second side of the first lens protrude in the light emission direction, the first side and the second side of the second lens protrude in the opposite direction to the light emission direction, the first side and the second side of the third lens protrude in the light emission direction, the first side of the fourth lens protrudes in the opposite direction to the light emission direction and the second side protrudes in the light emission direction, the first side and the second side of the fifth lens protrude in the light emission direction, and the first side and the second side of the sixth lens protrude in the light emission direction. Each first side is the side of the lens adjacent to the laser chip array, and each second side is the side of the lens adjacent to the stretching lens.

[0019] To address the aforementioned problems, another aspect of the present invention provides a vehicle that includes the lidar described in any embodiment of the present invention.

[0020] The lidar according to an embodiment of the present invention includes: a laser chip array, a laser lens assembly, and a stretching lens; the laser chip array is used to emit multiple laser beams in separate channels; the laser lens assembly is used to transmit the multiple laser beams; the stretching lens is located on the side of the laser lens assembly away from the laser chip array, and the stretching lens is used to form a straight laser spot for each laser beam; wherein, the stretching lens includes a correction section, the correction section including correction column regions corresponding to the multiple laser beams, the laser beams being perpendicularly incident on the corresponding correction column regions, and each correction column region being correspondingly arranged with respect to each column in the laser chip array. Thus, each laser beam passing through the laser lens assembly can be perpendicularly incident on the corresponding correction column region, thereby improving the distortion of the laser spot formed by each laser beam.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a lidar proposed in related technologies;

[0024] Figure 2 This is a schematic diagram of the laser spot of lidar in related technologies;

[0025] Figure 3 This is a schematic diagram of the structure of the lidar proposed in an embodiment of the present invention;

[0026] Figure 4 This is a top view of the laser chip array of the lidar proposed in an embodiment of the present invention;

[0027] Figure 5 This is a schematic diagram of the laser spot of the lidar proposed in an embodiment of the present invention;

[0028] Figure 6 This is a front view of the stretching lens of the lidar proposed in an embodiment of the present invention;

[0029] Figure 7 This is a cross-sectional view of the stretching lens of the lidar proposed in the embodiment of the present invention along the extension direction of the correction column region;

[0030] Figure 8This is a three-dimensional view of the stretching lens of the lidar proposed in an embodiment of the present invention;

[0031] Figure 9 This is a cross-sectional view of the stretching lens of the lidar proposed in the embodiment of the present invention along the extension direction of the correction column region;

[0032] Figure 10 This is a structural diagram of the laser lens assembly of the lidar proposed in an embodiment of the present invention. Detailed Implementation

[0033] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0035] Related technologies utilize complex laser lens arrays (containing numerous lenses) and discrete chip arrays with extremely high aspect ratios to achieve laser spots with low distortion and large field of view. However, this approach typically employs point-to-point imaging, and the high impedance of individual chips makes it difficult to achieve high power. Furthermore, complex laser lens arrays are costly. Another approach involves reducing the number of lenses in the laser lens array and using plane mirrors to expand the field of view. However, this method results in severe spot distortion, with a large wide-direction angle in a single channel, making it impossible to capture.

[0036] Figure 1 This is a schematic diagram of the structure of a lidar proposed in related technologies; such as Figure 1 As shown, in related technologies, stretching is achieved by setting a plane mirror 300', but the problem is that... Figure 2 This is a schematic diagram of the laser spot of lidar in related technologies, such as... Figure 2As shown, the light spot formed by the laser beam of the central chip column 101' of the laser chip column 100' is inconsistent with the light spot formed by the laser beams of the adjacent chip columns 102' and 103' through the laser lens group 200'. Only the light spot formed by the central chip column 101' is straight. The laser beams of the adjacent chip columns 102' and 103' have different magnification than those of the chip column 101' when passing through the laser lens group 200', resulting in more severe distortion. Such distorted light spots are difficult for the laser radar receiver to receive, ultimately causing information loss.

[0037] Figure 3 This is a schematic diagram of the structure of the lidar proposed in an embodiment of the present invention. Figure 4 This is a top view of the laser chip array of the lidar proposed in an embodiment of the present invention. Figure 5 This is a schematic diagram of the laser spot of the lidar proposed in an embodiment of the present invention. Figures 3 to 5 As shown, the lidar includes: a laser chip array 100, a laser lens group 200, and a stretching lens 300;

[0038] The laser chip array 100 is used to emit multiple laser beams in separate channels; the laser lens group 200 is used to transmit multiple laser beams; the stretching lens 300 is located on the side of the laser lens group 200 away from the laser chip array 100, and the stretching lens 300 is used to form a straight laser spot for each laser beam.

[0039] The stretching lens 300 includes a correction unit 301, which includes correction column regions corresponding to multiple laser beams. The laser beams are incident vertically onto the corresponding correction column regions, and each correction column region is correspondingly set to each column in the laser chip column 100.

[0040] It is understood that, in this embodiment of the invention, by setting the correction column region in the correction unit 301, the laser beams of each adjacent chip column 102, 103 can be incident on the correction column region in the same manner as the laser beam emitted from the central chip column 101, i.e., they can all be perpendicular to the correction column region. This ensures that the light spots formed by each adjacent chip column 102, 103 are parallel to the light spot formed by the central chip column 101, resulting in straight laser spots. Figure 5 As shown, there is almost no distortion. Therefore, each laser beam emitted from the laser chip array 100 can be received by the laser radar receiver, avoiding information loss.

[0041] In one embodiment, the correction column region of the correction unit 301 can be a plane mirror. In the above embodiment, the laser chip column 100 is arranged parallel to the correction column region.

[0042] Optionally, such as Figure 3As shown, the correction section 301 forms an arc-shaped lens along the arrangement direction of each correction column area; the curvature of the arc-shaped lens is the same along the extension direction (x direction) of the correction column area.

[0043] The fact that the correction unit 301 forms an arc-shaped lens helps to increase the field of view of the lidar while reducing laser spot distortion. It should be noted that... Figure 4 This is a top view of the laser chip array of the lidar proposed in an embodiment of the present invention. Figure 3 This is a schematic diagram of the lidar structure proposed in an embodiment of the present invention; the extension direction of the correction column region is... Figure 3 In the direction perpendicular to the paper and pointing inwards, the alignment direction of the correction column areas is the arc direction (y-direction) of the curved lens. Therefore, the laser beam emitted from each laser chip can precisely correspond to the corresponding correction column area. Since the curved lenses in the corresponding correction column areas have the same curvature, this helps ensure that the laser beams in that column are emitted perpendicularly from the curved lenses, reducing distortion. Furthermore, the curved lenses stretch the light spot compared to the flat lenses, which also helps increase the field of view.

[0044] Optionally, such as Figures 6 to 8 As shown, the stretching lens 300 also includes a light-diffusing section 302, which has multiple rows of microstructures arranged along the direction of each correction column area. The extension direction of the multiple rows of microstructures intersects with the extension direction along each correction column area. The multiple rows of microstructures are used for light diffusing.

[0045] In this process, the laser beam is incident on the corresponding stretching lens 300 at an angle perpendicular to the correction unit 301. After passing through the correction unit 301 and the multi-row microstructure, it is beneficial for the laser beam to form a flat and uniformly bright spot and increase the field of view.

[0046] Optionally, such as Figure 7 and Figure 8 As shown, the light homogenizing part 302 is located on the side of the stretching lens 300 near the laser lens group 200, and the correction part 301 is located on the side of the stretching lens 300 away from the laser lens group 200.

[0047] In other words, the laser beam emitted from the laser chip array 100 first passes through the homogenizing section 302 with multiple rows of microstructures for homogenization, and then passes through the correction section 301. This is beneficial for forming a flat and uniformly bright light spot, and also for further increasing the field of view. In other embodiments, the positions of the homogenizing section 302 and the correction section 301 can also be interchanged.

[0048] Optionally, the light-diffusing section 302 and the correction section 301 are integrally formed to create a stretching lens. This helps reduce costs.

[0049] Optionally, such as Figure 8As shown, the microstructure includes a convex ridge bent toward the laser lens assembly 200 side, and / or a groove bent toward the stretching lens 300 side.

[0050] In other words, the microstructure can be set according to the specific optical path design, with only protrusions or grooves, or both, to serve only the purpose of uniform light distribution.

[0051] Optionally, such as Figures 6 to 8 As shown, along the extension direction of each correction column region, there is a row of grooves between the microstructures of adjacent rows of protruding edges, and a row of protruding edges between the microstructures of adjacent rows of grooves. The surface shape of the multi-row microstructures is wavy.

[0052] It is understandable that after each laser beam passes through the microstructure, it then passes through each correction column region. Since the distance between the microstructure and the correction column region is relatively small, after homogenization, the beam will not have significant distortion compared to the direct non-perpendicular incident light onto the plane mirror in related technologies.

[0053] Optionally, the surface profile of the multi-row microstructure extends along the direction of the correction column region, satisfying the following formula:

[0054]

[0055] Where x is the value within the period of the wave shape along the extension direction of the correction column region, y is the surface size, A, α, and k are constants, and n is 2.

[0056] Correspondingly, the value of A can be 0.392, n can be 2, α can be 0.8, and k can be 0.999.

[0057] It is understandable that, such as Figure 9 As shown, with Figure 8 Taking a cross section (with the same surface shape for each laser beam) as an example, the wavy surface shape formed by the surface shape can be a cosine or sine curve. This embodiment uses a cosine curve as an example; that is, within a cosine period of 0-2π, the surface shape data of the cross section is calculated using the above formula. When forming the stretching lens 300, it can be manufactured by three-dimensional scanning. In one embodiment, the distance between adjacent ridges or grooves can be 0.8 mm, the distance between the peak of the ridge and the bottom of the groove can be 0.88 mm, the radius of curvature of the ridge or groove can be 0.25 mm, and the radius of curvature of the correction part 301 can be -0.06 mm. These parameters are not intended to limit the invention.

[0058] Optionally, such as Figure 4 As shown, the ratio of the length of the laser chip array 100 along the x-direction extending from the calibration array region to the length along the y-direction arranging from the calibration array is less than 1.

[0059] In other words, the value of a / b in the figure is less than 1, and the preferred value of a / b is 0.5, where the value of a corresponds to a 30° field of view and the value of b corresponds to a 60° field of view.

[0060] Optionally, the lidar also includes a receiver chip array, the ratio of the length of the receiver chip array along the first direction x to the length along the second direction y is the same as the ratio of the length of the laser chip array 300 along the second direction y to the length along the first direction x, the first direction x is the extension direction of the correction column region, and the second direction y is the direction in which the correction columns are arranged.

[0061] It is understandable that the 30° field of view corresponding to the value 'a' of the laser chip array 100 becomes 120° after being stretched by the stretching lens 300. The width of the receiving chip array along the first direction x is a 120° field of view, and the width along the second direction y is a 60° field of view. In other words, the ratio of the length of the receiving chip array along the first direction x to the length along the second direction y is 2.

[0062] In related technologies, the laser chip array 100 and the receiving chip are required to have similar shapes and the same length-to-width ratio. This results in the laser chip array 100 having a 60° field of view along the second direction y and a 120° field of view along the first direction x. This leads to the laser chip array 100 being very long along the first direction x. Since voltage is provided on one side of the laser chip array 100, the voltage on the side away from the voltage is unstable, which will cause the laser emitted by the laser chip array 100 to have uneven brightness. Furthermore, stretching a single row of laser chips very long and thin along the first direction x is also difficult to achieve in terms of manufacturing process.

[0063] By having the a value of the laser chip array 100 correspond to a 30° field of view and the b value correspond to a 60° field of view, and then stretching it through the stretching lens 300, the field of view corresponding to the a value becomes 120°. This is beneficial to the uniformity of laser spot imaging, simplifies assembly, and also facilitates the realization of the lens of the laser lens group 200.

[0064] Optionally, such as Figure 10As shown, the laser lens group 200 includes a first lens 201, a second lens 202, a third lens 203, an aperture, a fourth lens 204, a fifth lens 205, and a sixth lens 206 arranged sequentially along the light emission direction. The first side and the second side of the first lens 201 protrude in the light emission direction, the first side and the second side of the second lens 202 protrude in the opposite direction to the light emission direction, the first side and the second side of the third lens 203 protrude in the light emission direction, the first side of the fourth lens 204 protrudes in the opposite direction to the light emission direction and the second side protrudes in the light emission direction, the first side and the second side of the fifth lens 205 protrude in the light emission direction, and the first side and the second side of the sixth lens 206 protrude in the light emission direction. Each first side is a side of the laser chip array 100 adjacent to each lens, and each second side is a side of the stretching lens 300 adjacent to each lens.

[0065] The laser lens group 200 primarily images the laser beam emitted from the laser chip array 100. After the laser beam is emitted from the laser lens group 200, it passes through the stretching lens 300 proposed in this embodiment of the invention, resulting in a laser spot with uniform brightness, flatness, and a large field of view. Compared to the 60-degree field of view and severely distorted solutions in related technologies, this embodiment of the invention increases the field of view of the lidar to 120 degrees and effectively suppresses distortion, resulting in a high-quality spot with no obvious stray light and high efficiency.

[0066] The laser chip column 100 in the above embodiment can be a VCSEL laser chip in a solid-state lidar.

[0067] Another aspect of the present invention provides a vehicle including a lidar according to any embodiment of the present invention.

[0068] In summary, the lidar proposed in the embodiments of the present invention includes: a laser chip array, a laser lens assembly, and a stretching lens; the laser chip array is used to emit multiple laser beams in separate channels; the laser lens assembly is used to transmit the multiple laser beams; the stretching lens is located on the side of the laser lens away from the laser chip array, and the stretching lens is used to form a straight laser spot for each laser beam; wherein, the stretching lens includes a correction section, the correction section including correction column regions corresponding to the multiple laser beams, the laser beams being perpendicularly incident on the corresponding correction column regions, and each correction column region being correspondingly arranged with respect to each column in the laser chip array. Thus, each laser beam passing through the laser lens assembly can be perpendicularly incident on the corresponding correction column region, thereby improving the distortion of the laser spot formed by each laser beam.

[0069] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A lidar, characterized in that, Includes: laser chip array, laser lens assembly, and stretching lens; The laser chip array is used to emit multiple laser beams through multiple channels; the laser lens group is used to transmit the multiple laser beams; the stretching lens is located on the side of the laser lens group away from the laser chip array, and the stretching lens is used to form each laser beam into a straight laser spot; The stretching lens includes a correction section, which includes correction column regions corresponding to the multiple laser beams. The laser beams are perpendicularly incident on the corresponding correction column regions, and each correction column region is configured to correspond to each column in the laser chip column. The stretching lens also includes a light-uniforming section, which has multiple rows of microstructures arranged along the arrangement direction of each of the correction column regions. The extension direction of the multiple rows of microstructures intersects with the extension direction along each of the correction column regions. The multiple rows of microstructures are used for light uniformity. The microstructure includes a protruding ridge that bends toward the laser lens assembly and / or a groove that bends toward the stretching lens. Along the extending direction of each of the correction column regions, there is a row of grooves between the microstructures of the protruding ridges in adjacent rows, and a row of protruding ridges between the microstructures of the grooves in adjacent rows, and the surface shape of the multiple rows of microstructures is wavy.

2. The lidar according to claim 1, characterized in that, The correction section forms an arc-shaped lens along the arrangement direction of each of the correction column regions; the curvature of the arc-shaped lens is the same along the extension direction of the correction column regions.

3. The lidar according to claim 1, characterized in that, The light-diffusing section is located on the side of the stretching lens adjacent to the laser lens group, and the correction section is located on the side of the stretching lens away from the laser lens group.

4. The lidar according to claim 3, characterized in that, The light-diffusing part and the correction part are integrally formed to form the stretching lens.

5. The lidar according to claim 1, characterized in that, The surface profile of the microstructures in multiple rows extends along the direction of the correction column region and satisfies the following formula: Where x is the value within the period of the wave shape along the extension direction of the correction column region, y is the surface size, A, α, and k are constants, and n is 2.

6. The lidar according to claim 1, characterized in that, The ratio of the length of the laser chip array extending along the direction of the correction column region to the length along the direction of the correction column arrangement is less than 1.

7. The lidar according to claim 6, characterized in that, It also includes a receiver chip array, wherein the ratio of the length of the receiver chip array along the first direction to the length along the second direction is the same as the ratio of the length of the laser chip array along the second direction to the length along the first direction, wherein the first direction is the extension direction of the correction column region, and the second direction is the direction in which the correction columns are arranged.

8. The lidar according to claim 1, characterized in that, The laser lens assembly includes a first lens, a second lens, a third lens, an aperture stop, a fourth lens, a fifth lens, and a sixth lens arranged sequentially along the light emission direction. The first and second sides of the first lens protrude in the light emission direction, the first and second sides of the second lens protrude in the opposite direction to the light emission direction, the first and second sides of the third lens protrude in the light emission direction, the first side of the fourth lens protrudes in the opposite direction to the light emission direction and the second side protrudes in the light emission direction, the first and second sides of the fifth lens protrude in the light emission direction, and the first and second sides of the sixth lens protrude in the light emission direction. Each first side is the side of the lens adjacent to the laser chip array, and each second side is the side of the lens adjacent to the stretching lens.

9. A vehicle, characterized in that, Including the lidar as described in any one of claims 1-8.

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