Radar master control chip and lidar device

Abstract

The application provides a radar master control chip and a laser radar device, wherein the radar master control chip comprises an execution control unit, a communication interface, a running management unit and a function detection unit; through high-integration design of main components of the execution control unit, the communication interface, the running management unit and the function detection unit of the laser radar system, ranging control, running management and function detection and other functions originally realized by the whole system are completed on one chip, design cost and volume are reduced, and safety and reliability of the laser radar system are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of laser radars, and particularly relates to a radar master control chip and a laser radar device. BACKGROUND

[0002] As one of the most important automatic driving sensors, a laser radar can provide position / size / motion information of a traffic participant to a decision system in the field of intelligent traffic / unmanned driving, and is an eye of an automatic driving vehicle.

[0003] However, the current laser radar system is mainly built by discrete devices, such as an operation processor, a safety MCU control processor, a scanning control system, a laser control system and the like, so that the laser radar has a large volume and a high cost, and is not suitable for large-scale production. SUMMARY

[0004] The application aims to provide a radar master control chip, and aims to solve the problems of high cost and large volume of the traditional laser radar system.

[0005] The first aspect of the embodiment of the application provides a radar master control chip, which comprises an execution control unit, a communication interface, a running management unit and a function detection unit which are integrally arranged.

[0006] The execution control unit is configured to be connected with a ranging module of a laser radar device, and control the ranging module to perform ranging work.

[0007] The running management unit is connected with the execution control unit and the communication interface respectively, and is configured to communicate with an external device through the communication interface, and drive the execution control unit to work.

[0008] The function detection unit is connected with each unit of the radar master control chip and detects the function state, and reports corresponding state information.

[0009] Optionally, the ranging module comprises a laser transceiver module and a galvanometer module.

[0010] The execution control unit comprises:

[0011] a point cloud processing unit configured to process point cloud data of the laser transceiver module;

[0012] a laser transceiver control unit configured to control laser transceiving work of the laser transceiver module;

[0013] a galvanometer control unit configured to control movement of the galvanometer module.

[0014] Optionally, the function detection unit comprises:

[0015] a test unit connected with each unit of the radar master chip, configured to perform function state detection under control and feed back detection information;

[0016] a safety management unit connected with the test unit, configured to drive the test unit to perform test work, and receive the detection information and report corresponding state information.

[0017] Optionally, the test unit comprises:

[0018] a memory detection unit, configured to perform function detection on each memory unit of the radar master chip, and report corresponding memory detection information to the safety management unit;

[0019] a logic circuit detection unit, configured to perform function detection on each logic unit of the radar master chip, and report corresponding logic detection information to the safety management unit.

[0020] Optionally, the test unit further comprises:

[0021] a clock detection unit, configured to perform detection on clock information of the radar master chip, and report corresponding clock detection information to the safety management unit;

[0022] a power supply detection unit, configured to perform detection on power supply state of the radar master chip, and report corresponding power supply detection information to the safety management unit.

[0023] Optionally, the radar master chip further comprises:

[0024] an information safety unit connected with the running management unit, the information safety unit being configured to calculate an algorithm program related to information safety of the radar master chip.

[0025] Optionally, the radar master chip further comprises a data bus;

[0026] the running management unit is connected with the execution control unit and the information safety unit through the data bus.

[0027] Optionally, the radar master chip further comprises:

[0028] a safety decoupling unit connected between the running management unit and the data bus, configured to detect and isolate interaction information between the running management unit and the execution control unit and the information safety unit.

[0029] Optionally, the radar master chip further comprises a data bus;

[0030] The operation management unit is connected to the execution control unit and the information security unit through the security decoupling unit and the data bus, respectively.

[0031] Optionally, the communication interface, the operation management unit, and the function detection unit are located in the security domain;

[0032] The execution control unit is located in the non-safe domain, and the safe domain and the non-safe domain are respectively connected to different power modules and clock modules.

[0033] A second aspect of the present invention provides a lidar device, including a ranging module and a radar main control chip as described above, wherein the radar main control chip is connected to the ranging module.

[0034] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: The radar main control chip described above integrates the main components of the lidar system, such as the execution control unit, communication interface, operation management unit and function detection unit, into a single chip, completing the range control, operation management and function detection functions that originally required multiple systems to be combined. This reduces the design cost and size, while improving the safety and reliability of the lidar system. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a first structure of the radar main control chip provided in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a second structure of the radar main control chip provided in an embodiment of the present invention;

[0037] Figure 3 for Figure 2 The diagram shows the first possible structure of the laser transceiver control unit in the radar main control chip.

[0038] Figure 4 for Figure 3 The diagram shows the waveform of the control signal for the laser transceiver control unit.

[0039] Figure 5 for Figure 2 The diagram shows a second structural representation of the laser transceiver control unit in the radar main control chip.

[0040] Figure 6 for Figure 2 The diagram shows the third structure of the laser transceiver control unit in the radar main control chip.

[0041] Figure 7 for Figure 2 The diagram shows the fourth structure of the laser transceiver control unit in the radar main control chip.

[0042] Figure 8 As shown in the first structure schematic view of the galvanometer control unit in the radar master control chip. Figure 2

[0043] Figure 9 As shown in the second structure schematic view of the galvanometer control unit in the radar master control chip. Figure 2

[0044] Figure 10 As shown in the third structure schematic view of the galvanometer control unit in the radar master control chip. Figure 2

[0045] Figure 11 As shown in the fourth structure schematic view of the galvanometer control unit in the radar master control chip. Figure 2

[0046] Figure 12 As shown in the scanning field of view schematic view of the galvanometer control unit. Figure 11

[0047] Figure 13 As shown in the fifth structure schematic view of the galvanometer control unit in the radar master control chip. Figure 2

[0048] As shown in the third structure schematic view of the radar master control chip. Figure 14

[0049] As shown in the fourth structure schematic view of the radar master control chip. Figure 15 DETAILED DESCRIPTION

[0050] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects more clearly understood, the following will be further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0051] In addition, the terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0052] ​​​​​​The first aspect of the embodiment of the present application provides a radar master control chip 100, which is used for integrally managing main function modules of a laser radar device and realizing corresponding ranging, function management and testing and the like, and simplifying the overall structure and design cost of the laser radar device.

[0053] As shown in the formula (I), in the embodiment, the radar master control chip 100 comprises an execution control unit 110, a communication interface 120, a running management unit 130 and a function detection unit 140 which are integrally arranged. Figure 1

[0054] The execution control unit 110 is used for connecting a ranging module 200 of the laser radar device and controlling the ranging module 200 to perform ranging work.

[0055] The running management unit 130 is connected with the execution control unit 110 and the communication interface 120 respectively, is used for communicating with external devices through the communication interface 120, and drives the execution control unit 110 to work.

[0056] The function detection unit 140 is connected with each unit of the radar master control chip 100 and detects the function state, and reports the corresponding state information.

[0057] In the embodiment, the function detection unit 140 is connected to all unit modules of the radar master control chip 100, and collects the function detection state of each unit module including the power state, the logic state, the clock state and the like when the radar master control chip 100 is powered on and / or in the subsequent working process, ensures that each module in the radar master control chip 100 is normally started and is in a normal working state, and at the same time, if one or more unit modules appear abnormal, the upper system is reported, the start is suspended or the work is suspended, and the upper system is further instructed and controlled.

[0058] The communication interface 120 is connected with common communication modules of the vehicle-mounted device and the like, such as an Ethernet, a CAN communication module and the like, and transmits corresponding communication signals such as data information, control signals and the like between the communication modules through signal communication.

[0059] The execution control unit 110 is connected with the ranging module 200 of the laser radar device, outputs and receives corresponding control signals, feedback information and the like, drives the ranging module 200 to complete ranging work such as point cloud data processing, galvanometer deflection motion control, laser transceiver control and the like.

[0060] The running management unit 130 undertakes the safe running and control core of the whole chip, on the one hand, communicates with the external communication module through the communication interface 120, transmits signals or uploads abnormal reports and the like, and on the other hand, drives the execution control unit 110 to work, so that the execution control unit 110 completes the ranging work. ​

[0061] In this embodiment, by high-integration design of the main components of the execution control unit 110, the communication interface 120, the operation management unit 130 and the function detection unit 140 of the laser radar system, the ranging control, operation management and function detection functions originally realized by multiple large system combinations are completed on one chip, which reduces the design cost and size, and improves the safety and reliability of the laser radar system.

[0062] Among them, one or more corresponding types of communication interfaces 120 can be set according to communication requirements and communication module types, such as Ethernet ports, PCIe interfaces, CAN interfaces, etc., and the specific types and number are not limited.

[0063] The execution control unit 110 can be set according to the module composition and ranging principle of the ranging module 200, such as Figure 2 As shown, the ranging module 200 includes a laser transceiver module 210 and a galvanometer module 220. After the laser transceiver module 210 transmits the outgoing light of the pulse, it is reflected to the corresponding field of view by the galvanometer module 220. At the same time, the return light reflected by the target object in the field of view is shot to the galvanometer module 220, and then reflected to the laser transceiver module 210. The laser transceiver module 210 receives the return light and converts the received optical signal into an electrical signal. The galvanometer module 220 is controlled to move and deflect in two directions, such as the vertical direction and the horizontal direction, to realize two-dimensional scanning of the field of view.

[0064] Corresponding to the structure of the ranging module 200, the execution control unit 110 can be optionally set as shown in Figure 2 The execution control unit 110 includes:

[0065] The point cloud processing unit 111 is used to process the point cloud data output by the laser transceiver module 210;

[0066] The laser transceiver control unit 112 is used to control the laser transceiver work of the laser transceiver module 210;

[0067] The galvanometer control unit 113 is used to control the movement of the galvanometer module 220.

[0068] The laser transceiver module 210 includes a laser emitter module and a laser receiver module. The laser transceiver control unit 112 controls the transceiver work of the laser transceiver module 210, including driving the laser to emit outgoing light, controlling the laser receiver module to receive return light and perform photoelectric conversion, amplification, sampling and other processing, and adjusting the emission power and / or emission frequency of the laser according to the strength of the return signal.

[0069] The galvanometer control unit 113 controls the deflection motion of the galvanometer. By controlling the motion curve of the galvanometer module 220, such as the deflection angle and deflection speed, the scanning field of view, resolution, frame rate and other parameters can be adjusted.

[0070] The laser transceiver module 210 emits a pulse of outgoing light and receives the corresponding echo light. After being processed by the point cloud processing unit 111, it obtains the data of a point. The data includes spatial coordinate information (x, y, z), and may even include reflectivity information, velocity information, etc. The collection of massive points within the field of view is the point cloud. The denser the point cloud, the more image details and information it reflects.

[0071] During lidar scanning, factors such as noise interference, high target reflectivity, system accuracy issues, and electromagnetic interference can easily cause problems like noise, ghosting, and pixelation in the raw point cloud data output by the transceiver module 210, necessitating further processing of the raw point cloud data. Preprocessing the raw point cloud data using the point cloud processing unit 111 can effectively remove noise and optimize the quality of the output point cloud data.

[0072] The point cloud processing unit 111, the laser transceiver control unit 112, and the galvanometer control unit 113 can adopt corresponding processors, controllers, and other structures, and the specific structure is not limited.

[0073] In an alternative embodiment, such as Figure 3 As shown, the laser transceiver control unit 112 includes a first register unit 11, a timing unit 12, a first comparison unit 13, and a control output unit 14.

[0074] The first register unit 11 is used to obtain the control attribute table of the control signal. The table entry information includes the preset number of transitions N of the control signal, the transition time of the N transitions, and the transition attribute corresponding to each transition time. The transition attribute is the transition between any two levels in n levels, where N is a positive integer and n≥2 and is an integer.

[0075] The laser transceiver control unit 112 generates a corresponding control signal according to the control attribute table, and outputs the control signal to the laser transceiver module 210 to control the laser transceiver module 210 to perform laser transceiver work. For example, the control signal drives the laser transceiver module 210 to emit laser pulses with corresponding timing.

[0076] The entry information includes timing information of the control signal, including preset number of jumps, jump time corresponding to each jump, and jump attribute. For example, as shown in Table 1, the control signal jumps a total of N times in one clock cycle, and the jump time includes time 1 to time N, that is, the jump of the voltage attribute occurs once at each time; each jump at each time has a corresponding jump attribute, for example, time 1 corresponds to the jump of attribute 1 from the first level to the second level; time 2 corresponds to the jump of attribute 2 from the second level to the third level; and so on, until time N corresponds to the jump of attribute N from the Nth level to the N+1th level.

[0077]

[0078]

[0079] Table 1

[0080] For example, the first control signal drives the laser transceiver module 210, which jumps a total of four times in one clock cycle, and the jump attribute has two types: from the first level to the second level, and from the second level to the first level. As shown in Table 1, at time 0, the first control signal jumps from the first level to the second level, and at time 3, the first control signal jumps from the second level to the first level, at time 6, the first control signal jumps from the first level to the second level, and at time 8, the first control signal jumps from the second level to the first level. Figure 4

[0081] The entry information of the control attribute table can be edited, for example, the first control signal can have a jump number of 6 times in one clock cycle, the jump times are t1, t2, …, t6, and the jump attributes are t1, t3, and t5, which jump from the first level to the second level, and t2, t4, and t6, which jump from the second level to the first level. As shown in Table 2, because the clock signal of the system is often periodic, the jump time cannot be set to any time in the clock cycle. The jump time can be set to the timing time of the timing signal by timing the period of the clock signal. For example, as shown in Table 2, at time 0, the first control signal jumps from the first level to the second level, and at time 3, the first control signal jumps from the second level to the first level; time 0 and time 3 are the jump times. Figure 2 Figure 4

[0082] ​​​Furthermore, the transition attribute is not limited to transitions between two level signals; it can transition between n levels. For example, the first transition is from the first level to the second level, the second transition is from the second level to the third level, and the third transition is from the third level to the fourth level. The first, second, third, and fourth levels can be different. When control signals with different level values ​​drive the laser transceiver module 210, the laser transceiver module 210 can switch to different operating states. The transition attribute can be designed according to the hardware characteristics and control requirements of the laser transceiver module 210. Taking the laser emitting circuit in the aforementioned laser transceiver module 210 as an example, its control signal voltage state can have three types: 0, 1, and 2. In state 0, the laser emitting circuit does not emit laser light and is in the off state; in state 1, the laser emitting circuit emits low-power laser light and is in the on state; in state 2, the laser emitting circuit emits high-power laser light and is also in the on state. The transition attributes of the control signal of the laser emitting circuit include transitioning from the first level (0 state) to the second level (1 state), transitioning from the second level to the first level, transitioning from the second level to the third level (2 state), transitioning from the third level to the second level, transitioning from the first level to the first level, and transitioning from the third level to the first level.

[0083] Optionally, to adapt to the laser transceiver module 210 using digital circuitry, a corresponding digitized control signal is output. n can be set to 2, and the transition attributes include a first transition attribute and a second transition attribute; the first transition attribute is a low-level transition to a high-level transition, and the second transition attribute is a high-level transition to a low-level transition. Low and high levels can be represented by digital signals 0 and 1, respectively; that is, the transition attributes of the control signal include transitions from 1 to 0 and from 0 to 1.

[0084] Similarly, as Figure 4 As shown, the number of control signals can be multiple, such as a first control signal, a second control signal, and a third control signal. The entries in the control attribute table can include one or more sets, each set of entries corresponding to a generated control signal used to drive one module circuit in the laser transceiver module 210. There is no specific limit to the number of sets of entries. For example, the control attribute table includes two sets of entries: the first set of entries is used to generate a corresponding transmit control signal to drive a laser transmitting circuit within a laser transceiver module 210, controlling the timing of the emitted laser beam; the second set of entries is used to generate a corresponding receive control signal to drive a laser receiving circuit within the same laser transceiver module 210, controlling the timing of the received echo laser beam.

[0085] The control attribute table is refreshed to the first register unit 11, and the control attribute table is read to the first comparison unit 13 when the first register unit 11 is in the running state, so that the timing unit 12, the first comparison unit 13 and the control output unit 14 generate and jump control of the control signal according to the control attribute table.

[0086] The timing unit 12 is used to start timing at the start of the clock cycle.

[0087] The first comparison unit 13 is connected with the first register unit 11 and the timing unit 12 respectively, and is used to compare the timing result with the N jump time points in the control attribute table respectively, and outputs the first comparison signal when the timing result matches a jump time point.

[0088] The control output unit 14 is connected with the first comparison unit 13, and is used to drive the control signal to jump at the jump time point according to the corresponding jump attribute according to the first comparison signal.

[0089] When the laser transceiver module 210 is in the running state, the timing unit 12 starts periodic timing, and starts timing at the start of each clock cycle. The first comparison unit 13 compares the timing result with the N jump time points of the control attribute table respectively, judges whether the current timing result matches the jump time point of the control attribute table, if yes, it means that the current time is at a certain jump time point, and the control signal needs to jump according to the jump attribute corresponding to the jump time point; if not, it means that the current time does not need to jump, and the current level state is maintained. And when the timing result matches a jump time point, the first comparison unit 13 outputs the first comparison signal, for example, outputs high or low, and the control output unit 14 drives the control signal to jump at the jump time point according to the corresponding jump attribute according to the received first comparison signal, so as to output the control signal of the preset jump time point to the laser transceiver module 210.

[0090] As for the timing of starting timing, the laser transceiver module 210 is switched from other states to the running state at the start of the first clock cycle, and timing starts from this time. After the laser transceiver module 210 is switched from other states to the running state, it can also start the first clock cycle after a certain time of initialization.

[0091] As Figure 4As shown, taking the first control signal as an example, at the beginning of the first clock cycle, the timing unit 12 starts timing and the timing result is 0. In the first clock cycle, the control attribute table of the first control signal is: the timing result of 0 is the first jump time, and the corresponding jump attribute is from 0 to 1; the timing result of 3 is the second jump time, and the corresponding jump attribute is from 1 to 0; the timing result of 6 is the third jump time, and the corresponding jump attribute is from 0 to 1; the timing result of 8 is the fourth jump time, and the corresponding jump attribute is from 1 to 0. The initial level state of the first control signal is 0, and when the timing result is 0, it matches the first jump time, at this time the first comparison unit 13 outputs the first comparison signal, and the control output unit 14 drives the control signal to jump from 0 to 1; when the timing result is 1 or 2, it does not match any jump time, at this time the first comparison unit 13 has no first comparison signal output, and the control output unit 14 maintains the level state of the control signal as 1; when the timing result is 3, it matches the second jump time, at this time the first comparison unit 13 outputs the first comparison signal, and the control output unit 14 drives the control signal to jump from 1 to 0; when the timing result is 4 or 5, it does not match any jump time, at this time the first comparison unit 13 has no first comparison signal output, and the control output unit 14 maintains the level state of the control signal as 0; when the timing result is 6, it matches the third jump time, at this time the first comparison unit 13 outputs the first comparison signal, and the control output unit 14 drives the control signal to jump from 0 to 1; when the timing result is 7, it does not match any jump time, at this time the first comparison unit 13 has no first comparison signal output, and the control output unit 14 maintains the level state of the control signal as 1; when the timing result is 8, it matches the fourth jump time, at this time the first comparison unit 13 outputs the first comparison signal, and the control output unit 14 drives the control signal to jump from 1 to 0; until the timing result at the end of the first clock cycle, it does not match any jump time, and the control output unit 14 maintains the level state of the control signal as 0. Thus, the output Figure 2 The first control signal as shown.

[0092] After receiving the period flag of the next clock cycle, the timing unit 12 enters the next clock cycle and re-starts timing with the timing result being 0.

[0093] Similarly, when the table item information includes multiple groups, the timing unit 12 compares the timing result with the preset jump times in each group of table item information in the control attribute table respectively, and controls the output unit 14 to drive multiple control signals to jump according to the jump attributes of the respective table item information at the corresponding time, thereby outputting multiple same control signals, such as Figure 4 The first control signal, the second control signal and the third control signal as shown, respectively corresponding to three groups of table item information in the control attribute table.

[0094] The control attribute table of the first control signal is as follows: the 0th timing moment is the transition moment 1, and the corresponding transition attribute is from 0 to 1; the 3rd timing moment is the transition moment 2, and the corresponding transition attribute is from 1 to 0; the 6th timing moment is the transition moment 3, and the corresponding transition attribute is from 0 to 1; the 8th timing moment is the transition moment 4, and the corresponding transition attribute is from 1 to 0. The first comparison unit 13 compares the timing result with the preset transition moment of the first set of table entries and outputs the corresponding first comparison signal to the control output unit 14, thereby generating... Figure 4 The first control signal is shown.

[0095] The control attribute table of the second control signal is as follows: the second timing moment is transition moment 1, and the corresponding transition attribute is from 0 to 1; the third timing moment is transition moment 2, and the corresponding transition attribute is from 1 to 0; the fifth timing moment is transition moment 3, and the corresponding transition attribute is from 0 to 1; the sixth timing moment is transition moment 4, and the corresponding transition attribute is from 1 to 0. The first comparison unit 13 compares the timing result with the preset transition moments of the second set of table entries and outputs the corresponding first comparison signal to the control output unit 14, thereby generating... Figure 4 The second control signal shown.

[0096] The control attribute table for the third control signal is as follows: the first timing moment is transition moment 1, and the corresponding transition attribute is from 0 to 1; the third timing moment is transition moment 2, and the corresponding transition attribute is from 1 to 0; the fourth timing moment is transition moment 3, and the corresponding transition attribute is from 0 to 1; the eighth timing moment is transition moment 4, and the corresponding transition attribute is from 1 to 0. The first comparison unit 13 compares the timing result with the preset transition moments of the third set of table entries and outputs the corresponding first comparison signal to the control output unit 14, thereby generating... Figure 4 The third control signal shown.

[0097] In the three sets of table entries in the example above, the number of transitions for the three control signals is the same. Multiple sets of table entries in the control attribute table can also have different numbers of transitions, depending on the requirements of the control signals.

[0098] The first, second, and third control signals have the same clock period and begin their first clock cycle and start timing at the same time. Therefore, the first comparison unit 13 and the control output unit 14, through the three sets of entries in the control attribute table, can output three control signals with different timing sequences within one clock cycle, improving control efficiency and ensuring the consistency of the control signals. For example, the first control signal can be used to drive the laser emitting circuit, the second control signal can be used to drive the laser receiving circuit, and the third control signal can be used to drive the echo signal filtering circuit, thus realizing the output of multiple clock-correlated control signals.

[0099] Further, in order to ensure that the control signal does not have more than the number of flip times of additional jumps in a clock cycle, ensure the timing correctness of the control signal, as shown in Figure 5 Optionally, the laser transceiver control unit 112 further comprises:

[0100] The counting unit 15 is connected with the first comparison unit 13 or the control output unit 14, for counting the number of jumps of the control signal in a clock cycle;

[0101] The second comparison unit 16 is connected with the counting unit 15, the first register unit 11 and the control output unit 14 respectively, for comparing the counting result with the preset number of jumps of the control attribute table, and when the number of jumps of the control signal is greater than or equal to the preset number of jumps, outputting the second comparison signal to the control output unit 14 to cut off the driving of the control signal jump.

[0102] In the timing comparison of each clock cycle, the counting unit 15 synchronously counts the number of jumps of the control signal, wherein the counting unit 15 can count the number of jumps according to the number of first comparison signals output by the first comparison unit 13 or the number of jumps of the control output unit 14, and the second comparison unit 16 compares the counting result with the preset number of jumps of the control attribute table, and when the counting result does not reach the preset number of jumps, no signal is output or a driving signal different from the second comparison signal is output, and the control output unit 14 drives the control signal to jump according to the number of first comparison signals output and the timing. When the number of jumps of the control signal reaches the preset number of jumps, the second comparison unit 16 outputs the second comparison signal, and after the control output unit 14 receives the second comparison signal, the control signal is maintained at the voltage characteristic of the last jump and remains unchanged. By accumulating the number of jumps in a clock cycle, when the number of jumps exceeds the preset number of jumps of the control attribute table, the flip of the control signal is stopped, ensuring that the control signal does not have additional jumps, and ensuring the timing correctness of the control signal.

[0103] When entering the running state, the control output unit 14 acquires the updated control attribute table and outputs the control signal according to the control attribute table. The editing and writing of the control attribute table can be realized through the programming interface, wherein the editing means storing the control attribute table into the corresponding first storage unit 17 through the programming interface, and the writing means writing the control attribute table in the first storage unit 17 into the first register unit 11 through the corresponding first prefetch unit 18. The control state of the first register unit 11 can be the editing state and the running state, and the switching between the editing state and the running state can be realized by inputting the state switching signal through the state switching interface.

[0104] In an alternative embodiment, the switching between the editing state and the running state can be realized by inputting a state switching signal through a state switching interface, as shown in Figure 6 The laser transceiver control unit 112 further comprises a first storage unit 17 and a first prefetch unit 18.

[0105] The first storage unit 17 is configured to store the control attribute table when the control state is the editing state.

[0106] The first prefetch unit 18 is configured to write the control attribute table stored in the first storage unit 17 into the first register unit 11 when the working state is switched to the running state.

[0107] When the control state is the editing state, the control output unit 14 does not output any signal, the edited control attribute table is stored into the first storage unit 17 through the programming interface, and after the editing is completed, the state switching interface inputs a state switching signal triggered by hardware to switch to the running state. After the first prefetch unit 18 receives the state switching signal, the new control attribute table in the first storage unit 17 is written into the first register unit 11 to provide the corresponding first comparison unit 13 and second comparison unit 16 with the control attribute table in the running state.

[0108] The updating of the control attribute table is realized by switching the control state. When the timing of the output control signal needs to be adjusted, the control attribute table is edited again, and the control state of the first register unit 11 is switched to the editing state. In the editing state, the first prefetch unit 18 writes the updated control attribute table into the first register unit 11. When the control state is switched to the running state, a new clock cycle starts, and from this clock cycle, the first register unit 11 outputs the updated control attribute table to the control output unit 14, so that the control output unit 14 outputs the control signal with the adjusted timing. Until the timing of the control signal needs to be adjusted again, the control state of the first register unit 11 is switched to the editing state.

[0109] The above-mentioned editing of the control attribute table can ensure that the logic of the output control signal in each clock cycle is normal, and avoid changing the table item information at the middle moment of the clock cycle. The control signal output in each clock cycle is complete. The moment when the control state is switched to the running state is the starting moment of the clock cycle, i.e., after the complete control signal is output in the last clock cycle, the control state is switched to the editing state, the control attribute table is updated, and after the control state is switched to the running state, the next clock cycle starts, the updated control attribute table is refreshed to the first register unit 11, participates in the comparison of the first comparison unit 13 and / or the second comparison unit 16, and the control output unit 14 adjusts the jump moment, number and jump attribute of the control signal in the next time period according to the received comparison signal, and outputs the control signal with the adjusted timing.

[0110] The editing and writing of the control attribute table to adjust the timing of the control signal in the above embodiment is inefficient, and requires repeated switching of the control state of the first register unit 11 and the control output unit 14, and the control output unit 14 in the editing state cannot output the control signal. In another embodiment, the working state of the first register unit 11 does not need to be switched, and the laser transceiver control unit 112 can have internal protection logic, so that the design can support real-time programming.

[0111] Optionally, the first register unit 11 is further used for:

[0112] writing the edited control attribute table of the control signal;

[0113] acquiring the control attribute table at the start time of the clock cycle.

[0114] In this embodiment, the first register unit 11 is always in a running state, and the edited control attribute table is stored in the first storage unit 17 through the programming interface, and is waiting to be written into the first register unit 11. At this time, the first comparison unit 13 reads the existing control attribute table in the first register unit 11, and the control output unit 14 still outputs the control signal according to the control attribute table in the first register unit 11. When the next clock cycle starts, the updated control attribute table is refreshed and written to the first register unit 11 through the first prefetch unit 18 at the start time, replacing the old control attribute table; that is, the first register unit 11 can modify the attribute table in the running state, and automatically refreshes the first register unit 11 at the appropriate time to update the control attribute table to change the transition time, number and transition attribute of the control signal in the next clock cycle, and output the control signal with updated timing.

[0115] The state refresh of the first register unit 11 can be triggered by the corresponding first storage unit 17 or other internal modules, and optionally, the laser transceiver control unit 112 further includes the first storage unit 17 and the first prefetch unit 18.

[0116] The first storage unit 17 is used for editing and storing the control attribute table.

[0117] The first prefetch unit 18 is used for writing the control attribute table to the first register unit 11 and sending an update instruction to the first register unit 11, so that the first register unit 11 acquires the control attribute table at the start time of the last clock cycle according to the update instruction.

[0118] In the embodiment, after the edited control attribute table is stored in the first storage unit 17, an update instruction is sent to the first prefetch unit 18; after the first prefetch unit 18 receives the update instruction, at the beginning of the next clock cycle, the updated control attribute table is read from the first storage unit 17 and stored in the first register unit 11 to replace the old control attribute table. In the next clock cycle, the control output unit 14 outputs the control signal according to the table item information of the updated control attribute table, and the timing of the control signal in the next clock cycle is different from that in the previous clock cycle.

[0119] In order to ensure the uniqueness of data and facilitate timing counting, as shown in Figure 7 Optionally, the first register unit 11 includes a second register unit 101 and a third register unit 102.

[0120] The second register unit 101 is connected with the first storage unit 17 and the first comparison unit 13 respectively, and is used to register the table item information of the jump time corresponding to each jump of the control signal of the control attribute table and the jump attribute corresponding to each jump.

[0121] The third register unit 102 is connected with the first storage unit 17 and the second comparison unit 16 respectively, and is used to register the table item information of the preset jump number of the control signal in the control attribute table.

[0122] In the embodiment, the second register unit 101 and the third register unit 102 respectively register different table item information, the second register unit 101 is used to register the jump time and the jump attribute in the table item information, and the third register unit 102 is used to register the preset jump number N in the table item information.

[0123] Meanwhile, the table item information of the jump time and the jump attribute output by the second register unit 101 is output to the first comparison unit 13, the first comparison unit 13 performs timing comparison and outputs the corresponding first comparison signal, the preset jump number output by the third register unit 102 is output to the second comparison unit 16, the second comparison unit 16 performs counting comparison and outputs the corresponding second comparison signal, and the control output unit 14 drives the control signal to jump at the corresponding time with the corresponding attribute according to the received first comparison signal and second comparison signal, and jump with the preset jump number within the clock cycle.

[0124] The first storage unit 17 can select a corresponding type of storage, such as a flash memory, a ram memory, etc., the first prefetch unit 18 can select a corresponding write and read module, and the first register unit 11 can select a corresponding type of register, and the specific type is not limited.

[0125] The timing unit 12 and the counting unit 15 can adopt corresponding timers and counters, the first comparison unit 13 and the second comparison unit 16 can adopt corresponding comparators and flip-flops, and the control output unit 14 can adopt a signal source or a signal generation circuit, and the specific structure is not limited.

[0126] In an optional embodiment, as shown in FIG. 11, the galvanometer control unit 113 includes a data storage unit 21, a third comparison unit 22, and a driving signal generation unit 23, and the third comparison unit 22 is connected with the data storage unit 21 and the driving signal generation unit 23 respectively. Figure 8

[0127] The data storage unit 21 is configured to obtain an attribute table, and table item information of the attribute table includes a number N of region divisions, boundary values of the N regions, and slope values of driving signals corresponding to the N regions; wherein N is a positive integer.

[0128] The third comparison unit 22 is configured to obtain a row number of a current scanning row, and compare the row number of the current scanning row with the boundary values of the N regions, and when the row number of the current scanning row matches the boundary value of the jth region, take the slope value of the driving signal corresponding to the jth region as a target slope value.

[0129] The driving signal generation unit 23 is configured to generate a driving signal of the target slope value, and output the driving signal to the driving galvanometer module 220.

[0130] The field of view is divided into N continuous regions in a direction perpendicular to the rows, and it is assumed that the range of the field of view in the vertical direction is from the 0th scanning row to the mth scanning row, the boundary value of the first region is from the 0th scanning row to the first boundary value, the boundary value of the second region is from the first boundary value to the second boundary value, the boundary value of the third region is from the second boundary value to the third boundary value, and so on, and the boundary value of the Nth region is from the N-1th boundary value to the mth scanning row, each boundary value corresponds to a row number of a scanning row from the 0th scanning row to the mth scanning row. Meanwhile, each scanning row in the same region corresponds to the same slope value, and the slope values of the driving signals corresponding to each region are set according to the point cloud scanning requirements, for example, the slope value of a region with a focus scan is smaller than the slope values of other regions without a focus scan, the slope values of the other regions without a focus scan can be equal or unequal, and the specific slope values are not limited.

[0131] The attribute table generation unit 26 can transform the number of region divisions in the field of view, the corresponding positions of the regions in the field of view, and the slope values of the driving signals corresponding to each region by editing the table item information of the attribute table. According to the scene, different regions and different vertical resolutions can be realized in the field of view, and the application scenarios of the laser radar detection are expanded.

[0132] ​When the laser ranging, the laser emitting assembly emits laser pulse, the laser pulse is transmitted to the galvanometer module 220, the galvanometer module 220 starts to deflect synchronously, and the laser pulse is reflected to the target field to be scanned, so that the line-by-line scanning is realized.

[0133] The data storage unit 21 sends the table item information of the attribute table to the third comparison unit 22 during scanning, and the third comparison unit 22 obtains the row number of the current scanning row input successively, which changes from the row number of the 0th scanning row to the row number in the mth scanning row or from the row number of the mth scanning row to the row number in the 0th scanning row. The scanning sequence of the galvanometer module 220 on the field is consistent, from top to bottom or from bottom to top, the third comparison unit 22 compares the row number of the current scanning row with the boundary values of the N regions, judges which region the row number of the current scanning row falls into, and determines the target slope value of the driving signal corresponding to the current scanning row as the slope value of the current matched region.

[0134] For example, the field is divided into four regions, and m is 20. The scanning sequence of the galvanometer module 220 is from the 0th scanning row, line by line down to the 20th scanning row. After the 20th scanning row is scanned, the galvanometer module 220 returns to the starting position of the 0th scanning row through the back scanning process, and a new scanning period starts. The boundary value of the first region is the row number of the 0th scanning row, and the corresponding slope value is K1; the boundary value of the second region is the row number of the 5th scanning row, and the corresponding slope value is K2; the boundary value of the third region is the row number of the 11th scanning row, and the corresponding slope value is K3; and the boundary value of the fourth region is the row number of the 17th scanning row, and the corresponding slope value is K4.

[0135] When the row number of the current scanning line is the 0th scanning line, the boundary value of the first region is matched, at this time, the third comparison unit 22 determines that the target slope value of the driving signal is the slope value K1 of the first region. When the row number of the current scanning line is the 1st scanning line to the 4th scanning line, the row number of the scanning line does not match the boundary value of any region, and the slope value K1 of the driving signal remains unchanged. Until the row number of the current scanning line is the 5th scanning line, the boundary value of the second region is matched, the third comparison unit 22 determines that the target slope value of the driving signal is the slope value K2 of the second region, at this time, the target slope value of the driving signal is adjusted from K1 to K2, that is, the slope value of the driving signal is determined to be adjusted to the slope value corresponding to the second region. By analogy, when the row number of the current scanning line is the 17th scanning line, the boundary value of the fourth region is matched, at this time, the third comparison unit 22 determines that the target slope value of the driving signal is the slope value K4 of the fourth region, and the target slope value of the driving signal is adjusted to the slope value K4 corresponding to the fourth region. After the driving signal with the slope value K4 drives the galvanometer module 220 to complete scanning in the 20th scanning line, the laser radar completes a scanning period and obtains a complete frame of point cloud data. After the driving signal passes through the back-scan process, the galvanometer module 220 returns to the starting position of the 0th scanning line.

[0136] The third comparison unit 22 outputs the slope value determined by each scanning line comparison to the driving signal generation unit 23, and the driving signal generation unit 23 outputs the driving signal with the target slope value to the galvanometer module 220 in the process of scanning, with the slope value corresponding to the row number of the current scanning line as the target slope value, and drives the galvanometer module 220 to move in the vertical direction, so that the galvanometer module 220 can achieve different vertical resolutions when scanning in different regions. At the same time, the galvanometer module 220 is driven to move in the horizontal direction by the driving signal in the fast-axis direction, to realize two-dimensional scanning.

[0137] The third comparison unit 22 can adopt corresponding comparators, counters and the like, and the driving signal generation unit 23 can adopt corresponding signal sources, signal generators and the like.

[0138] In order to adjust the vertical resolutions of different regions of the field of view during scanning according to the scene, an updated attribute table is written through the programming interface 25, and the attribute table is obtained by the data storage unit 21 through the programming interface 25. The attribute table and the row number of the scanning line can be obtained through signal input, wireless transmission and the like.

[0139] As shown in Figure 9 The galvanometer control unit 113 further includes:

[0140] The programming interface 25 for obtaining the attribute table is connected with the data storage unit 21.

[0141] A region number interface 24 for obtaining the line number of the current scanning line, the region number interface 24 being connected with the third comparison unit 22.

[0142] Wherein, the programming interface 25 is further connected with a corresponding attribute table generating unit 26, the region number interface 24 is connected with a running management unit 130, the attribute table generating unit 26 generates a corresponding attribute table and writes it into the data storage unit 21 in the galvanometer control unit 113 through the programming interface 25, the running management unit 130 inputs the line number of the scanning line changing one by one to the third comparison unit 22 through the region number interface 24 during the ranging scanning, for comparing the boundary value of the region with the line number of the current scanning line, and generating the driving signal with the slope value changing in a preset rule, wherein, the attribute table can be written at the starting moment of each scanning period; or the attribute table can be written at any moment, and the updated attribute table can be read at the starting moment of the nearest next scanning period, and the specific moment is not limited.

[0143] Wherein, the central region of the field of view of the laser radar has high attention, which is usually ROI (Region of Interest), and needs higher resolution; correspondingly, the regions near the upper and lower sides of the field of view have lower attention, and usually need less resolution than ROI. Alternatively, the field of view is divided into N continuous regions in the direction perpendicular to the line, the slope value of the driving signal corresponding to the region in the middle of the field of view is the smallest, and the slope value of the driving signal corresponding to the region on the two sides of the field of view is the largest. For example, the field of view is divided into three continuous regions in the direction perpendicular to the line, which are the first region, the second region and the third region, the first region and the third region are the two side regions, and the second region is the middle region. When the slope value of the driving signal of the two side regions of the field of view is large, the interval between adjacent scanning lines is the largest, when the slope value of the driving signal of the middle region of the field of view is the smallest, the interval between adjacent scanning lines is the smallest, and the vertical resolution of the second region is greater than that of the first region and the second region, so that the middle region can be scanned in priority.

[0144] Further, the field of view is divided into N continuous regions in the direction perpendicular to the line, which are the first region, the second region, …, the Nth region, the N / 2 region is located in the middle of the field of view, the first region to the N / 2-1 region are located in the upper half of the field of view, and the N / 2+1 region to the N region are located in the upper half of the field of view, and the vertical resolution gradually decreases from the middle region to the two side regions. Correspondingly, the slope value of the driving signal corresponding to the region in the middle of the field of view is the smallest, the slope value of the driving signal corresponding to the region on the two sides of the field of view is the largest, and the slope value of the driving signal of the other regions between the middle region and the outermost region gradually increases from the middle to the two sides.

[0145] To this end, the vertical resolution of different regions of the field of view can be adjusted in real time during the operation of the laser radar by editing the attribute table to meet the detection requirements of different scenes. Optionally, as shown in Figure 10 The galvanometer control unit 113 further includes:

[0146] The attribute table generation unit 26 divides the field of view into N continuous regions in the direction perpendicular to the row and generates an attribute table.

[0147] As described above, the reciprocating motion of the galvanometer module 220 in the vertical direction is linear, and the motion speed is related to the slope of the driving signal in the vertical direction. By adjusting the slope value of the driving signal, the motion speed of the galvanometer module 220 in the vertical direction can be adjusted in real time, thereby changing the interval between adjacent scanning lines and adjusting the vertical resolution.

[0148] The attribute table generated by the attribute table generation unit 26 divides the field of view into N different regions in the vertical direction according to the detection requirements, and the boundary values of the scanning lines are used to represent the multiple different regions; the slope value of the driving signal is set according to the required detection resolution of each region to form an attribute table including the number of regions, boundary values, and slope values.

[0149] Further, the field of view is divided into N different regions in the vertical direction according to the detection requirements, which can be a plurality of regions preset in advance or a dynamic adjustment of the region division method and the vertical resolution requirement of each region according to the detection results.

[0150] Optionally, as described above, the central region of the field of view of the laser radar has a higher attention, which is usually the ROI (Region of Interest), and requires a higher resolution; accordingly, the regions near the upper and lower sides of the field of view have a smaller attention, and the required resolution is usually smaller than that of the ROI. According to the above detection characteristics of the laser radar, the field of view can be divided into three continuous regions in the direction perpendicular to the row, and the field of view includes 20 scanning lines, the 0th line is the boundary value of the first region, the 11th line is the boundary value of the second region, and the 16th line is the boundary value of the third region; the slope value K1 corresponding to the first region, the slope value K2 corresponding to the second region, and the slope value K3 corresponding to the third region, K1 = K3 and K1 is greater than K2. In this way, the vertical resolution of the central region is greater than that of the two side regions, which meets the detection requirements.

[0151] The above examples are only for illustration, and the field of view can also be divided into N continuous regions in the direction perpendicular to the row as needed, and the slope value of the driving signal of each region is set. However, during the laser radar detection process, the measured objects and scenes in the field of view often change rapidly, and the preset attribute table cannot well match the needs of the detection process. Therefore, it is necessary to dynamically adjust the attribute table in combination with the detection results, so that the scanning resolution of the galvanometer module 220 meets the scene requirements.

[0152] Optionally, as shown in Figure 11 The attribute table generation unit 26 is also connected with the point cloud processing unit 111, which is used to obtain the previous point cloud data and determine at least one key region where the measured object is located.

[0153] The attribute table generation unit 26 obtains the boundary value according to the at least one key region, and determines the number of region divisions and the corresponding boundary value of each region through the boundary value.

[0154] The point cloud data includes the data of all detection points in a frame, and the data of each detection point includes coordinates and distance. The point cloud processing unit 111 can obtain the distance of the current measured object and the information of the field of view region through the point cloud data. According to the detection information obtained from the point cloud data, the field of view is divided into multiple regions, including key regions and non-key regions. The key regions are intensively detected, and the non-key regions are normally detected.

[0155] The point cloud processing unit 111 does not need to intensively detect the regions where the measured object is not detected, which can be used as non-key regions. The regions where the measured object is detected need to be intensively detected, which can be used as key regions. Alternatively, after obtaining the category of the measured object through the point cloud data, the measured object is further detected, which needs to be intensively detected. The region where the measured object is located can be used as a key region. At the same time, the region where the measured object is located may have a cross-region problem in the original division, resulting in poor point cloud image effect of the scanned measured object. Therefore, the attribute table generation unit 26 edits the table item information of the attribute table according to the feedback data output by the point cloud data processing unit, re-divides multiple regions according to the region where the measured object is located, determines the boundary value of the region, and adjusts the slope value of the driving signal according to whether the measured object needs to be intensively detected. The slope value of the region that does not need to be intensively detected is increased, and the slope value of the region that needs to be intensively detected is decreased.

[0156] At the same time, when multiple measured objects are scanned, the attribute table generation unit 26 divides the field of view into more regions corresponding to different slope values, and divides multiple regions in the field of view into key regions where each measured object is located.

[0157] The selection of the focus area can be in various ways, including but not limited to "nearest object", "farthest object", "nearest in front", "farthest in front", "maximum", "minimum", etc. By configuring the selection of the focus area, different scenarios can be adapted to achieve better results.

[0158] Corresponding to the area division manner, the slope value of the driving signal corresponding to at least one focus area is less than the slope value of the driving signal corresponding to other areas.

[0159] In this embodiment, the point cloud processing unit 111 acquires the point cloud data of the previous frame, such as the point cloud data of the previous frame or the point cloud data of several previous frames, determines the focus area and the non-focus area according to the point cloud data, and the attribute table generating unit 26 determines the number of area division in the vertical direction of the field of view and the boundary value according to the required vertical resolution of each area, determines the slope value of the driving signal corresponding to each area, and forms the updated attribute table according to these information, and writes the attribute table into the data storage unit 21 through the programming interface 25, for adjusting the driving signal of the next scanning period. For example Figure 12 As shown, the re-divided areas include a first area γ1, a second area γ2 and a third area γ3, the focus area is the second area γ2, and the second area corresponds to a smaller slope value and a denser point cloud.

[0160] The point cloud processing unit 111 can adopt corresponding data acquisition modules, processors, etc., and the attribute table generating unit 26 can adopt corresponding data processors, such as FPGA, CPU, MCU, etc.

[0161] The data storage unit 21 can select a corresponding type and structure of memory, such as a flash memory, a ram memory, etc.

[0162] Optionally, as Figure 13 As shown, the data storage unit 21 includes a second storage unit 211, a second prefetch unit 212 and a fourth register unit 213;

[0163] The second storage unit 211 is used to store the attribute table in the programming state;

[0164] The second prefetch unit 212 is used to read the attribute table in the running state and send it to the fourth register unit 213 to refresh the table item information registered by the fourth register unit 213;

[0165] The fourth register unit 213 is used to register the table item information of the attribute table and output it to the third comparison unit 22.

[0166] In the embodiment, in the programming state, the second storage unit 211 receives the attribute table through the programming interface 25, the attribute table generation unit 26 adjusts the number of regions, the region boundary value and the corresponding slope value of the vertical field of view, and after the programming is completed, the working state of the second storage unit 211 can be switched through the state switching interface. When the working state changes, the second prefetch unit 212 starts and reads the table item information of the attribute table, updates the table item information to the fourth register unit 213, the fourth register unit 213 registers each table item information of the attribute table, and outputs the updated table item information in the scanning process, so as to be applied to the region comparison of the third comparison unit 22, so as to generate the driving signal of the corresponding slope value to the galvanometer module 220.

[0167] The second storage unit 211 can select a corresponding type of memory, such as a flash memory, a ram memory and the like, the second prefetch unit 212 can select a corresponding write and read module, and the fourth register unit 213 can select a corresponding type of register, and the specific type is not limited.

[0168] Please continue to refer to Figure 2 Optionally, the function detection unit 140 includes:

[0169] The test unit 142 is connected with each unit of the radar master control chip 100, and is used for controlled function state detection and feedback of detection information;

[0170] The safety management unit 141 is connected with the test unit 142, and is used for driving the test unit 142 to perform test work, receiving detection information and reporting corresponding state information.

[0171] In the embodiment, the test unit 142 is responsible for function state testing of each unit module of the chip, and feeds back the corresponding detection information to the safety management unit 141. The safety management unit 141 collects the detection states of each unit module, and is responsible for self-test of the chip when the test unit 142 is powered on, and reports an abnormal state when an abnormality is found.

[0172] The safety management unit 141 can adopt a corresponding processor, controller and the like, and the specific structure is not limited.

[0173] The test unit 142 can be set according to the test requirement, such as Figure 14 As shown, the test unit 142 includes:

[0174] The memory detection unit 1421 is used for function detection of each storage unit of the radar master control chip 100, and reports corresponding storage detection information to the safety management unit 141;

[0175] The logic circuit detection unit 1422 is configured to detect the functions of each logic unit of the radar master control chip 100 and report corresponding logic detection information to the safety management unit 141.

[0176] In this embodiment, the memory detection unit 1421 is an MBIST module, i.e., a memory built-in self-test module, which is responsible for checking the functions of all memories of the radar master control chip 100 at power-on, and if an error is found in the memory, it is reported to the safety management unit 141.

[0177] The logic circuit detection unit 1422 is an LBIST module, i.e., a logic circuit built-in self-test module, which is responsible for checking the functions of all logic circuits of the radar master control chip 100 at power-on, and if an error is found in the logic circuit, it is reported to the safety management unit 141.

[0178] In order to further improve the chip test function, as shown in Figure 14 Optionally, the test unit 142 further includes:

[0179] The clock detection unit 1423 is configured to detect the clock information of the radar master control chip 100 and report corresponding clock detection information to the safety management unit 141.

[0180] The power supply detection unit 1424 is configured to detect the power supply state of the radar master control chip 100 and report corresponding power supply detection information to the safety management unit 141.

[0181] In this embodiment, the clock detection unit 1423 is responsible for detecting the clock of the radar master control chip 100, and if the frequency is abnormal, it is reported to the safety management unit 141. The power supply detection unit 1424 is responsible for checking all power supply states of the chip, and if the power supply voltage is too high or too low, it is reported to the safety management unit 141.

[0182] In order to improve the safety of each management module and avoid being affected by the working state of the execution control unit 110, as shown in Figure 14 Optionally, the communication interface 120, the running management unit 130, and the function detection unit 140 are arranged in the safety domain 101.

[0183] The execution control unit 110 is arranged in the non-safety domain, and the safety domain 101 and the non-safety domain are respectively connected with different power supply modules and clock modules.

[0184] Each module in the safety domain uses independent power supply, independent clock signal, and independent signal bus, and the safety domain 101 and the non-safety domain work independently and do not affect each other, thereby improving the stability of the radar master control chip 100.

[0185] In order to further improve the chip security and functional diversity of the radar master control chip 100, the radar master control chip 100 further comprises:

[0186] The information security unit 114 is connected with the operation management unit 130, and the information security unit 114 is used for calculating an algorithm program related to information security of the radar master control chip 100, and realizes encryption and decryption of data output by the laser transceiver control unit 112, the galvanometer control unit 113 and the point cloud processing unit 111, so as to improve the data security of the chip of the radar master control chip 100.

[0187] The information security unit 114 can adopt a corresponding structure of encryption and decryption hardware module, controller, processor and the like, and the specific structure is not limited.

[0188] Further, in order to simplify the circuit structure and the overall structure of the radar master control chip 100, the radar master control chip 100 further comprises a data bus 150, and the operation management unit 130 is connected with the execution control unit 110 and the information security unit 114 through the data bus 150.

[0189] The main execution control unit 110 and the information security unit 114 are mounted on the data bus 150, the execution control unit 110 comprises the point cloud processing unit 111, the laser transceiver control unit 112 and the galvanometer control unit 113, and the execution control unit 110 and the information security unit 114 are in bus communication with the operation management unit 130 through the data bus 150, so as to simplify the circuit structure between them and further simplify the overall structure of the radar master control chip 100.

[0190] Meanwhile, in order to realize signal isolation between the operation management unit 130 and the execution control unit 110 and / or between the operation management unit 130 and the information security unit 114, and avoid mutual influence, the radar master control chip 100 further comprises: Figure 15 As shown in the figure, the radar master control chip 100 further comprises:

[0191] The safety decoupling unit 170 is connected between the operation management unit 110 and the data bus 150, the operation management unit 130 is connected with the execution control unit 110 and the information security unit 114 through the safety decoupling unit 170, and the safety decoupling unit 170 is used for detecting and isolating the interaction information between the operation management unit 130 and the execution control unit 110 and the information security unit 114.

[0192] The security decoupling unit 170 is responsible for isolating the operation management unit 130 and the execution control unit 110 and the information security unit 114, and the security decoupling unit 170 will make correctness check on the interaction command and data between the operation management unit 130 and the execution control unit 110 and the information security unit 114, and when the command or data crashes and abnormity, the abnormal state will not be transmitted to the operation management unit 130.

[0193] Further, the communication interface 120 is provided with multiple, in order to simplify the line structure and the overall structure of the radar master chip 100, optionally, the radar master chip 100 further comprises a security bus 160.

[0194] The communication interface 120 is connected with the operation management unit 130 through the security bus 160, and multiple communication interfaces 120 are communicated with the operation management unit 130 through the security bus 160, so as to realize signal assembly.

[0195] The application further provides a laser radar device, which comprises the ranging module 200 and the radar master chip 100, and the specific structure of the radar master chip 100 is referred to the above-mentioned embodiments, since the laser radar device adopts all the technical solutions of the above-mentioned embodiments, at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. Wherein, the radar master chip 100 is correspondingly connected with the ranging module 200.

[0196] In the embodiment, the master control part of the laser radar device is integrated into the radar master chip 100, which is responsible for the driving work of the ranging module 200, and at the same time, completes other main functions of the laser radar device, including safety management, operation management, information management and function test, etc., which simplifies the overall structure of the laser radar device and reduces the design cost.

[0197] The ranging module 200 comprises a laser transceiver module 210 and a galvanometer module 220, the laser transceiver module 210 emits laser pulses which are reflected to the corresponding field of view through the galvanometer module 220, at the same time, the laser pulses reflected by the target object in the corresponding field of view are reflected back to the laser transceiver module 210 through the galvanometer module 220, and the galvanometer module 220 is controlled to deflect towards the corresponding field of view along the vertical field of view and the horizontal field of view, forming a corresponding two-dimensional scanning field of view or a three-dimensional scanning field of view.

[0198] The above-described embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A radar main control chip, characterized in that, It includes an integrated execution control unit, communication interface, operation management unit, and function detection unit; The execution control unit is used to connect to the ranging module of the lidar device and control the ranging module to perform ranging work; The operation management unit is connected to the execution control unit and the communication interface respectively, and is used to communicate with external devices through the communication interface and drive the execution control unit to work. The function detection unit is connected to each unit of the radar main control chip and performs function status detection and reports the corresponding status information. The ranging module includes a laser transceiver module and a galvanometer module; The execution control unit includes: A point cloud processing unit is used to process the point cloud data of the laser transceiver module; A laser transceiver control unit is used to control the laser transceiver operation of the laser transceiver module; The galvanometer control unit is used to control the movement of the galvanometer module; The laser transceiver control unit includes: The first register unit is used to obtain the control attribute table of the control signal. The table entry information of the control attribute table includes the preset number of transitions N of the control signal, the transition time of the N transitions, and the transition attribute corresponding to each transition time. The transition attribute is the transition between any two levels in n levels, where N is a positive integer, and n≥2 and is an integer. A timing unit, used to start timing at the beginning of a clock cycle; The first comparison unit is connected to the first register unit and the timing unit respectively, and is used to compare the timing result with the N transition times in the control attribute table respectively, and output the first comparison signal when the timing result matches a transition time. A control output unit, connected to the first comparison unit, is used to drive the control signal to jump with the corresponding jumping attribute at the jumping moment according to the first comparison signal; The galvanometer control unit includes a data storage unit, a third comparison unit, and a drive signal generation unit. The third comparison unit is connected to the data storage unit and the drive signal generation unit, respectively. The data storage unit is used to obtain an attribute table. The table entries include the number of regions N, the boundary values ​​of the N regions, and the slope values ​​of the driving signals that are mapped one-to-one with the N regions; where N is a positive integer. The third comparison unit is used to obtain the row number of the current scan line and compare the row number of the current scan line with the boundary values ​​of N regions. When the row number of the current scan line matches the boundary value of the j-th region, the slope value of the driving signal corresponding to the j-th region is used as the target slope value. The drive signal generation unit is used to generate a drive signal for the target slope value and output it to drive the galvanometer module; The galvanometer control unit also includes: The attribute table generation unit is used to divide the field of view into N consecutive regions in the direction perpendicular to the row, and generate the attribute table. The attribute table generation unit is also connected to the point cloud processing unit, which is further used to acquire point cloud data of the previous frame and determine at least one key area where the object to be measured is located. The attribute table generation unit obtains boundary values ​​based on at least one key region, and determines the number of regions to be divided and the boundary value corresponding to each region through the boundary values.

2. The radar main control chip as described in claim 1, characterized in that, The functional detection unit includes: The test unit is connected to each unit of the radar main control chip and is used for controlled functional status detection and feedback of detection information. The safety management unit is connected to the testing unit and is used to drive the testing unit to perform testing work, receive the detection information and report the corresponding status information.

3. The radar main control chip as described in claim 2, characterized in that, The test unit includes: The memory detection unit is used to perform functional detection on each memory unit of the radar main control chip and report the corresponding memory detection information to the security management unit. The logic circuit detection unit is used to perform functional detection on each logic unit of the radar main control chip and report the corresponding logic detection information to the security management unit.

4. The radar main control chip as described in claim 3, characterized in that, The test unit also includes: A clock detection unit is used to detect the clock information of the radar main control chip and report the corresponding clock detection information to the security management unit. The power supply detection unit is used to detect the power supply status of the radar main control chip and report the corresponding power supply detection information to the safety management unit.

5. The radar main control chip as described in claim 1, characterized in that, The radar main control chip also includes: An information security unit, connected to the operation management unit, is used to calculate algorithm programs related to the information security of the radar main control chip.

6. The radar main control chip as described in claim 5, characterized in that, The radar main control chip also includes a data bus; The operation management unit is connected to the execution control unit and the information security unit respectively via the data bus.

7. The radar main control chip as described in claim 6, characterized in that, The radar main control chip also includes: A security decoupling unit is connected between the operation management unit and the data bus, and is used to detect and isolate the interaction information between the operation management unit, the execution control unit, and the information security unit.

8. The radar main control chip as described in claim 1, characterized in that, The communication interface, the operation management unit, and the function detection unit are located in the security domain; The execution control unit is located in the non-safe domain, and the safe domain and the non-safe domain are respectively connected to different power modules and clock modules.

9. A lidar device, characterized in that, It includes a ranging module and a radar main control chip as described in any one of claims 1 to 8, wherein the radar main control chip is connected to the ranging module.

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