LiDAR System and LiDAR Control Method

Abstract

This application relates to the field of lidar technology, providing a lidar system and a lidar control method. The lidar system includes a laser, a scanning component, a detector, and a lidar chip. The laser generates a laser beam; the scanning component reflects the laser beam to the target's field of view; the detector receives the echo signal; the lidar chip includes a substrate and functional modules disposed on the substrate. The functional modules include a communication module and a driving module. The communication module receives configuration parameters of the laser, scanning component, and detector. The driving module is electrically connected to the communication module and generates scanning drive signals, laser drive signals, and detection drive signals. The lidar chip can adapt to different configurations of scanning components, lasers, and detectors, reducing the difficulty of scanning control.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to a lidar system and lidar control method. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of targets. Its working principle involves emitting a detection signal (laser beam) into the target's field of view, then comparing the received signal (echo signal) reflected back from the target's field of view with the emitted signal. After appropriate processing, information about the target object in the target's field of view can be obtained, such as the target's distance, azimuth, altitude, velocity, attitude, and even shape.

[0003] With the development of technology, the application of MEMS (Micro Electro Mechanical System) galvanometers as scanning components in lidar has become a new trend in lidar development. MEMS galvanometers are micromirrors fabricated using MEMS technology, and their operating mode is mostly resonant.

[0004] A lidar system includes a laser, a detector, and a scanning component. The scanning component reflects the laser beam generated by the laser to the target area and simultaneously receives the echo signal reflected back from the target area, sending it to the detector. Different lidar systems have different configurations of the scanning component, laser, and detector, requiring different drive controls for each component, which makes scanning control difficult. Summary of the Invention

[0005] The purpose of this invention is to provide a lidar system and lidar control method, aiming to solve the technical problem of difficult scanning control in existing lidar systems.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, this application provides a lidar system, comprising:

[0008] A laser used to generate a laser beam;

[0009] A scanning component, the scanning component being used to reflect the laser beam to the target field of view;

[0010] A detector for receiving echo signals, the echo signals being the laser beam reflected back by an object in the target field of view;

[0011] A lidar chip includes a substrate and functional modules disposed on the substrate. The functional modules include a communication module and a driving module. The communication module is used to communicate with the outside world and is also used to receive configuration parameters of the laser, the scanning component, and the detector. The driving module is electrically connected to the communication module and is used to generate scanning driving signals, laser driving signals, and detection driving signals.

[0012] In one embodiment, the driving module includes a scan driving unit; the scan driving unit is used to receive scan configuration parameters sent by the communication module, and the scan driving unit generates the scan driving signal according to the scan configuration parameters.

[0013] In one embodiment, the scanning component is a two-dimensional MEMS micromirror with two rotation directions, a fast axis and a slow axis. The scanning configuration parameters include the fast axis resonant frequency, the fast axis amplitude, the period ratio between the fast axis and the slow axis, the slow axis resonant frequency, and the slow axis amplitude. The scanning drive signal includes a superposition signal of a fast axis sine wave signal and a slow axis triangular wave signal.

[0014] In one embodiment, the communication module is further configured to acquire the scanning feedback signal of the scanning component, and the scanning drive unit is configured to derive the characteristic quantity of the scanning feedback signal based on the scanning feedback signal and send it back to the communication module.

[0015] In one embodiment, the driving module further includes a laser driving unit, which is used to receive laser configuration parameters sent by the communication module and a first synchronization signal sent by the scanning driving unit, and the laser driving unit generates the laser driving signal according to the laser configuration parameters and the first synchronization signal.

[0016] In one embodiment, the laser configuration parameters include laser emission time, laser charging start / stop time, and laser discharge start / stop time, and the first synchronization signal includes a fast axis synchronization signal and a slow axis synchronization signal.

[0017] In one embodiment, the driving module further includes a detection driving unit, which is used to receive detection configuration parameters sent by the communication module and a second synchronization signal sent by the laser driving unit, and the detection driving unit generates the detection driving signal according to the detection configuration parameters and the second synchronization signal.

[0018] In one embodiment, the control method includes the following steps:

[0019] It receives scan configuration parameters sent by the communication module, generates scan drive signals, and sends them to the scanning component;

[0020] The laser configuration parameters sent by the communication module are received, a laser drive signal synchronized with the scanning drive signal is generated, and the signal is sent to the laser.

[0021] The system receives the detection configuration parameters sent by the communication module, generates a detection drive signal synchronized with the laser drive signal, and sends it to the detector.

[0022] In one embodiment, receiving scan configuration parameters sent by the communication module, generating a scan drive signal, and sending it to the scanning component specifically includes:

[0023] The scanning configuration parameters include the fast axis resonant frequency, fast axis amplitude, the period ratio between the fast axis and the slow axis, the slow axis resonant frequency, and the slow axis amplitude.

[0024] Based on the scanning configuration parameters, the fast axis drive value and the slow axis drive value are obtained in real time.

[0025] A fast-axis sine wave signal and a slow-axis triangular wave signal are generated and superimposed into a superimposed signal, which is then sent to the scanning component.

[0026] In one embodiment, a query command is received from the communication module;

[0027] The scanning feedback signal of the scanning component is acquired, and the characteristic value of the scanning feedback signal is obtained.

[0028] The characteristic value of the scan feedback signal is sent to the communication module.

[0029] The beneficial effects of this invention are as follows: the communication module of the lidar chip can communicate with the outside to obtain the configuration parameters of the scanning component, laser, and detector. The driving module of the lidar chip generates a scanning drive signal to drive the scanning component according to the scanning configuration parameters of the scanning component; generates a laser drive signal to drive the laser according to the laser configuration parameters of the laser; and generates a detection drive signal to drive the detector according to the detection configuration parameters of the detector. Thus, the scanning component is driven to scan the laser beam generated by the laser towards the target field of view, while the detector receives the echo signal reflected back by the detected object in the target field of view, and finally obtains relevant information about the target object (distance, speed, etc.). The lidar chip can adapt to different configurations of scanning components, lasers, and detectors, solve the technical problem of difficult scanning control in existing lidar systems, reduce the difficulty of scanning control, and facilitate the miniaturization design of lidar systems. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0031] Figure 1 A schematic diagram of the structure of the lidar system provided in the embodiment;

[0032] Figure 2 This is a schematic diagram of the communication module of the lidar chip in the lidar system of the embodiment;

[0033] Figure 3 This is a schematic diagram of the lidar chip in the lidar system of the embodiment;

[0034] Figure 4 This is a schematic diagram of the interaction of the receiving module of the lidar chip in the embodiment;

[0035] Figure 5 This is a schematic diagram of the interaction of the processing module of the lidar chip in the embodiment;

[0036] Figure 6 This is an interactive schematic diagram of the programmable control module of the lidar chip in the embodiment;

[0037] Figure 7 This is a flowchart illustrating the lidar control method in the embodiment.

[0038] The following are the labeling elements in the figure:

[0039] 10. Laser;

[0040] 20. Scanning component;

[0041] 30. Detector;

[0042] 40. LiDAR chip; 41. Substrate; 42. Communication module; 421. External communication unit; 422. Parameter interaction unit; 423. Data interaction unit; 43. Drive module; 431. Scan drive unit; 432. Laser drive unit; 433. Detection drive unit; 44. Receiver module; 441. Receiver unit; 442. Filtering unit; 443. Analog-to-digital conversion unit; 45. Processing module; 451. Digital filtering unit; 452. Dynamic threshold unit; 453. Echo recognition unit; 454. Measurement unit; 46. Programmable control module; 461. Communication control unit; 462. Storage unit; 463. Computation unit. Detailed Implementation

[0043] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Firstly, please refer to Figure 1This application provides a lidar system, including a laser 10, a scanning component 20, a detector 30, and a lidar chip 40. The laser 10 generates a laser beam, and the scanning component 20 reflects the laser beam to the target field of view. The detector 30 receives echo signals, which are laser beams reflected back by objects in the target field of view. The echo signals can be directly reflected back to the detector 30 by objects in the target field of view, or they can be reflected back to the scanning component 20, which then transmits the signal to the detector 30. The lidar chip 40 includes a substrate 41 and functional modules disposed on the substrate 41. The functional modules include a communication module 42 and a driving module 43. The communication module 42 communicates with external systems and receives configuration parameters from the laser 10, the scanning component 20, and the detector 30. The driving module 43 is electrically connected to the communication module 42 and generates scanning driving signals, laser driving signals, and detection driving signals.

[0048] The communication module 42 of the lidar chip 40 can communicate with external devices to obtain configuration parameters of the scanning component 20, the laser 10, and the detector 30. The driving module 43 of the lidar chip 40 generates scanning drive signals to drive the corresponding scanning component 20 based on its scanning configuration parameters; it also generates laser drive signals to drive the corresponding laser 10 based on its laser configuration parameters; and it generates detection drive signals to drive the corresponding detector 30 based on its detection configuration parameters. Thus, the lidar chip 40 drives the scanning component 20 to scan the laser beam generated by the laser 10 towards the target field of view, and the detector 30 receives the echo signals reflected back from the detected object in the target field of view, ultimately obtaining relevant information about the target object (distance, speed, etc.). The lidar chip 40 can adapt to scanning components 20, lasers 10 and detectors 30 with different configuration parameters, and output corresponding laser drive signals, detection drive signals and scanning drive signals. The lidar chip 40 does not need to be replaced due to changes in the configuration parameters of one of the scanning components 20, lasers 10 or detectors 30. It has high versatility and good flexibility, and reduces the difficulty of scanning control, which is conducive to the miniaturization design of lidar systems.

[0049] Compared with general-purpose integrated circuits, the LiDAR chip 40 can be mass-produced and has advantages such as smaller size, lower power consumption, higher reliability, stronger confidentiality, and lower cost.

[0050] In some embodiments, combined with Figure 1The driving module 43 includes a scan driving unit 431. The scan driving unit 431 receives scan configuration parameters sent by the communication module 42 and generates scan driving signals based on these parameters. The scan driving unit 431 is used solely to control the scanning component 20, calculating the characteristic quantities of the required scan driving signal in real time, and then generating the corresponding scan driving signal. This ensures that the scanning component 20 is controllable in real time and its communication and memory resources are not occupied by other external devices or functional modules.

[0051] Optionally, the scan drive unit 431 stores a scan control application program, which can calculate the corresponding scan drive signal according to the scan configuration parameters, thereby adapting to the scan component 20 with various configuration parameters and having strong versatility.

[0052] Optionally, the scanning drive unit 431 can be directly electrically connected to the scanning component 20, or it can be indirectly electrically connected to the scanning component 20 through the communication module 42 to realize data interaction.

[0053] In one embodiment, the scanning component 20 is a two-dimensional MEMS scanning micromirror with two rotational directions: a fast axis and a slow axis. The fast axis is used to achieve rapid rotational scanning, and the slow axis is used to achieve quasi-static rotational scanning. The resonant frequency of the fast axis is greater than that of the slow axis. A laser beam is incident on the surface of the two-dimensional MEMS scanning micromirror at a certain angle and is reflected. At this time, the mirror surface rotates around both the fast and slow axes simultaneously, causing the reflected beam to also rotate around the fast and slow axes, thereby achieving two-dimensional scanning.

[0054] In one embodiment, the scanning configuration parameters include the fast axis resonant frequency, fast axis amplitude, the period ratio between the fast and slow axes, the slow axis resonant frequency, and the slow axis amplitude. The scanning drive signal includes a superposition signal of a fast axis sine wave signal and a slow axis triangular wave signal.

[0055] The scan drive unit 431 can receive scan configuration parameters via the communication module 42 or directly communicate with the scan component 20 to receive scan configuration parameters. These parameters include the fast axis resonant frequency, the fast-slow axis period ratio, the fast axis amplitude, the slow axis amplitude, and the slow axis resonant frequency; they may also include the fast axis quality factor and the slow axis quality factor. The scan drive unit 431 calculates the characteristic quantities of the drive signal required for scan driving in real time. These characteristic quantities may include the fast axis drive value and the slow axis drive value. The scan drive unit 431 generates a corresponding scan drive signal, which is a superposition of a fast axis sine wave signal and a slow axis triangular wave signal. The fast-axis sine wave signal includes a time-varying fast-axis driving voltage, including its period, frequency, amplitude, and direction, and acts on the fast axis of the two-dimensional MEMS scanning micromirror. The slow-axis triangular wave signal includes a time-varying slow-axis driving voltage, including its period, frequency, amplitude, and direction, and acts on the slow axis of the two-dimensional MEMS scanning micromirror. Together, they drive the two-dimensional MEMS scanning micromirror to oscillate, and the beam of light reflected from the mirror moves toward the target area to scan the target area in a preset pattern, thus completing the preset pattern scan.

[0056] It is understood that in other embodiments, the drive signals for the fast axis and the slow axis may include at least one of sine wave, triangle wave, sawtooth wave, and square wave. The fast axis and the slow axis may be driven by the same waveform, or different waveforms may be used to drive the fast axis and the slow axis separately.

[0057] In one embodiment, the communication module 42 sends a configuration command or a query command to the scan driver unit 431 to configure or query the operating parameters of the scan driver unit 431. The scan driver unit 431 sends a query command to the communication module 42 and outputs the operating parameter information of the scan driver unit 431.

[0058] Optionally, the configuration and query commands can come from outside the lidar system or from the programmable control module 46 described below, so that external personnel, external devices or the internal application of the programmable control module 46 can flexibly query and configure the operating parameters of the scanning drive unit 431 so that the scanning drive unit 431 is matched with the corresponding scanning component 20, detector 30 and laser 10.

[0059] In one embodiment, the communication module 42 is further configured to acquire the scanning feedback signal of the scanning component 20, and the scanning drive unit 431 is configured to derive the characteristic quantity of the scanning feedback signal based on the scanning feedback signal and send it back to the communication module 42, so that the communication module 42 can send the characteristic quantity of the scanning feedback signal to the outside or to other functional modules.

[0060] Optionally, the scanning feedback signal may include the fast-axis feedback signal and the slow-axis feedback signal of the two-dimensional MEMS scanning micromirror; the scanning drive unit 431 calculates the corresponding feature quantities, which may include the maximum and minimum values ​​of the fast-axis feedback signal and the slow-axis feedback signal of the two-dimensional MEMS scanning micromirror, the period value, and the linearity value. The lidar chip 40 obtains the working state of the scanning component 20 through the scanning feedback signal.

[0061] Furthermore, the scan drive unit 431 can acquire the actual operating status of the scan component 20 through the scan feedback signal and specifically correct the waveform of the scan drive signal. For example, it can improve the timing of the scan drive signal based on the period value of the feature quantity. For example, it can improve the shape of the scan drive signal based on the linearity value of the feature quantity. And for example, it can adjust the amplitude of the waveform of the fast axis drive signal based on the maximum and minimum values ​​of the fast axis feedback signal.

[0062] In one embodiment, combined Figure 1 The drive module 43 also includes a laser drive unit 432. The laser drive unit 432 receives laser configuration parameters sent by the communication module 42 and a first synchronization signal sent by the scanning drive unit 431. The laser drive unit 432 generates a laser drive signal based on the laser configuration parameters and the first synchronization signal. The laser drive unit 432 independently controls the laser 10, ensuring that the laser 10 is controllable in real time. The first synchronization signal provides a synchronization time reference for the scanning component 20 and the laser 10, ensuring that the scanning component 20 and the laser 10 operate at the same frequency. The laser beam pulses emitted by the laser 10 are adapted to the vibration amplitude and frequency of the scanning component 20, causing the laser beam to oscillate in the target field of view to form a preset pattern, while simultaneously achieving accurate measurement and avoiding laser beam loss or duplication between the laser 10 and the scanning component 20.

[0063] Optionally, the scanning drive unit 431 generates a first synchronization signal based on the scanning feedback signal and / or the scanning drive signal, and sends it directly to or through the communication module 42 to the laser drive unit 432, thereby enabling the laser 10 and the scanning component 20 to work synchronously and at the same frequency in real time.

[0064] Specifically, the laser configuration parameters include the laser emission time, the laser charging start / stop time, and the laser discharging start / stop time. The first synchronization signal includes a fast axis synchronization signal and a slow axis synchronization signal. Thus, the laser drive unit 432 combines the laser configuration parameters such as the laser emission time and the first synchronization signals such as the fast axis synchronization signal to output a laser drive signal, so that the laser beam emitted by the laser 10 matches the rotation state of the scanning component 20 around the fast axis in real time, so as to accurately swing the laser beam to form a preset pattern.

[0065] Among them, the laser emission time can be made into a lookup table of laser emission time, the laser charging start and stop time can determine the start time and width of the laser charging pulse, and the laser discharging start and stop time can determine the start time and width of the laser discharging pulse.

[0066] Specifically, the laser driving unit 432 can be directly electrically connected to the laser 10, or it can be indirectly electrically connected to the laser 10 through the communication module 42 to realize data interaction.

[0067] In one embodiment, combined Figure 1 The driving module 43 also includes a detection driving unit 433. The detection driving unit 433 receives detection configuration parameters sent by the communication module 42 and a second synchronization signal sent by the laser driving unit 432. The detection driving unit 433 generates a detection driving signal based on the detection configuration parameters and the second synchronization signal. The detection driving unit 433 independently controls the detector 30, ensuring that the detector 30 is controllable in real time. The first and second synchronization signals enable the laser 10, scanning component 20, and detector 30 to provide a synchronized time reference, ensuring simultaneous operation and avoiding data loss and duplication among them, thus improving the accuracy of lidar measurements. If the three components are not synchronized, it will lead to inaccurate lidar measurements, or even errors.

[0068] Specifically, the detection drive unit 433 can be directly electrically connected to the laser 10, or it can be indirectly electrically connected to the detection drive unit 433 through the communication module 42 to realize data interaction.

[0069] Optionally, the detection drive unit 433 receives detection configuration parameters from the communication module 42, specifically the detection bias voltage, the bias voltage configuration start time, and the duration; receives a second synchronization signal from the laser drive unit 432, and generates a detection drive signal for the external detector 30.

[0070] In some embodiments, the detector 30 is used to receive reflected laser light and convert it into an echo signal. The reflected laser light is the laser beam after the emitted laser light has been reflected. The detector 30 can be a lens or a lens group. Optionally, the detector 30 can be any one of a diode, a diode array, a silicon photomultiplier tube, and a silicon photomultiplier tube array. The diode can be an indium phosphide photodiode or an avalanche breakdown photodiode. Optionally, the diode array or silicon photomultiplier tube array can be a regular array. Optionally, the diode array or silicon photomultiplier tube array can be a circular array or an irregularly shaped array.

[0071] In some embodiments, combined with Figure 2 and Figure 3The communication module 42 is electrically connected to each functional module, enabling communication and data exchange. Specifically, the functional modules may include at least one of the following: a driver module 43, a receiving module 44, a processing module 45, and a programmable control module 46. The communication module 42 can interact with external devices (e.g., Ethernet MAC), receive data frames, parse corresponding instructions, and send them to the programmable control module 46. When the functional module includes the programmable control module 46, the communication module 42 configures the interface parameters of other functional modules based on the configuration instructions of the programmable control module 46. When the functional module includes the processing module 45, it receives the output data (including waveform data and result data) from the processing module 45, assembles protocol frames, and completes the communication process with external devices (e.g., Ethernet MAC).

[0072] Compared to direct external communication between functional modules, this application uses a communication module 42 to indirectly communicate with the outside world, which has the following advantages: First, each functional module does not need to configure an independent logic module to interact with the MAC, nor does it need to set up dedicated interfaces such as RGMII / MDIO. The communication module 42 can independently support the underlying Ethernet protocol architecture, providing independent and flexible architectural support for subsequent network upgrades and network security. Second, since the various functional modules within the system are usually in different clock domains, data transmission between modules across clock domains often carries the risk of metastability for RTL (Real Time Logistics) design. Therefore, the communication module 42 is used for CDC (Clock Domain Crossing) processing to meet the data transmission requirements between various functional modules.

[0073] In some embodiments, combined with Figure 2 and Figure 3 The communication module 42 includes an external communication unit 421, a parameter interaction unit 422, and a data interaction unit 423. The external communication unit 421 communicates with external devices, such as outputting protocol blocks to them. These external devices can be a host computer, detector 30, scanning component 20, or laser 10. The parameter interaction unit 422 sends configuration and query commands to the functional modules to configure or query their operating parameters. The data interaction unit 423 receives the first waveform data output by the receiving module 44 and sends waveform-level data blocks to the programmable control module 46. The data interaction unit 423 also receives echo data sent by the processing module 45 and sends result-level data blocks to the programmable control module 46.

[0074] Specifically, the configuration parameters can be configured by loading pre-stored parameters from the programmable control module 46 during the power-on initialization process; or they can be received from external devices via Ethernet communication during operation.

[0075] In some embodiments, combined with Figure 3 The functional module includes a receiving module 44, which is electrically connected to the communication module 42 and is used to receive echo signals and convert them into first waveform data.

[0076] In some embodiments, combined with Figure 4 The receiving module 44 includes a receiving unit 441, a filtering unit 442, and an analog-to-digital converter 443. The receiving unit 441 receives the echo signal and converts it into a voltage signal. The filtering unit 442 filters the voltage signal. The analog-to-digital converter 443 converts the filtered voltage signal into first waveform data. Thus, the echo signal is processed sequentially by the receiving unit 441, the filtering unit 442, and the analog-to-digital converter 443, and converted into first waveform data.

[0077] When the functional module includes a processing module 45, the first waveform data can be used for further processing by the processing module 45. When the functional module includes a programmable control module 46, the first waveform data can be sent to the application program of the programmable control module 46 for further processing via the communication module 42.

[0078] Specifically, the receiving unit 441, filtering unit 442, and analog-to-digital conversion unit 443 are electrically connected to the communication module 42 for data interaction. For example, the communication module 42 sends configuration or query commands to the receiving unit 441, filtering unit 442, and analog-to-digital conversion unit 443 to configure or query their operating parameters. The receiving unit 441, filtering unit 442, and analog-to-digital conversion unit 443 send query commands to the communication module 42, outputting their operating parameter information.

[0079] In one embodiment, combined Figure 3 and Figure 4 External devices or programmable control modules 46 can send configuration commands or query commands to receiving units 441, filtering units 442 and analog-to-digital conversion units 443 through communication modules 42.

[0080] Optionally, the configuration instructions output by the programmable control module 46 may include configuring the filter unit 442 to reserve filter weight parameters and filter window size parameters, etc. The query instructions output by the programmable control module 46 may include querying the filter unit 442 to reserve filter weight parameters and filter window size parameters, etc.

[0081] Optionally, the external device configures and queries the parameters of the filtering unit 442 through the communication module 42. For example, the external device configures the filtering unit 442 to reserve filter weight parameters and filter window size parameters through the communication module 42; for example, the external device queries the filtering unit 442 to reserve filter weight parameters and filter window size parameters through the communication module 42.

[0082] Specifically, in combination Figure 4 The receiving unit 441 is also used to be electrically connected directly to the external detector 30 to receive the echo signal. Further, the receiving unit 441 is also used to amplify the echo signal. Optionally, the programmable control module 46 or an external device can configure the amplification factor parameters of the receiving unit 441 for the echo signal through the communication module 42. It is understood that in other embodiments, the external detector 30 can be directly electrically connected to the communication module 42, and then send the echo signal to the receiving unit 441 through the communication module 42.

[0083] Optionally, the receiving unit 441 is a current-mode amplifier, which can first amplify the current of the echo signal and then convert it into a voltage signal.

[0084] Specifically, the analog-to-digital conversion unit 443 is directly electrically connected to the processing module 45 and is used to send first waveform data to the processing module 45 so that the processing module 45 can process the first waveform data. It can be understood that in other embodiments, the analog-to-digital conversion unit 443 sends the first waveform data to the processing module 45 through the communication module 42.

[0085] Specifically, the filtering unit 442 in the receiving module 44 filters the analog signal before the analog-to-digital conversion unit 443, so that the signal bandwidth and spectrum of the analog-to-digital conversion unit 443 meet the sampling rate requirements of the analog-to-digital conversion unit 443, and no signal distortion or other problems or phenomena occur.

[0086] In some embodiments, combined with Figure 5 The functional module includes a processing module 45. The processing module 45 is electrically connected to the communication module 42 and is used to receive the first waveform data and process it to obtain echo data.

[0087] Specifically, in combination Figure 5The processing module 45 includes a digital filtering unit 451, a dynamic thresholding unit 452, an echo recognition unit 453, and a measurement unit 454. The digital filtering unit 451 receives digital filtering parameters sent by the communication module 42 and filters the first waveform data into second waveform data based on these parameters. The dynamic thresholding unit 452 receives dynamic thresholding parameters sent by the communication module 42 and performs dynamic threshold calculations on the second waveform data to obtain first threshold information. The echo recognition unit 453 receives echo recognition parameters sent by the communication module 42 and combines the first threshold information with the second waveform data to obtain first echo data. The measurement unit 454 receives timing parameters sent by the communication module 42 and measures the first echo data to obtain second echo data. The echo data includes both first and second echo data. The echo data is sent to the programmable control module 46 via the communication module 42 for further processing based on the application program.

[0088] Specifically, the digital filtering unit 451 is used to filter digital signals. The relevant filtering parameters can be changed by configuration. The purpose is to enhance the flexibility of system processing, configure different filtering parameters for signals in different scenarios / applications, and improve performance such as detection probability, false detection rate, accuracy, and adaptability.

[0089] Specifically, in combination Figure 5 The communication module 42 interacts with the digital filtering unit 451, the dynamic threshold unit 452, the echo recognition unit 453, and the measurement unit 454. For example, the communication module 42 sends configuration or query commands to the digital filtering unit 451, the dynamic threshold unit 452, the echo recognition unit 453, and the measurement unit 454 to configure or query their operating parameters. The digital filtering unit 451, the dynamic threshold unit 452, the echo recognition unit 453, and the measurement unit 454 send query commands to the communication module 42, outputting their operating parameter information.

[0090] Optionally, combined Figure 3 When the functional module includes a programmable control module 46, the arithmetic unit 463 of the programmable control module 46 can be used to process the first waveform data output by the receiving module 44, and can also be used to process the second echo data output by the processing module 45.

[0091] For example, the programmable control module 46 can modify the digital filtering parameters of the digital filtering unit 451 through the communication module 42, or the communication module 42 can communicate with external devices to obtain the digital filtering parameters, thereby modifying the digital filtering parameters of the digital filtering unit 451, offering high flexibility. Similarly, external devices or the programmable control module 46 can configure the dynamic threshold parameters of the dynamic threshold unit 452 through the communication module 42, offering high flexibility. External devices or the programmable control module 46 can configure the echo recognition parameters of the echo recognition unit 453 through the communication module 42. External devices or the programmable control module 46 can configure the timing parameters of the measurement unit 454 through the communication module 42.

[0092] In some embodiments, combined with Figure 6 The functional modules include a programmable control module 46 and a communication module 42 capable of communicating with external systems to receive bit streams corresponding to the application program. The programmable control module 46 is electrically connected to the communication module 42 and is used to receive and store the bit streams corresponding to the application program, receive first waveform data and echo data, and obtain lidar system data based on the application program.

[0093] The application program stored in the programmable control module 46 can be updated, modified, or added to via the communication module 42, making it easy to develop, iterate, and optimize, offering high flexibility without requiring the replacement of new functional modules. Furthermore, compared to discrete device arrangements, the integrated design of the communication module 42, receiving module 44, processing module 45, and programmable control module 46 helps reduce size, power consumption, and cost.

[0094] Optionally, combined Figure 3 and Figure 6 The receiving module 44 can receive the echo signal sent by the detector 30 and convert it into first waveform data. The processing module 45 can process the first waveform data to obtain echo data and acquire the echo flight time. The communication module 42 communicates with the outside and can receive the bit stream of the application sent by the external network. The programmable control module 46 receives the bit stream of the application, stores the application, and processes the first waveform data and echo data based on the application to obtain the lidar system data.

[0095] Optionally, the application includes a data processing application. The programmable control module 46 receives the bitstream of the data processing application through the communication module 42, stores the application, and, based on the application and the radar lookup table, performs data correction, calibration, and polar coordinate to D-coordinate conversion on the raw radar data transmitted by the processing module 45. The radar lookup table can also be stored in the programmable control module 46 through the communication module 42, or pre-stored in the programmable control module 46. Furthermore, the communication module 42 can also receive new data processing applications sent externally, enabling iteration, optimization, and replacement of the data processing applications stored in the programmable control module 46, providing high flexibility.

[0096] For example, due to upgrades to the detector 30, scanning component 20, or laser 10, point cloud parameters change, such as angular resolution, frame rate, or point frequency increases, and corresponding data corrections change. At this time, the communication module 42 receives a new data processing application to optimize the data processing application in the programmable control module 46.

[0097] For example, if a user changes vehicles and the LiDAR is removed from the old vehicle and installed on the new one, or if road construction or tree cover causes the LiDAR to be moved from a station booth to a monitoring pole, the installation location of the LiDAR changes, and the data calibration and coordinate transformation need to be modified accordingly. In this case, the communication module 42 receives a new data processing application to replace the data processing application in the programmable control module 46, so that the original LiDAR can continue to be used normally.

[0098] Optionally, the application includes a data frame creation application. Based on this application, and in conjunction with a frame format set by the lidar or defined by the user, the programmable control module 46 packages the first waveform data and echo data, as well as related data processed from the first waveform data and echo data. Furthermore, the communication module 42 can also receive new data frame creation applications sent externally, enabling iteration, optimization, and replacement of the data frame creation application stored in the programmable control module 46, providing high flexibility and allowing for data packaging in conjunction with new frame formats.

[0099] Optionally, the application includes a secondary boot application. Based on this application, the programmable control module 46 defines the startup process of the LiDAR, such as designing the startup sequence and process of each configuration item. It can iterate and optimize the startup process, offering high flexibility.

[0100] In some embodiments, combined with Figure 6The programmable control module 46 includes a communication control unit 461, a storage unit 462, and a processing unit 463. The communication control unit 461 is electrically connected to the communication module 42, the storage unit 462, and the processing unit 463. The communication control unit 461 receives the bit stream corresponding to the application program sent by the communication module 42 and writes it to the storage unit 462 to modify the application program of the programmable control module 46. Specifically, the communication control unit 461 acquires the application program, converts its format, and writes it to the storage unit 462 in the appropriate format. The processing unit 463 obtains lidar system data based on the application program, such as coordinate data, echo intensity data, and elevation data.

[0101] The communication control unit 461 is responsible for data interaction between the programmable control module 46 and the communication module 42. The storage unit 462 stores the application program, and the calculation unit 463 performs data calculations based on the application program stored in the storage unit 462. The communication module 42 obtains the first waveform data and echo signal from the processing module 45 and the receiving module 44, respectively, and sends them to the communication control unit 461. The calculation unit 463 receives the first waveform data and echo signal sent by the communication control unit 461, as well as the application program sent by the storage unit 462, and calculates the corresponding lidar system data.

[0102] Furthermore, since the application can be iterated and optimized, the computing unit 463 can calculate the corresponding lidar system data based on the updated application and obtain new lidar system data.

[0103] In one specific embodiment, combined with Figure 6 Between the communication module 42 and the communication control unit 461, the communication module 42 sends the application's bitstream, protocol blocks, instruction blocks, waveform-level data blocks, and result-level data blocks to the communication control unit 461. The communication control unit 461 sends the output of the programmable control module 46, such as configuration instructions and query instructions, to the communication module 42. Between the communication control unit 461 and the storage unit 462, the communication control unit 461 sends the application's bitstream and LiDAR system parameters to the storage unit 462. The storage unit 462 sends the stored LiDAR system parameters to the communication control unit 461. Between the communication control unit 461 and the arithmetic unit 463, the communication control unit 461 sends the LiDAR system parameters to the arithmetic unit 463. Between the storage unit 462 and the arithmetic unit 463, the storage unit 462 sends the application's bitstream and LiDAR system parameters to the arithmetic unit 463. The arithmetic unit 463 sends the LiDAR system parameters to the storage unit 462.

[0104] Specifically, in combination Figure 6The LiDAR system data calculated by the computing unit 463 is sent to the storage unit 462, which also stores the LiDAR system data sent by the computing unit 463. Optionally, the storage unit 462 can further send the LiDAR system data to the communication module 42 through the communication control unit 461, and then the communication module 42 sends the LiDAR system data to the outside.

[0105] Specifically, in combination Figure 6 The storage unit 462 is also used to store the lidar system parameters sent by the communication control unit 461. For example, the communication control unit 461 receives parameter information from other functional modules, such as a lidar lookup table, sent by the communication module 42, and stores it in the storage unit 462. The lidar system parameters stored in the storage unit 462 can be used for calculations in the arithmetic unit 463, or, upon receiving a query command from the communication module 42, can be used to send relevant lidar system parameters to the communication module 42.

[0106] Specifically, in combination Figure 6 The communication control unit 461 is also used to receive at least one of the following: protocol block, instruction block, waveform-level data block, and result-level data block sent by the communication module 42. For example, the communication control unit 461 is also used to receive the protocol block sent by the communication module 42, determine the communication protocol between the communication control unit 461 and the communication module 42, and realize data interaction between the communication control unit 461 and the communication module 42.

[0107] Specifically, in combination Figure 6 The programmable control module 46 outputs to the communication module 42 through the communication control unit 461. The output may include configuration instructions and / or query instructions. For example, the programmable control module 46 sends configuration instructions to the communication module 42, which control the communication module 42 to configure the operating parameters of other functional modules. For instance, the configuration instructions may be used to configure the operating parameters of the receiving module 44 and / or the processing module 45. Similarly, the programmable control module 46 sends query instructions to the communication module 42, which control the communication module 42 to query the operating parameters of other functional modules. For instance, the query instructions may be used to query the operating parameters of the receiving module 44 and / or the processing module 45.

[0108] Secondly, combining Figure 7 This application provides a lidar control method, which includes the following steps:

[0109] S100: Receive scanning configuration parameters sent by communication module 42, generate a scanning drive signal, and send it to scanning component 20. This scanning drive signal can adapt to scanning components 20 with different scanning configuration parameters, exhibiting high versatility and flexibility. Optionally, step S100 is executed by the drive module 43 of the LiDAR chip 40. The LiDAR chip 40 includes a communication module 42 and a functional module, the functional module including the drive module 43. This LiDAR chip 40 has good versatility and does not need to be modified due to different scanning configuration parameters of the scanning component 20, which is beneficial for the miniaturization design of LiDAR.

[0110] S200: Receive scanning configuration parameters sent by communication module 42, generate a laser drive signal synchronized with the scanning drive signal, and send it to laser 10. This laser drive signal can be adapted to lasers 10 with different laser configuration parameters. Optionally, step S100 is executed by the drive module 43 of the lidar chip 40.

[0111] S300: Receive the detection configuration parameters sent by the communication module 42, generate a detection drive signal synchronized with the laser drive signal, and send it to the detector 30. This detection drive signal can be adapted to detectors 30 with different detection configuration parameters. Optionally, step S100 is executed by the drive module 43 of the lidar chip 40.

[0112] The aforementioned control method can generate scanning drive signals adapted to different scanning configuration parameters, laser drive signals adapted to different laser configuration parameters, and detection drive signals adapted to different detection configuration parameters. This drives the scanning component 20 to scan the laser beam generated by the laser 10 towards the target field of view. The detector 30 receives the echo signal reflected back by the detected object in the target field of view, and finally obtains relevant information about the target object (distance, speed, etc.). It has high versatility and good flexibility, reduces the difficulty of scanning control, and ensures that the laser 10, scanning component 20 and detector 30 operate at the same frequency according to the synchronization signal and the synchronization time reference, avoiding data loss and duplication between the laser 10, scanning component 20 and detector 30, and improving the accuracy of measurement.

[0113] Optionally, the driving module 43 includes a scanning driving unit 431, a laser driving unit 432, and a detection driving unit 433. The scanning driving unit 431 executes step S100, the laser driving unit 432 executes step S200, and the detection driving unit 433 executes step S300.

[0114] In one embodiment, step S100 specifically includes:

[0115] S110: Scan configuration parameters include fast axis resonant frequency, fast axis amplitude, the ratio of the fast axis to the slow axis period, slow axis resonant frequency, and slow axis amplitude.

[0116] S120: Based on the scanning configuration parameters, the fast axis drive value and slow axis drive value are obtained in real time.

[0117] S130: Generates a fast-axis sine wave signal and a slow-axis triangular wave signal, and superimposes them into a superimposed signal, which is then sent to the scanning unit 20.

[0118] Among them, the fast axis sine wave signal acts on the fast axis of the two-dimensional MEMS scanning micromirror, and the slow axis triangular wave signal acts on the slow axis of the two-dimensional MEMS scanning micromirror. Together, they drive the two-dimensional MEMS scanning micromirror to swing, so that the beam of light reflected by the mirror is directed toward the target area to scan the target area with a preset pattern, thus completing the preset pattern scan.

[0119] In one embodiment, the control method further includes:

[0120] S410: Receives a query command from communication module 42.

[0121] S420: Acquire the scanning feedback signal from the scanning component 20 and derive the characteristic values ​​of the scanning feedback signal. The scanning feedback signal may include the fast-axis feedback signal and the slow-axis feedback signal of the two-dimensional MEMS scanning micromirror.

[0122] S430: Sends characteristic values ​​of the scanning feedback signal to the communication module 42. These characteristic values ​​may include the maximum and minimum values ​​of the fast-axis feedback signal, the maximum and minimum values ​​of the slow-axis feedback signal, the period value, and the linearity value of the two-dimensional MEMS scanning micromirror.

[0123] Thus, the communication module 42 can send the feature quantity of the scan feedback signal to the outside, or send the feature quantity of the scan feedback signal to other functional modules.

[0124] Furthermore, the scan drive unit 431 can obtain the actual operating status of the scan component 20 through the scan feedback signal and make targeted corrections to the scan drive signal. For example, it can adjust the amplitude of the waveform of the fast axis drive signal according to the maximum and minimum values ​​of the fast axis feedback signal.

[0125] In one embodiment, the laser configuration parameters in step S200 include the laser emission time, the laser charging start / stop time, and the laser discharging start / stop time, and the synchronization signals include a fast axis synchronization signal and a slow axis synchronization signal. Thus, the above control method combines the laser configuration parameters such as the laser emission time with the synchronization signals such as the fast axis synchronization signal to output a laser drive signal, causing the laser beam emitted by the laser 10 to match the rotational state of the scanning component 20 around the fast axis, so as to accurately oscillate the laser beam to form a preset pattern.

[0126] In one embodiment, the control method further includes:

[0127] S510: Receives a query command from communication module 42.

[0128] S520: Acquire the laser feedback signal of laser 10 and obtain the characteristic value of the laser feedback signal.

[0129] S530: Sends characteristic values ​​of the laser feedback signal to the communication module 42.

[0130] In one embodiment, the detection configuration parameters in step S300 are specifically the detection bias voltage, the bias voltage configuration start time, and the duration.

[0131] In some embodiments, the communication module 42 is electrically connected to each functional module, enabling communication and data interaction. Specifically, the functional modules may include the communication module 42, the driving module 43, the receiving module 44, the processing module 45, and the programmable control module 46.

[0132] The above control method is applied to the lidar system in the above embodiments, including any specific embodiments and technical features of the lidar system, which will not be described in detail here.

[0133] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lidar system, characterized in that, The lidar system includes: A laser used to generate a laser beam; A scanning component, the scanning component being used to emit the laser beam into the target field of view; A detector for receiving echo signals, the echo signals being the laser beam reflected back by an object in the target field of view; A lidar chip includes a substrate and functional modules disposed on the substrate. The functional modules include a communication module and a driving module. The communication module is used to communicate with the outside and is also used to receive configuration parameters of the laser, the scanning component, and the detector. The driving module is electrically connected to the communication module and is used to generate scanning driving signals, laser driving signals, and detection driving signals. The driving module includes a detection driving unit and a laser driving unit. The detection driving unit is used to receive detection configuration parameters sent by the communication module and a second synchronization signal sent by the laser driving unit. The detection driving unit generates the detection driving signal according to the detection configuration parameters and the second synchronization signal.

2. The lidar system according to claim 1, characterized in that: The driving module further includes a scan driving unit; the scan driving unit is used to receive scan configuration parameters sent by the communication module, and the scan driving unit generates the scan driving signal according to the scan configuration parameters.

3. The lidar system according to claim 2, characterized in that: The scanning component is a two-dimensional MEMS micromirror, which has two rotation directions: a fast axis and a slow axis. The scanning configuration parameters include the fast axis resonant frequency, the fast axis amplitude, the period ratio between the fast axis and the slow axis, the slow axis resonant frequency, and the slow axis amplitude. The scanning driving signal includes a superposition signal of a fast axis sine wave signal and a slow axis triangular wave signal.

4. The lidar system according to claim 2, characterized in that: The communication module is also used to acquire the scanning feedback signal of the scanning component, and the scanning drive unit is used to derive the characteristic quantity of the scanning feedback signal based on the scanning feedback signal and send it back to the communication module.

5. The lidar system according to claim 2, characterized in that: The laser driving unit is also used to receive laser configuration parameters sent by the communication module and a first synchronization signal sent by the scanning driving unit, and to generate the laser driving signal according to the laser configuration parameters and the first synchronization signal.

6. The lidar system according to claim 5, characterized in that: The laser configuration parameters include laser emission time, laser charging start / stop time, and laser discharge start / stop time. The first synchronization signal includes fast axis synchronization signal and slow axis synchronization signal.

7. A lidar control method, based on the lidar system according to any one of claims 1-6, characterized in that: The control method includes the following steps: It receives scan configuration parameters sent by the communication module, generates scan drive signals, and sends them to the scanning component; The laser configuration parameters sent by the communication module are received, a laser drive signal synchronized with the scanning drive signal is generated, and the signal is sent to the laser. The system receives the detection configuration parameters sent by the communication module, generates a detection drive signal synchronized with the laser drive signal, and sends it to the detector.

8. The lidar control method according to claim 7, characterized in that: The process of receiving scan configuration parameters from the communication module, generating a scan drive signal, and sending it to the scanning component specifically includes: The scanning configuration parameters include the fast axis resonant frequency, fast axis amplitude, the period ratio between the fast axis and the slow axis, the slow axis resonant frequency, and the slow axis amplitude. Based on the scanning configuration parameters, the fast axis drive value and the slow axis drive value are obtained in real time. A fast-axis sine wave signal and a slow-axis triangular wave signal are generated and superimposed into a superimposed signal, which is then sent to the scanning component.

9. The lidar control method according to claim 7, characterized in that, The control method further includes: Receive a query command from the communication module; The scanning feedback signal of the scanning component is acquired, and the characteristic value of the scanning feedback signal is obtained. The characteristic value of the scan feedback signal is sent to the communication module.

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