Laser radar laser charging and discharging control system, control method and medium

Abstract

The invention discloses a laser radar laser charging and discharging control system and method and a medium. The laser radar laser charging and discharging control system comprises at least two laser channels, a gating integrated circuit and a lower end switching circuit. Wherein the at least two paths of laser channels share the lower end switching circuit; and the lower end switching circuit is matched with the gating integrated circuit and is used for driving the lasers in the one or more laser channels to emit laser, or charging the driving capacitors in the one or more laser channels. And the integration level and the channel gating speed of the laser radar laser charging and discharging system are improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar laser charge and discharge control system, control method and medium. Background Art

[0002] As a high-precision, high-resolution sensing device, LiDAR is widely used in unmanned driving, robot navigation, industrial automation and other fields. The laser in LiDAR is one of its core components and plays a vital role in the performance and stability of LiDAR.

[0003] Existing laser charging and discharging solutions have the problems of low integration, inability to achieve fast channel gating, and low high-side withstand voltage.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0006] In view of the fact that the charging and discharging solutions of the LiDAR lasers in the prior art have the problems of low integration and insufficient channel selection, the present application provides a LiDAR laser charging and discharging control system, a control method and a medium, which improve the integration of the LiDAR laser charging and discharging system, the channel selection speed and the charging efficiency of the driving capacitor.

[0007] In a first aspect, the present invention provides a laser radar laser charge and discharge control system, comprising: at least two laser channels, a gating integrated circuit, and a lower end switch circuit;

[0008] Wherein, at least two of the laser channels share the lower switch circuit;

[0009] The lower switch circuit cooperates with the gating integrated circuit to drive the lasers in one or more laser channels to emit laser light, or to charge the driving capacitors in one or more laser channels.

[0010] In one or more embodiments, the gating integrated circuit includes a multi-way gating module and a logic control module;

[0011] The multi-way gating module includes a gating branch corresponding to each of the laser channels, and is used to cooperate with the lower switch circuit under the control of the logic control module to enable the laser in the corresponding laser channel to emit laser light, or to charge the driving capacitor in the corresponding laser channel;

[0012] The logic control module is used to control each of the gating branches based on preset configuration data, so that each of the gating branches cooperates with the lower switch circuit to enable the laser in the corresponding laser channel to emit laser, or to charge the driving capacitor in the corresponding laser channel.

[0013] In one or more embodiments, the gating branch includes a first transistor and / or a second transistor, the gate of the first transistor is controlled by the logic control module, the source of the first transistor is connected to a power supply, and the drain of the first transistor is connected to an anode of a laser in the laser channel;

[0014] The gate of the second transistor is controlled by the logic control module, the source of the second transistor is grounded, and the drain of the second transistor is connected to the anode of the laser in the laser channel.

[0015] In one or more embodiments, the gating branch includes a first transistor, a gate of the first transistor is controlled by the logic control module, a source of the first transistor is connected to a power supply, and a drain of the first transistor is connected to an anode of the laser in the laser channel.

[0016] In one or more embodiments, the gating branch further comprises a high voltage level converter;

[0017] The multi-way gating module is manufactured based on the bipolar-complementary metal oxide semiconductor-double diffused metal oxide semiconductor process BCD process;

[0018] The gate of the first transistor is connected to the voltage output terminal of the high-voltage level converter, and the input terminal of the high-voltage level converter is connected to the logic control module.

[0019] In one or more embodiments, the selection branch further includes a first driving circuit, an output end of the first driving circuit is connected to the gate of the second transistor, and an input end of the first driving circuit is connected to the logic control module.

[0020] In one or more embodiments, the lower switch circuit includes a third transistor, the drain of the third transistor is connected to the cathode of the laser in each of the laser channels, the source of the third transistor is grounded, and the gate of the third transistor is controlled by the control terminal.

[0021] In one or more embodiments, the lower switch circuit further includes a second drive circuit, an output terminal of the second drive circuit is connected to the gate of the third transistor, and an input terminal of the second drive circuit is connected to the control terminal.

[0022] In a second aspect, the present invention further provides a laser radar laser charge and discharge control method, which is applied to the laser radar laser charge and discharge control system described in the first aspect, comprising:

[0023] Outputting a control data group according to preset configuration data through a logic control module, so as to perform gating control on each gating branch based on the control data group;

[0024] The lower switch circuit is switched on and off through the control end, so that the driving capacitor in the corresponding laser channel is charged or discharged through the cooperation of the lower switch circuit and each selection branch, wherein the corresponding laser emits light when the driving capacitor in the laser channel is discharged.

[0025] Furthermore, the driving capacitor in the corresponding laser channel is charged or discharged by cooperating with the lower switch circuit and each gating branch, including:

[0026] Controlling the gate of the third transistor in the lower switch circuit through the control terminal to turn off the third transistor, and outputting the target control data group through the logic control module to charge the driving capacitor in the target laser channel;

[0027] The gate of the third transistor in the lower switch circuit is controlled by the control end to turn on the third transistor, so that the laser in the target laser channel emits laser light.

[0028] In a third aspect, the present invention further provides an electronic device, the electronic device comprising:

[0029] one or more processors;

[0030] A storage device for storing one or more programs;

[0031] When the one or more programs are executed by the one or more processors, the one or more processors implement the lidar laser charging and discharging control method as described above.

[0032] In a fourth aspect, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the lidar laser charge and discharge control method as described above.

[0033] The laser radar laser charge and discharge control system disclosed by the present invention has a lower-end switch circuit shared by various laser channels; the lower-end switch circuit cooperates with a gating integrated circuit to drive the lasers in one or more laser channels to emit lasers, or to charge the driving capacitors in one or more laser channels, thereby improving the integration of the laser radar laser charge and discharge system and the channel gating speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0035] Figure 1 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 1 ;

[0036] Figure 2 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 2 ;

[0037] Figure 3 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 3 ;

[0038] Figure 4 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 4 ;

[0039] Figure 5 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 5 ;

[0040] Figure 6 A schematic diagram of the structure of a gating integrated circuit provided by an embodiment of the present invention;

[0041] Figure 7 A schematic diagram of a laser radar laser charge and discharge control system provided in an embodiment of the present invention Figure 6 ;

[0042] Figure 8 A circuit diagram of a high-voltage level converter provided by an embodiment of the present invention;

[0043] Fig. 9 A schematic diagram of a laser radar laser charge and discharge control method provided by an embodiment of the present invention Figure 1 ;

[0044] Fig.10 A schematic diagram of a laser radar laser charge and discharge control method provided by an embodiment of the present invention Figure 2 ;

[0045] Fig.11 FIG. 4 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The present application is described in detail in one or more embodiments in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] Figure 1 This is a structural schematic diagram of a laser radar laser charge and discharge control system proposed in this application, wherein the laser radar laser charge and discharge control system includes at least two laser channels 110, a gating integrated circuit 120 and a lower end switch circuit 130.

[0049] Among them, each of the laser channels 110 shares the lower switch circuit 130; the lower switch circuit 130 cooperates with the selection integrated circuit 120 to drive the lasers in one or more of the laser channels 110 to emit lasers, or to charge the driving capacitors in one or more of the laser channels 110.

[0050] In the laser radar laser charge and discharge control system provided in the embodiment of the present application, each laser channel shares the lower switch circuit, which reduces the number of lower switch circuits, simplifies the structure of the laser radar laser charge and discharge control system, and reduces the structural complexity. By setting a gating integrated circuit, the integration of the laser radar laser charge and discharge control system is improved, and the gating speed and efficiency are improved.

[0051] In some embodiments, Figure 2 This is a structural schematic diagram of a laser radar laser charge and discharge control system proposed in this application, wherein the laser radar laser charge and discharge control system includes at least two laser channels 110, a gating integrated circuit 120 and a lower end switch circuit 130.

[0052] The gating integrated circuit 120 includes a multi-way gating module 121 and a logic control module 122; the multi-way gating module 121 includes a gating branch 1211 corresponding to each of the laser channels, which is used to cooperate with the lower switch circuit 130 under the control of the logic control module 122 to enable the laser in the corresponding laser channel 110 to emit laser, or to charge the driving capacitor in the corresponding laser channel 110.

[0053] The logic control module 122 is used to control each of the selection branches 1211 based on preset configuration data, so that each of the selection branches 1211 cooperates with the lower switch circuit 130 to enable the laser in the corresponding laser channel 110 to emit laser, or to charge the driving capacitor in the corresponding laser channel 110.

[0054] In some embodiments, Figure 3 This is a structural schematic diagram of a laser radar laser charge and discharge control system proposed in the present application, including at least two laser channels 110, a gating integrated circuit 120 and a lower switch circuit 130. The gating integrated circuit 120 includes a multi-way gating module 121 and a logic control module 122; the multi-way gating module 121 includes a gating branch 1211 corresponding to each of the laser channels, which is used to enable the laser in the corresponding laser channel 110 to emit laser light or charge the driving capacitor in the corresponding laser channel under the control of the logic control module 122. The logic control module 122 is used to control each of the gating branches 1211 based on preset configuration data, so that the laser in the corresponding laser channel 110 emits laser light or charges the driving capacitor in the corresponding laser channel.

[0055] Each laser channel 110 includes a laser and a driving capacitor, the anode of the laser is connected to one end of the driving capacitor, and the anode of the laser is also connected to the corresponding selection branch 1211, the other end of the driving capacitor is grounded, and the cathode of the laser is connected to the lower switch circuit 130.

[0056] In some embodiments, Figure 4This is a structural schematic diagram of a laser radar laser charge and discharge control system proposed in the present application, including at least two laser channels 110, a gating integrated circuit 120 and a lower switch circuit 130. The gating integrated circuit 120 includes a multi-way gating module 121 and a logic control module 122; the multi-way gating module 121 includes a gating branch 1211 corresponding to each of the laser channels, which is used to enable the laser in the corresponding laser channel 110 to emit laser light or charge the driving capacitor in the corresponding laser channel under the control of the logic control module 122. The logic control module 122 is used to control each of the gating branches 1211 based on preset configuration data, so that the laser in the corresponding laser channel 110 emits laser light or charges the driving capacitor in the corresponding laser channel.

[0057] Each of the gating branches 1211 includes a first transistor P1 and a second transistor N1, wherein the gate of the first transistor P1 is controlled by the logic control module 122, the source of the first transistor P1 is connected to the power supply DCHV, and the drain of the first transistor P1 is connected to the anode of the laser in the laser channel. The gate of the second transistor N1 is controlled by the logic control module 122, the source of the second transistor N1 is grounded, and the drain of the second transistor N1 is connected to the anode of the laser in the laser channel.

[0058] Optionally, the first transistor P1 can be a PMOS (P-channel Metal Oxide Semiconductor), and the second transistor N1 can be an NMOS (N-channel Metal Oxide Semiconductor). The preset configuration data includes M groups of configuration data required for PMOS and NMOS operating modes, wherein each group of configuration data includes the gate states of N PMOS and the gate states of N NMOS, for a total of 2N bits, wherein N is the number of laser channels 110, which is also the number of selection branches 1211, and is also the number of switch pairs of PMOS and NMOS. After the preset configuration data is written into the logic control module 122, the output of the logic control module 122 is automatically output in sequence in a cycle among the M groups of configuration data, outputting one group of data each time. Based on Figure 4 It can be seen that when the lower switch circuit 130 is turned off, the laser cannot be turned on, so it cannot emit laser. At this time, if the first transistor P1 is turned on and the second transistor N1 is turned off, the driving capacitor is connected to the power supply DCHV, and the driving capacitor is charged. When the lower switch circuit 130 is turned on, the first transistor P1 is turned on and the second transistor N1 is turned off, the laser is turned on, and the function of emitting laser is realized.

[0059] Furthermore, the function of the second transistor N1 is to release the residual power in the driving capacitor, ensuring that when other laser channels are turned on, the laser in the last laser channel that was selected will no longer continue to emit light, thereby improving the accuracy and controllability of the laser radar scanning. Specifically, when the first transistor P1 is turned off, the second transistor N1 is turned on, and the lower switch circuit 130 is turned off, both ends of the driving capacitor are connected to the ground, and the excess power in the driving capacitor is released at this time, ensuring that when other laser channels are selected, the laser in the current laser channel no longer emits lasers, thereby improving the accuracy and controllability of the laser radar scanning. In other words, when a certain laser channel is not selected, the first transistor P1 in the selection branch corresponding to the laser channel is turned off, and the second transistor N1 is turned on, so that both ends of the driving capacitor are connected to the ground, ensuring that the laser does not emit lasers.

[0060] In some embodiments, the second transistor N1 can be deleted, and only the first transistor P1 can be retained to realize the channel gating function. In general, in some embodiments, the gating branch includes a first transistor, the gate of the first transistor is controlled by the logic control module, the source of the first transistor is connected to a power supply, and the drain of the first transistor is connected to the anode of the laser in the laser channel.

[0061] Further, in order to improve the integration of the gate integrated circuit, the high-voltage resistance characteristics, reduce the power consumption when the first transistor is turned on, and thus increase the charging speed of the driving capacitor, in some embodiments, the multi-way gate module is made based on the bipolar-complementary metal oxide semiconductor-double diffused metal oxide semiconductor process BCD process. By adopting the BCD process, the multi-way gate module has excellent high-voltage resistance characteristics. This high voltage resistance characteristic can improve the charging efficiency of the laser drive capacitor, while ensuring that the circuit can still work stably under high-voltage environment. This not only broadens the application range of the laser radar, but also improves its working performance. Correspondingly, the gate drive of the first transistor in the multi-way gate module implemented based on the BCD process requires high voltage drive, so a high-voltage level converter can be further integrated to connect the gate of the first transistor to the voltage output end of the high-voltage level converter, and the input end of the high-voltage level converter is connected to the logic control module.

[0062] In some embodiments, reference is made to Figure 5The schematic diagram of the structure of a laser radar laser charge and discharge control system shown in the figure includes at least two laser channels 110, a gating integrated circuit 120 and a lower switch circuit 130. The gating integrated circuit 120 includes a gating branch corresponding to each of the laser channels, which is used to make the laser in the corresponding laser channel 110 emit laser light, or to charge the driving capacitor in the corresponding laser channel. Each laser channel 110 includes a laser and a driving capacitor, the anode of the laser is connected to one end of the driving capacitor, and the anode of the laser is also connected to the corresponding gating branch 1211, the other end of the driving capacitor is grounded, and the cathode of the laser is connected to the lower switch circuit 130.

[0063] The lower switch circuit 130 includes a third transistor N2, the drain of which is connected to the cathode of the laser in each of the laser channels, the source of which is grounded, and the gate of which is controlled by the control terminal 140. The control terminal 140 is also used to write configuration data to the gating integrated circuit 120. The lower switch circuit 130 also includes a second drive circuit 131, the output of which is connected to the gate of the third transistor N2, and the input of which is connected to the control terminal 140. Optionally, the third transistor N2 can be an NMOS and a high-power tube, because the instantaneous current driven by the third transistor N2 is relatively large, requiring a maximum of 40A. When a laser needs to be activated, the second drive circuit 131 receives a pulse signal to turn on the third transistor N2 briefly to complete the laser emission. The third transistor N2 can specifically be a GaN (gallium nitride) switch.

[0064] In some embodiments, reference is made to Figure 6 The schematic diagram of the structure of a gate integrated circuit 120 is shown, the gate integrated circuit 120 includes a multi-way gate module and a logic control module 122. The specific form of the logic control module 122 can be a digital circuit, including a core logic part (Core Logic), a PMOS pattern trigger unit (PMOS Pattern Trig), an NMOS pattern trigger unit (NMOS Pattern Trig), and an IO interface. Among them, the IO interface exchanges data with the external control terminal through the SPI protocol.

[0065] The logic control module 122 is used to automatically generate a switch sequence of N pairs of PMOS and NMOS in the multi-way gating module based on preset configuration data; and then select one or more pairs of the N pairs of PO and NO signals output to the outside to charge the driving capacitor of the corresponding laser channel.

[0066] The external control end writes M groups of configuration data required for PMOS and NMOS working modes to the core logic part (Core Logic) of the digital circuit through the SPI protocol, where each group of configuration data includes the gate states of N PMOS and N NMOS, a total of 2N bits, where N is the number of laser channels, and also the number of switch pairs of PMOS and NMOS in the multiplexer module. After writing the configuration data, the output of the core logic part (Core Logic) automatically cycles through the M groups of configuration data and outputs one group of data each time.

[0067] The multi-way gating module includes a gating branch 1211 corresponding to each of the laser channels, which is used to enable the laser in the corresponding laser channel to emit laser light or charge the driving capacitor in the corresponding laser channel under the control of the logic control module 122.

[0068] Each of the gating branches 1211 includes a first transistor P1, a second transistor N1, a first driving circuit 100 and a high voltage level converter HVLS. The output end of the first driving circuit 100 is connected to the gate of the second transistor N1, and the input end of the first driving circuit 100 is connected to the NMOS pattern trigger unit (NMOS Pattern Trig).

[0069] The gate of the first transistor P1 is connected to the voltage output end of the high-voltage level converter HVLS, the input end of the high-voltage level converter HVLS is connected to the PMOS pattern trigger unit (PMOS Pattern Trig), the source of the first transistor P1 is connected to the power supply DCHV, and the drain of the first transistor P1 is connected to the anode of the laser in the laser channel. The gate voltage of the first transistor P1 is the output voltage of the high-voltage level converter because when the driving capacitor is charged, when the current flows through the first transistor P1, the first transistor P1 will generate a relatively large loss. In order to reduce the loss, the first transistor P1 is manufactured using a high-voltage resistant solution based on the BCD process, so that the gate drive of the first transistor P1 requires a high voltage.

[0070] The source of the second transistor N1 is grounded, the gate of the second transistor N1 is connected to the output end of the first drive circuit 100, and the drain of the second transistor N1 is connected to the anode of the laser in the laser channel. The first drive circuit 100 is used to drive the second transistor N1 to turn on. By setting the first drive circuit 100, the second transistor N1 can be accurately driven, and the functions of improving the control speed, overcurrent protection and electrical isolation can also be realized, which can improve the stability of the entire control system.

[0071] In other words, the multi-way gate module includes a high voltage level converter HVLS, N PMOS arrays, and N NMOS arrays and drivers.

[0072] In some embodiments, reference is made to Figure 7 The structural schematic diagram of a laser radar laser charge and discharge control system shown in the figure includes 12 laser channels 110, a gating integrated circuit 120, the gating integrated circuit 120 includes a gating branch 1211 corresponding to each of the laser channels, and a logic control module 122, a lower switch circuit 130 and a control terminal 140. The logic control module 122 cooperates with the control terminal 140 to enable the laser in the corresponding laser channel 110 to emit laser light, or to charge the driving capacitor in the corresponding laser channel. Each laser channel 110 includes a laser and a driving capacitor, the anode of the laser is connected to one end of the driving capacitor, and at the same time, the anode of the laser is also connected to the corresponding gating branch 1211, the other end of the driving capacitor is grounded, and the cathode of the laser is connected to the lower switch circuit 130.

[0073] The lower switch circuit 130 includes a third transistor N2 and a second drive circuit 131, wherein the output terminal of the second drive circuit 131 is connected to the gate of the third transistor N2, and the input terminal of the second drive circuit 131 is connected to the control terminal 140. The drain of the third transistor N2 is connected to the cathode of the laser in each of the laser channels, and the source of the third transistor N2 is grounded. The control terminal 140 is also used to write configuration data to the logic control module 122.

[0074] In this embodiment, the number of laser channels N is 12, that is, 12 lasers are connected externally, and the capacitors connected to the lasers are used to provide the lasers with a large current of several tens of amperes required for light emission. The 12 lasers have a common cathode and are connected to a high-power NMOS, and the gate of the NMOS is controlled by the second drive circuit.

[0075] In some embodiments, reference is made to Figure 8 A circuit diagram of a high voltage level converter is shown, the circuit consists of two cross-coupled PMOS, and the two gates are connected to the reference voltage V REF The present invention is composed of a PMOS and two NMOS whose gates have reverse signals to each other, an inverter, a resistor and a current source, which can convert the external standard TTL (Transistor-Transistor Logic) level into high voltage and realize switching between 60V and 55V, and is used to drive the first transistor P1 in the above embodiment.

[0076] The lidar laser charge and discharge control system disclosed in the embodiment of the present application is a high-integration, fast channel selection and high-voltage lidar laser charge and discharge solution based on the BCD process. The charge and discharge function of multiple lasers is realized by integrating the logic control module, the power management module and the multi-channel gating module. This highly integrated design reduces the number of discrete components in the circuit, reduces the circuit complexity, and thus improves the stability and reliability of the system.

[0077] The embodiment of the present application adopts a fast channel gating technology, which realizes the fast driving of any one of the multiple lasers by cooperating with the gating integrated circuit through the lower switch circuit. Compared with the traditional channel gating method, this technology significantly improves the speed and efficiency of channel gating, allowing the laser radar to respond more quickly and adapt to different working environments.

[0078] The highly integrated gate integrated circuit of the embodiment of the present application is implemented using the BCD process and has excellent high-voltage resistance. This high voltage resistance can improve the charging efficiency of the laser diode drive capacitor and ensure that the circuit can still work stably under high-voltage environment. This not only broadens the application range of laser radar, but also improves its working performance.

[0079] In other embodiments, reference is made to Fig. 9 A flow chart of a laser radar laser charge and discharge control method is shown, and the control method is applied to the laser radar laser charge and discharge control system described in the above embodiment. The laser radar laser charge and discharge control method includes the following steps:

[0080] S910. Output a control data group according to preset configuration data through a logic control module, so as to perform gating control on each gating branch based on the control data group.

[0081] S920, the lower switch circuit is controlled by the control end, so that the driving capacitor in the corresponding laser channel is charged or discharged through the cooperation of the lower switch circuit and each selection branch, wherein the corresponding laser emits light when the driving capacitor in the laser channel is discharged.

[0082] Exemplarily, charging or discharging the driving capacitor in the corresponding laser channel by cooperating with the lower switch circuit and each gating branch includes:

[0083] Controlling the gate of the third transistor in the lower switch circuit through the control terminal to turn off the third transistor, and outputting the target control data group through the logic control module to charge the driving capacitor in the target laser channel;

[0084] The gate of the third transistor in the lower switch circuit is controlled by the control end to turn on the third transistor, so that the laser in the target laser channel emits laser light.

[0085] Specifically, the preset configuration data includes M groups of configuration data required for PMOS and NMOS working modes, wherein each group of configuration data includes N gate states of P1 and N gate states of N1, a total of 2N bits, wherein N is the number of laser channels 110, the number of selection branches 1211, and the number of switch pairs of P1 and N1. After the preset configuration data is written into the logic control module, the output of the logic control module is automatically cycled and output in sequence in the M groups of configuration data, outputting one group of data each time. Based on Figure 7 It can be seen that when the third transistor N2 is turned off, the laser cannot be turned on, so it cannot emit laser. At this time, if the first transistor P1 is turned on and the second transistor N1 is turned off, the driving capacitor is connected to the power supply DCHV, and the driving capacitor is charged. When the third transistor N2 is turned on, the first transistor P1 is turned on, the second transistor N1 is turned off, and the laser is turned on to realize the function of emitting laser (i.e., the driving capacitor is discharged). When the first transistor P1 is turned off, the second transistor N1 is turned on, and the third transistor N2 is turned off, both ends of the driving capacitor are connected to the ground, and the excess electricity in the driving capacitor is released at this time, ensuring that when other laser channels are selected, the laser in the current laser channel no longer emits lasers, thereby improving the accuracy and controllability of the laser radar scanning. In other words, when a certain laser channel is not selected, the first transistor P1 in the selection branch corresponding to the laser channel is turned off, and the second transistor N1 is turned on, so that both ends of the driving capacitor are connected to the ground to ensure that the laser does not emit lasers.

[0086] For further reference, see Fig.10 The flowchart of a method for controlling the charge and discharge of a laser radar laser shown in the figure specifically includes the following steps: S1. The external control chip writes configuration data into the Core Logic. S2. The Core Logic charges the corresponding channel LD drive capacitor through the drive circuit according to the configuration data. S3. The external control chip controls the high-power NMOS driver to turn on the high-power NMOS. S4. The corresponding channel LD emits light.

[0087] Fig.11 Schematic diagram of the structure of an electronic device in the embodiment of the present disclosure. Fig.11 , which shows a structural schematic diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure. Fig.11 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0088] like Fig.11 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) or a program loaded from a storage device 508 into a random access memory (RAM) to implement the method of the embodiment described in the present disclosure. In RAM503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, ROM 502, and RAM503 are connected to each other via a bus 504. An I / O interface 505 is also connected to the bus 504. An input device 506, an output device 507, a storage device 508, and a communication device 509 are all connected to the I / O interface 505.

[0089] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart, thereby realizing the lidar laser charge and discharge control system as described above. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0090] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0091] The computer-readable medium may be included in the electronic device, or may exist independently without being installed in the electronic device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device executes the method steps of the embodiment of the present application.

[0092] Optionally, when the above one or more programs are executed by the electronic device, the electronic device may also execute other steps described in the above embodiments.

[0093] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0095] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A laser radar laser charge and discharge control system, characterized in that: include: At least two laser channels, a gating integrated circuit and a bottom switch circuit; Wherein, at least two of the laser channels share the lower switch circuit; The lower switch circuit cooperates with the gating integrated circuit to drive the lasers in one or more laser channels to emit laser light, or to charge the driving capacitors in one or more laser channels.

2. The laser radar laser charge and discharge control system according to claim 1, characterized in that: The gating integrated circuit includes a multi-channel gating module and a logic control module; The multi-way gating module includes a gating branch corresponding to each of the laser channels, and is used to cooperate with the lower switch circuit under the control of the logic control module to enable the laser in the corresponding laser channel to emit laser light, or to charge the driving capacitor in the corresponding laser channel; The logic control module is used to control each of the gating branches based on preset configuration data, so that each of the gating branches cooperates with the lower switch circuit to enable the laser in the corresponding laser channel to emit laser, or to charge the driving capacitor in the corresponding laser channel.

3. The laser radar laser charge and discharge control system according to claim 2, characterized in that: The gating branch includes a first transistor and / or a second transistor, the gate of the first transistor is controlled by the logic control module, the source of the first transistor is connected to a power supply, and the drain of the first transistor is connected to an anode of the laser in the laser channel; The gate of the second transistor is controlled by the logic control module, the source of the second transistor is grounded, and the drain of the second transistor is connected to the anode of the laser in the laser channel.

4. The laser radar laser charge and discharge control system according to claim 3, characterized in that: The gating branch also includes a high voltage level converter; The multi-way gating module is manufactured based on the bipolar-complementary metal oxide semiconductor-double diffused metal oxide semiconductor process BCD process; The gate of the first transistor is connected to the voltage output terminal of the high-voltage level converter, and the input terminal of the high-voltage level converter is connected to the logic control module.

5. The laser radar laser charge and discharge control system according to claim 3, characterized in that: The selection branch further includes a first driving circuit, an output end of the first driving circuit is connected to the gate of the second transistor, and an input end of the first driving circuit is connected to the logic control module.

6. The laser radar laser charge and discharge control system according to claim 1, characterized in that: The lower switch circuit comprises a third transistor, the drain of the third transistor is connected to the cathode of the laser in each laser channel, the source of the third transistor is grounded, and the gate of the third transistor is controlled by the control terminal.

7. The laser radar laser charge and discharge control system according to claim 6, characterized in that: The lower switch circuit further includes a second drive circuit, an output end of the second drive circuit is connected to the gate of the third transistor, and an input end of the second drive circuit is connected to the control end.

8. A laser radar laser charge and discharge control method, applied to the laser radar laser charge and discharge control system according to any one of claims 1 to 7, characterized in that: include: Outputting a control data group according to preset configuration data through a logic control module, so as to perform gating control on each gating branch based on the control data group; The lower switch circuit is switched on and off through the control end, so that the driving capacitor in the corresponding laser channel is charged or discharged through the cooperation of the lower switch circuit and each selection branch, wherein the corresponding laser emits light when the driving capacitor in the laser channel is discharged.

9. The laser radar laser charge and discharge control method according to claim 8, characterized in that: The driving capacitor in the corresponding laser channel is charged or discharged by cooperating with the lower switch circuit and each gating branch, including: Controlling the gate of the third transistor in the lower switch circuit through the control terminal to turn off the third transistor, and outputting the target control data group through the logic control module to charge the driving capacitor in the target laser channel; The gate of the third transistor in the lower switch circuit is controlled by the control end to turn on the third transistor, so that the laser in the target laser channel emits laser light.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, it implements the lidar laser charge and discharge control system as described in any one of claims 8-9.

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