Lighting system and method of operating the same

Abstract

The optical system comprises a chaotic signal generating device, a signal transmitting device and a signal processing system. The chaotic signal generating device is used for generating a chaotic signal and comprises a laser generator and a feedback device which are coupled with each other. The laser generator is used for generating a laser signal. The feedback device is used for generating a chaotic signal and a feedback signal according to the laser signal and transmitting the adjusted feedback signal back to the laser generator. The signal transmitting device is coupled to the chaotic signal generating device and used for receiving the chaotic signal and generating a reference signal and a detection signal according to the chaotic signal, and the detection signal can be converted into a reflection signal after being reflected by an obstacle. The signal processing system is coupled to the signal transmitting device and is used for receiving the reference signal and the reflected signal and judging delay time according to the reference signal and the reflected signal by using a frequency domain phase modulation algorithm. The optical system of the present disclosure can effectively modulate a laser signal with high randomness and reduce the limitation of sampling frequency.

Description

Technical Field

[0001] The present disclosure relates to a LiDAR system and an operating method thereof, and more particularly to a LiDAR system and an operating method thereof that integrates a hardware-based pulsed chaotic signal architecture and a software-based phase modulation algorithm. Background Art

[0002] Light Detection And Ranging (LIDAR) is widely used in object detection technology (for example, autonomous driving, unmanned vehicles, etc.) due to its high accuracy, high resolution and long sensing distance.

[0003] Traditional lidar systems modulate the pulse signals they emit to generate highly random signals, thereby avoiding mutual influence between different lidars. However, if random timing modulation is performed on repetitive pulses, the time interval between pulse emissions will be non-fixed, which is not conducive to producing images with uniform resolution. In another modulation method, a high-speed modulator is used to modulate the laser signal, but due to its large limitations on the number and length of signal groups, it has poor scalability and the cost of the lidar system will also increase significantly.

[0004] On the other hand, the accuracy of the LiDAR system depends on the sampling frequency of the Analog-to-Digital Converter (ADC) in the system. In general, in order to save the cost of the LiDAR system, a lower sampling frequency is chosen to calculate the delay time and delay distance, and an interpolation algorithm is used to improve the accuracy of the calculation. However, since this approach is limited by the sampling frequency of the ADC, it cannot sense small displacements, so the LiDAR system is still subject to many limitations in sensing.

[0005] Therefore, how to effectively modulate the highly random laser signal and reduce the limitation brought by the sampling frequency of the ADC without significantly increasing the cost of the LiDAR system is an important issue in this field. Summary of the invention

[0006] The present disclosure document provides a lidar system, including a chaotic signal generating device, a signal transmitting device and a signal processing system. The chaotic signal generating device is used to generate a chaotic signal, and includes a laser generator and a feedback device. The laser generator is used to generate a laser signal. The feedback device is coupled to the laser generator, and is used to receive the laser signal, generate a chaotic signal and a feedback signal according to the laser signal, and transmit the adjusted feedback signal back to the laser generator. The signal transmitting device is coupled to the chaotic signal generating device, and is used to receive the chaotic signal, and generate a reference signal and a detection signal according to the chaotic signal, wherein the detection signal is converted into a reflection signal after being reflected by an obstacle. The signal processing system is coupled to the signal transmitting device, and is used to receive the reference signal and the reflection signal, and uses a frequency domain phase modulation algorithm to determine the delay time according to the reference signal and the reflection signal.

[0007] In some embodiments of the lidar system, the feedback device includes a polarization maintaining beam splitter, an optical attenuator, a reflector, and an optical power meter. The polarization maintaining beam splitter is used to divide the laser signal into a feedback signal and a chaotic signal. The optical attenuator is used to receive the feedback signal and adjust the signal strength of the feedback signal according to the attenuation parameter. The reflector is used to receive the feedback signal from the optical attenuator and reflect the feedback signal back to the laser generator. The optical power meter is coupled to the polarization maintaining beam splitter to monitor the signal strength of the feedback signal, wherein the polarization maintaining beam splitter, the optical attenuator, and the reflector are arranged on the same optical transmission path, wherein the signal strength of the feedback signal is less than the signal strength of the chaotic signal.

[0008] In some embodiments of the LiDAR system, the signal transmitting device includes a signal amplifier, a pulse adjuster, and a spectroscope. The signal amplifier is used to receive the chaotic signal and generate a pulse chaotic signal. The pulse adjuster is coupled to the signal amplifier to adjust the pulse repetition rate and pulse width of the pulse chaotic signal. The spectroscope is coupled to the signal amplifier to separate the pulse chaotic signal into a reference signal and a detection signal, wherein the signal strength of the reference signal is less than the signal strength of the detection signal.

[0009] In some embodiments of the lidar system, the signal processing system includes two signal receivers, an analog-to-digital converter, and a processor. The two signal receivers are used to receive a reference signal and a reflection signal, respectively. The analog-to-digital converter is coupled to the two signal receivers to convert the reference signal and the reflection signal from analog signals to digital reference signals and digital reflection signals, respectively. The processor is coupled to the analog-to-digital converter to determine the delay time according to the digital reference signal and the digital reflection signal using a frequency domain phase modulation algorithm.

[0010] In some embodiments of the lidar system, the two signal receivers are avalanche photodiodes.

[0011] In some embodiments of the lidar system, when the signal processing system uses a frequency domain phase modulation algorithm to determine the delay time, the signal processing system is used to: convert a digital reference signal from a time domain signal to a frequency domain reference signal of a frequency domain signal through Fourier transform; calculate multiple phase modulation signals based on the frequency domain reference signal, the signal frequency and multiple delay times; convert the multiple phase modulation signals from a frequency domain signal to multiple moving reference signals of a time domain signal through inverse Fourier transform; calculate multiple similarity parameters based on the multiple moving reference signals and the digital reflection signal; and select the delay time corresponding to the moving reference signal corresponding to one of the multiple similarity parameters with the largest value as the delay time of the lidar system.

[0012] The present disclosure document provides an operating method of a lidar system, wherein the lidar system includes a chaotic signal generating device, a signal transmitting device and a signal processing system, and the operating method includes: (a) the chaotic signal generating device generates a chaotic signal; (b) the signal transmitting device generates a reference signal and a detection signal according to the chaotic signal, wherein the detection signal is converted into a reflection signal after being reflected by an obstacle; and (c) the signal processing system receives the reference signal and the reflection signal, and uses a frequency domain phase modulation algorithm to determine a delay time according to the reference signal and the reflection signal.

[0013] In some embodiments of the operating method, step (a) includes: a laser generator of the chaotic signal generating device generates a laser signal; and a feedback device of the chaotic signal generating device generates a chaotic signal and a feedback signal according to the laser signal, and transmits the adjusted feedback signal back to the laser generator.

[0014] In some embodiments of the operating method, a feedback device of a chaotic signal generating device generates a chaotic signal and a feedback signal according to a laser signal, and transmits the adjusted feedback signal back to a laser generator, including: a polarization maintaining beam splitter of the feedback device divides the laser signal into a feedback signal and a chaotic signal; an optical attenuator of the feedback device receives the feedback signal and adjusts the signal strength of the feedback signal according to an attenuation parameter; and a reflector of the feedback device receives the feedback signal from the optical attenuator and reflects the feedback signal back to the laser generator, wherein the polarization maintaining beam splitter, the optical attenuator and the reflector are arranged on the same optical transmission path, and wherein the signal strength of the feedback signal is less than the signal strength of the chaotic signal.

[0015] In some embodiments of the operating method, step (b) includes: a signal amplifier of the signal transmitting device receives a chaotic signal and generates a pulse chaotic signal; a pulse adjuster of the signal transmitting device adjusts the pulse repetition rate and pulse width of the pulse chaotic signal; and a spectrometer of the signal transmitting device divides the pulse chaotic signal into a reference signal and a detection signal, wherein the signal strength of the reference signal is less than the signal strength of the detection signal.

[0016] In some embodiments of the operating method, step (c) includes: two signal receivers of the signal processing system receive a reference signal and a reflected signal respectively; an analog-to-digital converter of the signal processing system converts the reference signal and the reflected signal from analog signals into a digital reference signal and a digital reflected signal respectively; and a processor of the signal processing system determines the delay time according to the digital reference signal and the digital reflected signal using a frequency domain phase modulation algorithm.

[0017] In some embodiments of the operating method, the processor of the signal processing system uses a frequency domain phase modulation algorithm to determine the delay time based on the digital reference signal and the digital reflection signal, including: converting the digital reference signal from a time domain signal to a frequency domain reference signal of a frequency domain signal through Fourier transform; calculating multiple phase modulation signals based on the frequency domain reference signal, the signal frequency and multiple delay times; converting the multiple phase modulation signals from a frequency domain signal to multiple moving reference signals of a time domain signal through inverse Fourier transform; calculating multiple similarity parameters based on the multiple moving reference signals and the digital reflection signal; and selecting the delay time corresponding to the moving reference signal corresponding to one of the largest of the multiple similarity parameters as the delay time of the lidar system.

[0018] Through the lidar system and its operating method disclosed in this document, a highly random and highly anti-interference chaotic signal can be modulated without the need for a high-speed modulator, and the limitation of ADC sampling frequency can be broken through to sense small displacements, thereby improving the accuracy of the lidar system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To make the above and other objects, features, advantages and embodiments of the present disclosure more clearly understood, the following are the descriptions of the accompanying drawings:

[0020] Figure 1 is a simplified functional block diagram of a lidar system according to some embodiments;

[0021] Figure 2A is a flowchart of a method of operating a lidar system according to some embodiments;

[0022] Figure 2B for Figure 2A A detailed flow chart of step 210 in FIG.

[0023] Figure 2C for Figure 2B A detailed flow chart of step 212 in FIG.

[0024] Figure 2D for Figure 2A A detailed flow chart of step 220 in FIG.

[0025] Figure 2E for Figure 2AA detailed flow chart of step 230 in FIG.

[0026] Figure 3 is a simplified functional block diagram of a chaotic signal generating device according to some embodiments;

[0027] Figure 4 is a flow chart of a frequency domain phase modulation algorithm according to some embodiments;

[0028] Figure 5A is a waveform diagram of a digital reference signal in the time domain according to some embodiments;

[0029] Figure 5B is a waveform diagram of a reference signal in the frequency domain according to some embodiments; and

[0030] Figure 5C is a waveform diagram of a mobile reference signal in the time domain according to some embodiments. DETAILED DESCRIPTION

[0031] The following will illustrate the embodiments of the present disclosure with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar elements or method flows.

[0032] In this disclosure document, when an element is referred to as "connected", it may refer to "electrical connection" or "optical connection", and when an element is referred to as "coupled", it may refer to "electrical coupling" or "optical coupling". "Connected" or "coupled" may also be used to indicate the coordinated operation or interaction between two or more elements. Unless the article is specifically limited in the text, "one" and "the" may refer to a single or multiple. It will be further understood that the "comprising", "including", "having" and similar words used in this document specify the features, regions, integers, steps, operations, elements and / or components recorded therein, but do not exclude the described or additional one or more other features, regions, integers, steps, operations, elements, components and / or groups thereof.

[0033] Figure 1 FIG. 1 is a simplified functional block diagram of a lidar system 100 according to some embodiments. In some embodiments, the lidar system 100 comprises a chaotic signal generating device 110 , a signal transmitting device 120 , and a signal processing system 130 , wherein the chaotic signal generating device 110 is coupled to the signal transmitting device 120 , and the signal transmitting device 120 is coupled to the signal processing system 130 .

[0034] To clarify the operation of the LiDAR system 100, please refer to Figure 1 and Figure 2A . Figure 2AFIG. 2 is a flow chart of a method 200 for operating the lidar system 100 according to some embodiments. In some embodiments, the method 200 includes steps 210 , 220 , and 230 .

[0035] In step 210 , the chaotic signal generating device 110 is used to generate a chaotic signal CS and transmit the chaotic signal CS to the signal transmitting device 120 .

[0036] In step 220 , the signal transmitting device 120 is used to receive the chaotic signal CS and generate a reference signal REF and a detection signal DET according to the chaotic signal CS. After the detection signal DET is transmitted by the signal transmitting device 120 and reaches an obstacle, it is reflected by the obstacle and transformed into a reflection signal RFL.

[0037] In step 230, the signal processing system 130 receives the reference signal REF and the reflected signal RFL, and calculates the delay time of the lidar system 100 using the frequency domain phase modulation algorithm 400 according to the received reference signal REF and the reflected signal RFL. The detailed operation of the frequency domain phase modulation algorithm 400 will be described in the following paragraphs.

[0038] In some embodiments, the chaotic signal generating device 110 includes a laser generator 111 and a feedback device 112 coupled to each other. For the operation of the chaotic signal generating device 110, please refer to FIG. 1A and FIG. Figure 2B . Figure 2B for Figure 2A Detailed flow chart of step 210 in FIG. In some embodiments, step 210 further includes steps 211 and 212.

[0039] In step 211 , the laser generator 111 is used to generate a laser signal LS to the feedback device 112 .

[0040] In step 212 , the feedback device 112 is used to receive the laser signal LS, generate a chaotic signal CS and a feedback signal FB according to the laser signal LS, and transmit the adjusted feedback signal FB back to the laser generator 111 .

[0041] For further information on the internal structure of the feedback device 112, please refer to Figure 3 , Figure 3 1 is a simplified functional block diagram of the chaotic signal generating device 110 according to some embodiments. In some embodiments, the feedback device 112 comprises a polarization maintaining beam splitter 112a, an optical attenuator 112b and a reflector 112c, wherein the polarization maintaining beam splitter 112a, the laser generator 111 and the optical attenuator 112b are disposed on the same optical transmission path.

[0042] To clarify the operation of the feedback device 112, please refer to Figure 2C and Figure 3 . Figure 2C for Figure 2B Detailed flow chart of step 212 in FIG. In some embodiments, step 212 further includes steps 212a, 212b, 212c, and 212d.

[0043] In step 212a, the polarization maintaining beam splitter 112a is used to receive the laser signal LS from the laser generator 111 and split the laser signal LS into a feedback signal FB and a chaotic signal CS. In some embodiments, the signal strength (ie, amplitude) of the feedback signal FB is smaller than the signal strength of the chaotic signal CS.

[0044] In step 212b, the optical attenuator 112b is used to receive the feedback signal FB, adjust the signal strength of the feedback signal FB according to the attenuation parameter, and then transmit the adjusted feedback signal FB to the reflector 112c. For example, when the attenuation parameter is 0.5, the optical attenuator 112b can adjust the signal strength of the feedback signal FB to 0.5 times the original and transmit it to the reflector 112c.

[0045] In step 212c, the reflector 112c is used to receive the feedback signal FB adjusted by the optical attenuator 112b, and reflect the adjusted feedback signal FB back to the laser generator 111 to complete the external feedback. Through the external feedback, the laser signal LS can be modulated, which is conducive to the generation of the chaotic signal CS with random waveform and intensity.

[0046] In some embodiments, the light feedback intensity of the external feedback is related to the attenuation parameter set by the optical attenuator 112 b , and the light feedback delay time of the external feedback is positively related to the distance between the optical attenuator 112 b and the reflector 112 c .

[0047] The chaotic signal CS generated by the feedback device 112 has random and unpredictable characteristics, so that the lidar system 100 can resist interference from other lidar systems. In addition, since a high-speed modulator is not required in the feedback device 112, the system complexity can be effectively reduced and the cost of the lidar system 100 can be reduced.

[0048] Please refer to Figure 1 In some embodiments, the signal transmitting device 120 includes a signal amplifier 121 , a pulse regulator 122 , and a spectroscope 123 , wherein the signal amplifier 121 is coupled to the pulse regulator 122 and the spectroscope 123 .

[0049] In order to clearly explain the operation of the signal transmitting device 120 and Figure 2A For detailed operation of step 220, please refer to Figure 1 and Figure 2D . Figure 2D for Figure 2A Detailed flow chart of step 220 in FIG. In some embodiments, step 220 further includes steps 221, 222 and 223.

[0050] In step 221, the signal amplifier 121 is used to receive the chaotic signal CS and generate a pulse chaotic signal PCS. Compared with the conventional lidar system using a continuous wave architecture, the lidar system 100 using the pulse chaotic signal PCS can achieve higher peak power and thus achieve a wider range of applications.

[0051] In step 222 , the pulse adjuster 122 is used to adjust the pulse repetition rate and pulse width of the pulse chaotic signal PCS to meet application requirements.

[0052] In step 223, the spectroscope 123 is used to receive the adjusted pulsed chaotic signal PCS and divide the adjusted pulsed chaotic signal PCS into a reference signal REF and a detection signal DET. In some embodiments, the signal strength of the reference signal REF is smaller than the signal strength of the detection signal DET.

[0053] Please refer to Figure 1 In some embodiments, the signal processing system 130 includes two signal receivers 131 , an analog-to-digital converter (ADC) 132 , and a processor 133 , wherein the two signal receivers 131 are coupled to the ADC 132 , and the ADC 132 is coupled to the processor 133 .

[0054] To clearly explain the operation of the signal processing system 130 and Figure 2A For detailed operation of step 230, please refer to Figure 1 and Figure 2E . Figure 2E for Figure 2A Detailed flow chart of step 230 in FIG. In some embodiments, step 230 further includes steps 231, 232 and 233.

[0055] In step 231, two signal receivers 131 are used to receive a reference signal REF and a reflected signal RFL respectively, and transmit the reference signal REF and the reflected signal RFL to an ADC 132 respectively. In some embodiments, the signal receiver 131 may be implemented by an avalanche photodiode (APD).

[0056] In step 232 , the ADC 132 is used to receive the reference signal REF and the reflected signal RFL, and convert the reference signal REF and the reflected signal RFL from analog signals into digital signals, and then transmit the converted digital reference signal DREF and digital reflected signal DRFL to the processor 133 .

[0057] In step 233 , the processor 133 is configured to receive the digital reference signal DREF and the digital reflected signal DRFL, and determine the delay time of the lidar system 100 using the frequency domain phase modulation algorithm 400 according to the digital reference signal DREF and the digital reflected signal DRFL.

[0058] In some embodiments, the processor 133 may be implemented by a central processing unit (CPU), a microprocessor, a multi-processor, other similar elements or any combination thereof. In some embodiments, the processor 133 includes a storage unit for storing the frequency domain phase modulation algorithm 400. The storage unit may be implemented by a dynamic random access memory (DRAM), a static random access memory (SRAM), a read-only memory (ROM) or other elements with storage functions.

[0059] It should be noted that the number and order of the steps in the operating method 200 of the present disclosure are only examples and are not intended to limit the present disclosure. The number and order of other steps are within the scope of the present disclosure. In some embodiments, step 212d can be omitted. In some embodiments, steps 221 and 222 can be performed simultaneously. In some embodiments, step 222 can be omitted.

[0060] To clarify the operation of the frequency domain phase modulation algorithm 400, please refer to Figure 4 . Figure 4 FIG. 4 is a flow chart of a frequency domain phase modulation algorithm 400 according to some embodiments. In some embodiments, the frequency domain phase modulation algorithm 400 includes steps 410 , 420 , 430 , 440 , and 450 .

[0061] In step 410, the processor 133 converts the digital reference signal DREF from a time domain signal into a frequency domain reference signal F of a frequency domain signal by Fourier transform. REF (ω). Please refer to Figure 5A and Figure 5B . Figure 5A is a waveform diagram of a digital reference signal DREF in the time domain according to some embodiments, Figure 5B is a frequency domain reference signal F according to some embodiments REF (ω) Waveform in the frequency domain.

[0062] In step 420, the processor 133 presets a plurality of delay times and generates a delay time signal according to the frequency domain reference signal F REF (ω) and signal frequency, multiple phase modulation signals F' corresponding to multiple delay times are calculated by "Formula 1"REF 9ω). The formula of "Formula 1" is as follows:

[0063] F′ REF (ω)=F REF (ω)*e -iφ ,φ=2πft shift Formula One

[0064] Among them, t shift represents the delay time, and f is the signal frequency of the digital reference signal DREF.

[0065] In step 430, the processor 133 performs an inverse Fourier transform to convert each calculated phase modulation signal F′ into REF (ω) The frequency domain signal is converted into a time domain signal to obtain multiple moving reference signals DREF' corresponding to multiple delay times. Figure 5C . Figure 5C is a waveform diagram of a moving reference signal DREF′ in the time domain according to some embodiments.

[0066] In step 440 , the processor 133 performs a cross-correlation function calculation (ie, similarity comparison) on each moving reference signal DREF′ and the digital reflected signal DRFL to calculate a plurality of similarity parameters.

[0067] In step 450, the processor 133 selects the largest one of the plurality of similarity parameters and uses the delay time corresponding to the corresponding mobile reference signal DREF' as the delay time of the lidar system 100. In some embodiments, the processor 133 is further configured to calculate the distance error of the lidar system 100 according to the delay time.

[0068] Through the frequency domain phase modulation algorithm 400, the digital reference signal DREF can be modulated after being converted into the frequency domain, so that a phase shift not limited by the sampling frequency can be performed to obtain a phase modulated signal F' with a shift smaller than the sampling period. REF (ω), thereby improving the accuracy of the lidar system 100.

[0069] In summary, the lidar system 100 and the operating method 200 of the present disclosure achieve improvements in different aspects by integrating hardware and software systems. In terms of hardware, the lidar system 100 of the present disclosure can modulate a highly random chaotic signal without the need for a high-speed modulator to improve anti-interference and reduce its system complexity and manufacturing cost; in terms of software, the lidar system 100 of the present disclosure breaks through the limitation of ADC sampling frequency by using a frequency domain phase modulation algorithm, so it can sense smaller displacements, thereby improving the accuracy of sensing.

[0070] The above are only preferred embodiments of the present disclosure. Without departing from the scope or spirit of the present disclosure, the structure of the present disclosure may be modified and equivalent. In summary, all modifications and equivalent changes made to the present disclosure within the scope of the attached claims are within the scope of the present disclosure.

[0071]

Explanation of symbols

[0072] 100: LiDAR System

[0073] 110: Chaotic signal generating device

[0074] 111:Laser Generator

[0075] 112: Feedback device

[0076] 112a: Polarization maintaining beam splitter

[0077] 112b: Optical Attenuator

[0078] 112c: Reflector

[0079] 120:Signal transmitter

[0080] 121:Signal amplifier

[0081] 122: Pulse regulator

[0082] 123: Beam Spectroscope

[0083] 130:Signal Processing System

[0084] 131:Signal Receiver

[0085] 132: Analog-to-digital converter (ADC)

[0086] 133: Processor

[0087] 200: Operation method

[0088] 210,220,230: Steps

[0089] 211,212: Steps

[0090] 212a, 212b, 212c, 212d: Steps

[0091] 221,222,223: Steps

[0092] 231,232,233: Steps

[0093] 400:Frequency Domain Phase Modulation Algorithm

[0094] 410,420,430,440,450: Steps

[0095] LS: Laser signal

[0096] CS: Chaos Signal

[0097] PCS: Pulse Chaotic Signal

[0098] REF: Reference signal

[0099] DET: Detection signal

[0100] RFL: reflected signal

[0101] FB: Feedback signal

[0102] REF: Reference signal

[0103] DREF: Digital reference signal

[0104] DRFL: Digital Reflection Signal

[0105] F REF (ω): frequency domain reference signal

[0106] DREF': Moving reference signal.

Claims

1. A lidar system, characterized in that: Include: A chaotic signal generating device, used for generating a chaotic signal, comprising: a laser generator for generating a laser signal; and A feedback device, coupled to the laser generator, for receiving the laser signal, generating the chaotic signal and the feedback signal according to the laser signal, and transmitting the adjusted feedback signal back to the laser generator; A signal transmitting device, coupled to the chaotic signal generating device, for receiving the chaotic signal and generating a reference signal and a detection signal according to the chaotic signal, wherein the detection signal is transformed into a reflection signal after being reflected by an obstacle; as well as The signal processing system is coupled to the signal transmitting device, and is used for receiving the reference signal and the reflected signal, and determining the delay time by using a frequency domain phase modulation algorithm according to the reference signal and the reflected signal.

2. The lidar system according to claim 1, characterized in that: The feedback device comprises: A polarization maintaining beam splitter, used for splitting the laser signal into the feedback signal and the chaotic signal; an optical attenuator, used for receiving the feedback signal and adjusting the signal strength of the feedback signal according to an attenuation parameter; a reflector, for receiving the feedback signal from the optical attenuator and reflecting the feedback signal back to the laser generator; and an optical power device, coupled to the polarization maintaining optical splitter, for monitoring the signal strength of the feedback signal, The polarization maintaining beam splitter, the optical attenuator and the reflector are arranged on the same optical transmission path. The signal strength of the feedback signal is smaller than the signal strength of the chaotic signal.

3. The lidar system according to claim 1, characterized in that: The signal transmitting device comprises: A signal amplifier, used for receiving the chaotic signal and generating a pulse chaotic signal; A pulse adjuster, coupled to the signal amplifier, for adjusting the pulse repetition rate and pulse width of the pulse chaotic signal; as well as A spectroscope is coupled to the signal amplifier and is used to separate the pulse chaotic signal into the reference signal and the detection signal. The signal strength of the reference signal is smaller than the signal strength of the detection signal.

4. The lidar system according to claim 1, characterized in that: The signal processing system comprises: two signal receivers, used to receive the reference signal and the reflected signal respectively; an analog-to-digital converter, coupled to the two signal receivers, for converting the reference signal and the reflection signal from analog signals into digital reference signals and digital reflection signals, respectively; as well as The processor is coupled to the analog-to-digital converter and is used to determine the delay time according to the digital reference signal and the digital reflected signal by using the frequency domain phase modulation algorithm.

5. The lidar system according to claim 4, characterized in that: The two signal receivers are avalanche photodiodes.

6. The lidar system according to claim 4, characterized in that: When the signal processing system uses the frequency domain phase modulation algorithm to determine the delay time, the signal processing system is used to: Converting the digital reference signal from a time domain signal to a frequency domain reference signal of a frequency domain signal by Fourier transformation; Calculating a plurality of phase modulation signals according to the frequency domain reference signal, the signal frequency and a plurality of delay times; Converting the multiple phase modulated signals from frequency domain signals to multiple moving reference signals of time domain signals by inverse Fourier transform; Calculating a plurality of similarity parameters according to the plurality of moving reference signals and the digital reflection signal; as well as The delay time corresponding to the mobile reference signal corresponding to the largest one of the multiple similarity parameters is selected as the delay time of the lidar system.

7. A method for operating a lidar system, characterized in that: The lidar system includes a chaotic signal generating device, a signal transmitting device and a signal processing system, and the operating method includes: (a) the chaotic signal generating device generates a chaotic signal; (b) the signal transmitting device generates a reference signal and a detection signal according to the chaotic signal, wherein the detection signal is transformed into a reflection signal after being reflected by an obstacle; as well as (c) The signal processing system receives the reference signal and the reflected signal, and determines the delay time using a frequency domain phase modulation algorithm according to the reference signal and the reflected signal.

8. The operating method of the lidar system according to claim 7, characterized in that: Step (a) comprises: The laser generator of the chaotic signal generating device generates a laser signal; and The feedback device of the chaotic signal generating device generates the chaotic signal and the feedback signal according to the laser signal, and transmits the adjusted feedback signal back to the laser generator.

9. The operating method of the lidar system according to claim 8, characterized in that: The feedback device of the chaotic signal generating device generates the chaotic signal and the feedback signal according to the laser signal, and transmits the adjusted feedback signal back to the laser generator, comprising: The polarization maintaining beam splitter of the feedback device divides the laser signal into the feedback signal and the chaotic signal; The optical attenuator of the feedback device receives the feedback signal and adjusts the signal strength of the feedback signal according to the attenuation parameter; and The reflector of the feedback device receives the feedback signal from the optical attenuator and reflects the feedback signal back to the laser generator. The polarization maintaining beam splitter, the optical attenuator and the reflector are arranged on the same optical transmission path. The signal strength of the feedback signal is smaller than the signal strength of the chaotic signal.

10. The operating method of the lidar system according to claim 7, characterized in that: Step (b) comprises: The signal amplifier of the signal transmitting device receives the chaotic signal and generates a pulse chaotic signal; The pulse adjuster of the signal transmitting device adjusts the pulse repetition rate and pulse width of the pulse chaotic signal; as well as The spectroscope of the signal transmitting device divides the pulse chaotic signal into the reference signal and the detection signal. The signal strength of the reference signal is smaller than the signal strength of the detection signal.

11. The operating method of the lidar system according to claim 7, characterized in that: Step (c) comprises: The two signal receivers of the signal processing system receive the reference signal and the reflected signal respectively; The analog-to-digital converter of the signal processing system converts the reference signal and the reflection signal from analog signals into a digital reference signal and a digital reflection signal, respectively; and The processor of the signal processing system determines the delay time by using the frequency domain phase modulation algorithm according to the digital reference signal and the digital reflected signal.

12. The operating method of the lidar system according to claim 11, characterized in that: The processor of the signal processing system determines the delay time using the frequency domain phase modulation algorithm according to the digital reference signal and the digital reflected signal, including: Converting the digital reference signal from a time domain signal to a frequency domain reference signal of a frequency domain signal by Fourier transformation; Calculating a plurality of phase modulation signals according to the frequency domain reference signal, the signal frequency and a plurality of delay times; Converting the multiple phase modulated signals from frequency domain signals to multiple moving reference signals of time domain signals by inverse Fourier transform; Calculating a plurality of similarity parameters according to the plurality of moving reference signals and the digital reflection signal; as well as The delay time corresponding to the mobile reference signal corresponding to the largest one of the multiple similarity parameters is selected as the delay time of the lidar system.

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