Laser radar system and vehicle

Abstract

The invention discloses a laser radar system and a vehicle. The system comprises a transmitting module, a reflecting mirror, a scanner, a front window through which a laser beam can pass, a receiving module and an extinction piece. The extinction piece is located on a reflection light path formed after the echo light is reflected by the receiving module, and the extinction piece is used for reflecting and / or absorbing stray light formed after the echo light is reflected by the scanner and / or the receiving module so as to eliminate the stray light. Thus, by arranging the extinction piece on the reflection light path formed after the echo light is reflected by the receiving module, stray light formed after reflection by the scanner or the receiving module can be reflected and absorbed, so that the stray light formed after reflection by the scanner or the receiving module is eliminated, and the optical performance of the laser radar system is improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a laser radar system and a vehicle. Background Art

[0002] In the laser radar system of related technology, a rotating mirror is often used to allow the transmitting system and the receiving system to be shared in certain spaces, and the required radar field of view angle can be achieved by rotating the rotating mirror. The rotating mirror itself is composed of multiple reflectors and structural parts. During the rotation of the rotating mirror, it is inevitable that stray light will be formed by mutual reflection with other components (windows, structural parts, receiving end module lenses, etc.), and the presence of stray light will affect the performance of the optical machine. Summary of the invention

[0003] In view of this, the present invention aims to solve one of the problems in the related art at least to a certain extent. To this end, the purpose of the present application is to provide a laser radar system and a vehicle.

[0004] The present application provides a laser radar system. The laser radar system includes a transmitting module, a reflector, a scanner, a front window through which a laser beam can pass, a receiving module and a light-extinguishing member. The transmitting module is used to transmit laser light to the reflecting member through a transmitting optical path. The reflector is used to reflect the laser light emitted by the transmitting module. The scanner is used to reflect the laser light reflected by the reflector to the target object through the front window, and the scanner rotates to make the laser light reach the azimuth field of view designed by the laser radar system, and is used to reflect the echo light reflected from the target object to the receiving module through a receiving optical path. The receiving module is used to receive the echo light reflected by the scanner through the receiving optical path. The light-extinguishing member is located on the reflected optical path formed after the echo light is reflected by the receiving module, and the light-extinguishing member is used to reflect and absorb stray light formed after reflection by the scanner and / or the receiving module to eliminate the stray light.

[0005] In this way, the laser radar system of the present application can reflect and absorb stray light formed after reflection by a scanner or a receiving module by setting an extinction element on the reflected light path formed after the echo light is reflected by the receiving module, thereby eliminating the stray light formed after reflection by the scanner or the receiving module and improving the optical performance of the laser radar system.

[0006] In some embodiments, the laser radar system further comprises a housing connected to the front window, and the light-extinguishing member is arranged on an inner side wall of the housing directly facing a receiving surface of the receiving module for receiving the echo light.

[0007] In this way, the shell of the laser radar system of the present application can not only support structural parts such as the front window and optical machine, but also seal and de-glaze the entire laser radar system. By arranging the de-glazing component on the inner wall of the shell that is opposite to the receiving surface of the receiving module that receives the echo light, the de-glazing component will not occupy additional space in the laser radar system, and there is no need to increase the size of the laser radar system.

[0008] In some embodiments, the matte element includes a first matte surface, and the first matte surface is used to reflect and absorb the stray light that is formed after reflection by the receiving module and does not pass through the scanner, so as to eliminate the stray light.

[0009] In this way, the laser radar system of the present application can reflect and absorb the stray light that is formed after reflection by the receiving module and has not passed through the scanner through the first extinction surface, thereby eliminating the stray light that is formed after reflection by the receiving module and has not passed through the scanner, thereby improving the optical performance of the laser radar system.

[0010] In some embodiments, the matte piece also includes a second matte surface, the first matte surface is connected to the second matte surface, the first matte surface and the second matte surface form a first preset angle, the first preset angle is an acute angle, the second matte surface is arranged parallel to the front window, and the second matte surface is used to reflect and / or absorb the stray light reflected by the first matte surface, and form multiple reflections with the first matte surface to eliminate the stray light.

[0011] In this way, the laser radar system of the present application can reflect and absorb stray light reflected by the first extinction surface by setting a second extinction surface at a first preset angle to the first extinction surface, and can form multiple reflections with the first extinction surface, thereby eliminating stray light and improving the optical performance of the laser radar system.

[0012] In some embodiments, the matte element also includes a third matte surface, which is connected to the second matte surface. The third matte surface forms a second preset angle with the scanning reflection light path formed after reflection by the scanner, and the second preset angle is an acute angle. The third matte surface is used to reflect and / or absorb the stray light formed after reflection by the mirror of the scanner to eliminate the stray light.

[0013] In this way, the laser radar system of the present application can reflect and absorb stray light formed by the mirror reflection of the scanner by setting a third extinction surface at a second preset angle to the scanning reflection light path, thereby eliminating the stray light formed by the mirror reflection of the scanner and improving the optical performance of the laser radar system.

[0014] In some embodiments, the first matt surface, the second matt surface and / or the third matt surface is a plane or an inwardly concave micro-arc surface.

[0015] In this way, when the first extinction surface, the second extinction surface or the third extinction surface is a plane, the laser radar system of the present application can improve the ability of the extinction surface to reflect stray light. When the first extinction surface, the second extinction surface or the third extinction surface is an inwardly concave micro-arc surface, the ability of the extinction surface to absorb stray light can be improved.

[0016] In some embodiments, the extinction element also includes a fourth extinction surface, which is connected to the first extinction surface, and the fourth extinction surface is inclined in a direction away from the front window. The fourth extinction surface and the front window are at a third preset angle, and the third preset angle is an acute angle. The fourth extinction surface is used to avoid blocking the optical path of the echo light reflected from the target object and entering the laser radar system through the front window close to the side of the extinction element and incident on the receiving module.

[0017] In this way, the laser radar system of the present application can avoid blocking the optical path of the echo light reflected from the target object and entering the laser radar system close to the extinction element through the front window and incident on the receiving module by setting a fourth extinction surface at a third preset angle to the front window, thereby ensuring the optical performance of the laser radar system.

[0018] In some embodiments, the connecting edge line between the third matte surface and the second matte surface is an arc-shaped chamfer.

[0019] In this way, the laser radar system of the present application can avoid the connection edge forming a small plane parallel to the side wall surface of the laser radar system and causing reflection by setting the connection edge between the third extinction surface and the second extinction surface as an arc-shaped chamfer, and reflect the stray light to the receiving module to ensure the optical performance of the laser radar system.

[0020] In some embodiments, the connecting edge line between the fourth matte surface and the first matte surface is an arc-shaped chamfer.

[0021] In this way, the laser radar system of the present application can avoid the connection edge forming a small plane parallel to the side wall surface of the laser radar system and causing reflection by setting the connection edge between the fourth extinction surface and the first extinction surface as an arc-shaped chamfer, and reflect the stray light to the receiving module, thereby ensuring the optical performance of the laser radar system.

[0022] The present application also provides a vehicle, wherein the vehicle comprises the laser radar system described in any of the above embodiments.

[0023] In this way, the vehicle of the present application can reflect and absorb stray light formed after reflection by a scanner or a receiving module by arranging a light-extinguishing element on the reflected light path formed after the echo light is reflected by the receiving module, thereby eliminating the stray light formed after reflection by the scanner or the receiving module and improving the optical performance of the lidar system.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 It is one of the structural schematic diagrams of the laser radar system in the related art;

[0027] Figure 2 This is the second structural schematic diagram of a laser radar system in the related art;

[0028] Figure 3 It is one of the structural schematic diagrams of the laser radar system of certain embodiments of the present application;

[0029] Figure 4 This is the second structural schematic diagram of the laser radar system of certain embodiments of the present application;

[0030] Figure 5 This is the third structural schematic diagram of the laser radar system of certain embodiments of the present application;

[0031] Figure 6 is a schematic diagram of the structure of a laser radar system used in certain embodiments of the present application;

[0032] Figure 7 This is the fourth structural schematic diagram of the laser radar system of certain embodiments of the present application;

[0033] Figure 8 This is the fifth structural schematic diagram of the laser radar system of certain embodiments of the present application;

[0034] Fig. 9 It is one of the diagrams of the matting element, the receiving module and the scanner of some embodiments of the present application;

[0035] Fig.10 It is the second diagram of the light-extinguishing element, the receiving module and the scanner of some embodiments of the present application;

[0036] Fig.11 It is a schematic diagram of the structure of the matte piece of certain embodiments of the present application. DETAILED DESCRIPTION

[0037] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0038] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0041] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0042] In the laser radar system of related technology, a rotating mirror is often used to allow the transmitting system and the receiving system to be shared in certain spaces, and the required radar field of view angle can be achieved by rotating the rotating mirror. The rotating mirror itself is composed of multiple reflectors and structural parts. During the rotation of the rotating mirror, it is inevitable that stray light will be formed by mutual reflection with other components (windows, structural parts, receiving end module lenses, etc.), and the presence of stray light will affect the performance of the optical machine.

[0043] That is, on the one hand, Figure 1 As shown, the light reflected from the outside enters the receiving end module 3 through the rotating mirror 5 along the light path ①, is reflected at a lens in the receiving end module 3, hits the side structure shell 4 along the light path ②, and then is reflected back along the light path ③ to enter the receiving end module 3, and finally enters the chip, forming stray light.

[0044] On the other hand, Figure 2 As shown, the normal light reflected from the outside world enters the receiving end module 3 after being reflected by the mirror surface of the rotating mirror 5 facing the receiving end module 3. The light reflected from the outside world at a specific angle is reflected by the mirror surface of the rotating mirror 5 facing the receiving end module 3 along the light path ④, hits the side structure housing 4 along the light path ⑤, and is reflected into the receiving end module 3 along the light path ⑥, and finally enters the chip, forming stray light.

[0045] In summary, in the partial area where the side structure shell 4 is connected to the window 1, there is stray light caused by the fixed area, and the stray light will affect the optical performance of the laser radar system.

[0046] In view of this, please refer to Figure 3 , the present application provides a laser radar system 100. The laser radar system 100 includes a transmitting module 10, a reflector 20, a scanner 30, a front window 40 through which a laser beam can pass, a receiving module 50 and a light-extinguishing element 60. The transmitting module 10 is used to transmit laser light to the reflector through a transmitting optical path. The reflector 20 is used to reflect the laser light emitted by the transmitting module 10. The scanner 30 is used to reflect the laser light reflected by the reflector 20 to the target object through the front window 40, and the scanner 30 rotates to make the laser light reach the azimuth field of view designed by the laser radar system 100, and is used to reflect the echo light reflected from the target object to the receiving module 50 through the receiving optical path. The receiving module 50 is used to receive the echo light reflected by the scanner 30 through the receiving optical path. The light-extinguishing element 60 is located on the reflected light path formed after the echo light is reflected by the receiving module 50. The light-extinguishing element 60 is used to reflect and absorb stray light formed after being reflected by the scanner 30 and / or the receiving module 50 to eliminate the stray light.

[0047] The azimuth viewing angle may be any angle between 0° and 140°, for example, and is not limited here.

[0048] Specifically, the transmitting module 10 is arranged on a side away from the front window 40 and is located on the transmitting optical path of the laser radar system 100. The reflector 20 can be connected to the receiving module 50 and arranged in the central area of ​​the echo light, or the reflector 20 can also be independently fixed on the receiving optical path, and the reflector 20 is located at the intersection of the transmitting optical path and the receiving optical path of the laser radar system 100. The scanner 30 and the receiving module 50 are respectively arranged at both ends of the front window 40, so that the receiving module 50 is located in the central area of ​​the echo light. The extinction element 60 can be arranged at a position opposite to the receiving module 50, so that the extinction element 60 is located on the reflected optical path formed after the echo light is reflected by the receiving module 50.

[0049] The light-extinguishing element 60 is used to reflect and / or absorb stray light formed after being reflected by the scanner 30 and / or the receiving module 50 to eliminate the stray light, including the following 9 situations: (1) The light-extinguishing element 60 is used to reflect the stray light formed after being reflected by the scanner 30 to eliminate the stray light. (2) The light-extinguishing element 60 is used to reflect the stray light formed after being reflected by the receiving module 50 to eliminate the stray light. (3) The light-extinguishing element 60 is used to reflect the stray light formed after being reflected by the scanner 30 and the receiving module 50 to eliminate the stray light. (4) The light-extinguishing element 60 is used to absorb the stray light formed after being reflected by the scanner 30 to eliminate the stray light. (5) The light-extinguishing element 60 is used to absorb the stray light formed after being reflected by the receiving module 50 to eliminate the stray light. (6) The light-extinguishing element 60 is used to absorb the stray light formed after being reflected by the scanner 30 and the receiving module 50 to eliminate the stray light. (7) The de-glazing element 60 is used to reflect and absorb stray light formed after being reflected by the scanner 30, so as to eliminate the stray light. (8) The de-glazing element 60 is used to reflect and absorb stray light formed after being reflected by the receiving module 50, so as to eliminate the stray light. (9) The de-glazing element 60 is used to reflect and absorb stray light formed after being reflected by the scanner 30 and the receiving module 50, so as to eliminate the stray light. That is, the de-glazing element 60 of the present application can achieve the effect of eliminating stray light only by reflecting stray light, for example, by providing a de-glazing element 60 with a reflecting mirror surface; it can also achieve the effect of eliminating stray light only by absorbing stray light, for example, by providing a de-glazing element 60 with a specific color for absorbing stray light to absorb stray light; it can also achieve the effect of eliminating stray light by reflecting and absorbing stray light, in which case part of the stray light is absorbed by the de-glazing element 60, and part of the stray light is reflected by the de-glazing element 60, and the reflectivity of the de-glazing element 60 can be less than 5%, for example.

[0050] In one embodiment, Figure 3As shown, when it is necessary to measure the distance of the target object, the transmitting module 10 first transmits the laser light to the reflector 20 through the transmitting optical path, and the reflector 20 reflects the laser light emitted by the transmitting module 10 to the scanner 30. At this time, the scanner 30 can rotate 360° along the center point, so that the four reflective mirrors respectively arranged on different surfaces of the scanner 30 can make the laser light reflected from the reflector 20 reach the azimuth field of view designed by the laser radar system 100, and reflect to the target object through the front window 40. Then, as shown in FIG. Figure 4 As shown, when the echo light reflected from the target object passes through the front window 40 and enters the scanner 30, the scanner 30 can reflect the echo light reflected from the target object and passed through the front window 40 to the receiving module 50 through the receiving optical path A1. Since the light transmittance of the optical element cannot reach 100%, after the echo light reaches the receiving module 50, part of the echo light will be reflected by a lens of the receiving module 50 to form stray light and reach the extinction element 60 through the reflection optical path A2. The extinction element 60 can reflect and absorb the stray light through the reflection optical path A3, thereby eliminating the stray light formed after the reflection of the receiving module 50, thereby improving the optical performance of the laser radar system 100.

[0051] In another embodiment, Figure 3 As shown, when it is necessary to measure the distance of the target object, the transmitting module 10 first transmits the laser light to the reflector 20 through the transmitting optical path, and the reflector 20 reflects the laser light emitted by the transmitting module 10 to the scanner 30. At this time, the scanner 30 can rotate 360° along the center point, so that the four reflective mirrors respectively arranged on different surfaces of the scanner 30 can make the laser light reflected from the reflector 20 reach the azimuth field of view designed by the laser radar system 100, and reflect to the target object through the front window 40. Then, as shown in FIG. Figure 5 As shown, when the echo light reflected by the target object will be incident on the scanner 30 through the front window 40 from different angles, a part of the echo light will hit the mirror surface of the scanner 30 facing the receiving module 50. At this time, the echo light hitting the mirror surface of the scanner 30 facing the receiving module 50 can be reflected by the scanner 30 and enter the receiving module 50, while the other part of the echo light will hit the mirror surface of the scanner 30 facing the front window 40 through the incident light path B1. At this time, the echo light hitting the mirror surface of the scanner 30 facing the front window 40 will be reflected by the mirror surface of the scanner 30 facing the front window 40 to generate stray light and be reflected to the extinction element 60 through the reflected light path B2. At this time, the extinction element 60 can absorb and reflect the stray light to the shell of the laser radar system 100 or in the direction away from the receiving module 50, thereby eliminating the stray light formed after the reflection of the scanner 30 and improving the optical performance of the laser radar system 100.

[0052] In this way, the laser radar system 100 of the present application can reflect and absorb stray light formed after reflection by the scanner 30 or the receiving module 50 by setting the extinction element 60 on the reflected light path formed after the echo light is reflected by the receiving module 50, thereby eliminating the stray light formed after reflection by the scanner 30 or the receiving module 50 and improving the optical performance of the laser radar system 100.

[0053] In addition, the present application adds a light-extinguishing element 60 to the laser radar system 100 under the original size of the laser radar system 100, which will not affect the original external dimensions of the laser radar system 100.

[0054] In addition, the matte member 60 can be made of metal or plastic with a surface less than a preset optical reflectivity, which is not limited here. The preset optical reflectivity can be 4%, 5%, 6%, 7%, 8%, 9% and 10%, which is not limited here.

[0055] In the present application, the reflector 20 can be connected to the receiving module 50 by gluing, so as to facilitate the installation and removal of the reflector 20. The reflector 20 can also be connected to the receiving module 50 by welding, so that the connection between the reflector 20 and the receiving module 50 is more secure. The reflector 20 can be a plane reflector 20, a beam splitter, a triangular prism, a wedge prism or a right-angle prism.

[0056] The receiving module 50 includes a plurality of lenses, a receiving lens barrel, a color filter, a receiving chip, structural parts, etc. The receiving module 50 has the function of imaging and focusing.

[0057] In addition, if Figure 6 As shown, in the laser radar system 100 used in the present application, the transmitting module 10 can be configured to transmit a transmitting light beam with uniform energy distribution. Here, uniform energy distribution can also be interpreted as uniform illumination or light intensity. In some embodiments, such a transmitting light beam with uniform energy distribution can be obtained by shaping (homogenizing) using the transmitting optical system 13 discussed in detail later.

[0058] In various embodiments, the emission light beam is divergent in a first direction perpendicular to the optical axis of the emission module 10 and has a corresponding first divergence angle.

[0059] Furthermore, in various embodiments, the emission light beam is either parallel in a second direction perpendicular to the optical axis of the emission device and perpendicular to the first direction, or divergent and the corresponding second divergence angle is smaller than a preset threshold.

[0060] In practical applications, the first direction ( Figure 6 The Y-axis direction shown in the figure) can usually refer to the vertical direction (V direction), while the second direction ( Figure 6The Z-axis direction shown in the figure may generally refer to the horizontal direction (H direction). For ease of understanding, the following description is made by taking the case where the first direction corresponds to the vertical direction and the second direction corresponds to the horizontal direction as an example. However, it is easy for those skilled in the art to understand that the present application is not limited thereto. For example, the first direction may also refer to the horizontal direction, and the second direction may refer to the vertical direction.

[0061] On the one hand, the emitted light beam diverges in the vertical direction, and the corresponding first divergence angle is defined as Δθ V That is, the emitted light beam is at an angle Δθ in the vertical direction. V Fan-shaped beam emission.

[0062] On the other hand, the emission light beam may be parallel in the horizontal direction. Alternatively, the emission light beam may also be divergent in the horizontal direction, but the corresponding second divergence angle is less than the preset threshold. That is, the emission light beam is emitted in the horizontal direction as parallel light or at a very small angle. The selection of the preset threshold will be discussed in detail later.

[0063] That is, the emission light beam is a uniform linear or narrow rectangular light beam. As a result, the light spot projected in the field of view can appear as a narrow rectangle or even a line. The long side of the rectangle corresponds to the vertical direction, and the short side corresponds to the horizontal direction. Here, "narrow" may mean that the aspect ratio of the rectangle is greater than a preset aspect ratio threshold. Advantageously, by using an emission light beam that is linear or narrow rectangular, the laser radar system 100 disclosed in the present invention can achieve a more concentrated field of view angle energy, a longer distance detection, and a higher resolution.

[0064] The inventors of the present application have recognized that an emission light beam having the above-mentioned specific illumination distribution can be obtained by shaping a laser beam emitted from a common light source.

[0065] Therefore, in some embodiments, the emission module 10 includes a light source 11 and an emission optical system 13. The emission optical system 13 is configured to shape the laser beam emitted from the light source 11 to convert it into the emission light beam.

[0066] In some embodiments, the light source 11 may be a laser, such as a solid-state laser (such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), an external-cavity diode laser (ECDL)), a laser diode, or a fiber laser. In some embodiments, the light source 11 may also include a light emitting diode (LED). However, it is easy for those skilled in the art to understand that the present application does not impose any specific restrictions on the type of device of the light source 11, as long as the output power of the light source 11 is large enough.

[0067] In some embodiments, the light source 11 may be an array light source. For example, the light source 11 may be a VCSEL array including a plurality of VCSELs. In a non-limiting example, the plurality of VCSELs may be configured to light up all at the same time during measurement, rather than lighting up in partitions and / or time divisions.

[0068] Alternatively, in some embodiments, the light source 11 may also be a single point light source. It is easy for those skilled in the art to understand that the present application does not impose any specific limitation on the arrangement of the light source 11.

[0069] In some embodiments, the light source 11 can emit light beams in different forms, including pulsed light, continuous wave (CW) and quasi-continuous light. The operating wavelength of the light source can be 650nm to 1150nm, 800nm ​​to 1000nm, 850nm to 950nm or 1300nm to 1600nm. In some embodiments, the light source 11 can also include an optical component optically coupled to the light source 11 for collimating or focusing the light beam emitted by the light source 11. Each emitted light beam emitted by the light source 11 can be continuous light lasting a certain period of time, or it can be one or more light pulses.

[0070] In some embodiments, the emission optical system 13 may include a diffusion unit configured to diffuse and shape the input laser beam. For example, the diffusion unit may diffuse and shape the beam based on diffraction and / or refraction, etc., to emit the above-mentioned uniform linear or narrow rectangular beam. However, it is easy to understand by those skilled in the art that the present application may also obtain the above-mentioned emission beam through other shaping processes.

[0071] In some embodiments, the diffusion unit may include at least one of the following optical devices: an optical diffuser, a diffractive optical element (DOE), and an aspherical cylindrical mirror. However, those skilled in the art will readily appreciate that the above devices are merely examples of the diffusion unit, and the present application is not limited thereto.

[0072] In the case of using an optical diffuser or DOE to perform diffusion shaping, the emission optical system 13 may further include a collimating unit, wherein the collimating unit may be configured to collimate the laser beam emitted from the light source to obtain a collimated laser beam to be input into the diffuser or DOE.

[0073] In some embodiments, the collimating unit may include at least one of the following optical devices: a microlens or a collimating mirror. For example, the collimating unit may be an array of microlenses. However, it is easy for those skilled in the art to understand that the above devices are only examples of collimating units, and the present application is not limited thereto.

[0074] In some embodiments, the laser radar system 100 further includes a reflector 20. The reflector 20 can be a plane reflector 21 or a beam splitter with a hole 211. Specifically, taking the plane reflector 21 with a hole as an example, the plane reflector 21 uses the hole 211 to transmit the emission light beam to guide the emission light beam to the scanner 30, and uses the mirror to reflect the receiving light beam to guide the receiving light beam to the receiving module 50. That is, the emission light beam emitted from the transmitting module 10 can be directly transmitted through the plane reflector 21 via the hole 211, and the reflected receiving light beam can be reflected by the mirror in the plane reflector 21. That is, the reverse receiving path can be separated from the forward transmitting path at the plane reflector 21. Thus, with the help of the plane reflector 21 with a hole 211, the laser radar system 100 can achieve coaxial transmission and reception. Advantageously, the coaxial transmission and reception can avoid the imaging position deviation problem of the return light spot of the close-range and long-range detection caused by the separation of the optical axes of the two, thereby avoiding the additional calibration caused by this problem, which is conducive to mass production of products. However, it is easy for those skilled in the art to understand that the present application may also be a non-coaxial lidar system 100.

[0075] The inventor of the present application realizes that the plane reflector 21 with a hole has relatively loose requirements on the precision of the hole manufacturing and adjustment, as long as the emitted light beam can pass through. On this basis, by reducing the size of the hole, the loss of reflected light can be reduced.

[0076] Therefore, in some embodiments, the emission light beam is in a focused state when passing through the hole. For example, by designing the light beam characteristics of the emission light beam and / or adjusting the position of the plane reflector 21 relative to the emission device, it can be ensured that the emission light beam is in a focused state when passing through the hole. Advantageously, by focusing the emission light beam at the hole, the hole can be minimized while ensuring that the emission light beam passes through the hole, thereby minimizing the loss of reflected light and further reducing the precision requirements for the manufacture and adjustment of the hole. However, it is easy to understand for those skilled in the art that the present application is not limited to this.

[0077] The hole is usually located at the center of the plane reflector 21, but the present application is not limited thereto. In addition, to reduce the loss of reflected light, the shape of the hole may correspond to the cross-sectional shape of the emitted light beam when passing through the hole, and therefore is not necessarily circular.

[0078] Those skilled in the art will readily appreciate that the present application may also use other methods to achieve coaxial transmission and reception. However, compared to other methods such as a beam splitter, the plane reflector 21 with holes proposed in the present disclosure can reduce light loss and improve efficiency.

[0079] In various embodiments, the scanner 30, such as a rotating mirror, can be configured to rotate around a rotation axis oriented in a vertical direction (a first direction, the Y-axis direction in the figure) to guide the emission light beam to scan the target object in the field of view. The target object can be any object that can reflect the scanning laser within the scanning field of view of the laser radar system 100, such as a vehicle, a pedestrian, an animal, a road sign, an obstacle, a tree, a shelf, furniture, etc.

[0080] After irradiating the target object, the transmitted light beam is scattered back, and a portion of it returns to the laser radar system 100 as a received light beam and is received by the receiving module 50.

[0081] In various embodiments, the receiving module 50 may be configured to receive and detect a receiving light beam returned from the target object. For example, the receiving light beam scattered and returned by the target object may return to the scanner 30 along the original path, and then be guided by the scanner 30 to the plane reflector 21, and then reflected to the receiving module 50 by the plane reflector 21.

[0082] In some embodiments, the receiving module 50 may include a photodetector, which may measure the power, phase, or time characteristics of the received light and generate a corresponding current output.

[0083] In some embodiments, Figure 6As shown, the photodetector may include a plurality of photodetection units arranged along a direction. Different photodetection units are configured to receive and detect light signals returned from target objects at different relative angles in the vertical direction of the field of view. The photodetector may also include a receiving circuit (not shown) associated with each photodetection unit. Each receiving circuit may be used to process the output electrical signal of the corresponding photodetection unit.

[0084] The photodetection unit may include various forms of photodetection devices or one-dimensional or two-dimensional arrays of photodetection devices, and accordingly, the receiving circuit may be an array of one circuit or multiple circuits. In various embodiments, the photodetection device may be an avalanche diode (APD), a single photon avalanche diode (SPAD), a PN photodiode, or a PIN photodiode.

[0085] For example, the photodetection unit can be a photodetection device SPAD or a one-dimensional or two-dimensional array thereof, so the photodetector 53 is an array of SPADs. Advantageously, since the spacing between SPADs is very small and they are closely arranged, the spatial resolution can be greatly improved. Moreover, different SPADs can simultaneously and individually perform direct Time-of-Flight (dToF) measurements without the need to light up the light source in different zones and at different times, which can greatly improve the temporal resolution.

[0086] In some embodiments, the receiving module 50 may also include a receiving optical system. The receiving optical system may be configured to image the received light onto a photodetector. For example, in some embodiments, the receiving optical system may include a receiving lens and an aperture. The receiving lens and the aperture are located upstream of the photodetector on the receiving path. For example, the receiving lens may include an imaging system lens so that the focus of the received light beam is in front of or behind the receiving surface of the photodetector or just above the receiving surface. In some cases, instead of existing as a separate component, the receiving lens may also be integrated into the photodetector. The aperture is used to limit the angle of incident light incident on the photodetector, block stray light, etc.

[0087] As described above, the light spot projected into the field of view by the laser radar system 100 can be a uniform line or a narrow rectangle extending in the vertical direction, so the received light beam returned from the target object will form a similar pattern on the receiving surface of the photodetector. By arranging a plurality of photodetection units correspondingly along the direction of the long side of the line or rectangle, and imaging the light returned from the target object at different relative angles in the vertical direction of the field of view to different photodetection units using a receiving optical system, these photodetection units can be made to correspond to the target objects at different relative angles in the vertical direction of the field of view, respectively. That is, different photodetection units are configured to receive and detect light signals returned from target objects at different relative angles in the vertical direction of the field of view. Therefore, based on the arrangement information of the photodetection units and the parameter information of the optical system, etc., the relative angle of the corresponding target object can be accurately calculated.

[0088] Since a uniform linear (or narrow rectangular) transmitting light beam is adopted, it is only necessary to perform a simple adjustment on the laser radar system 100 so that the receiving light spot imaged by the receiving optical system on the photodetector can cover the receiving surface of the photodetection unit (i.e., the photosensitive surface of all photodetection units), and there is no need to perform separate alignment of the transmitting module and the receiving module. Here, the receiving light spot "covering" the receiving surface can be understood as the receiving light spot at least partially overlapping with the receiving surface, so that each photodetection unit can receive the light signal returned from the target object. For example, in some embodiments, the size of the receiving light spot can be made relatively small, and can only cover a portion of the receiving surface, so that the returned light signal can be received by the photodetection unit as much as possible to reduce waste. Therefore, advantageously, the scheme proposed in the present disclosure can greatly simplify the difficulty of adjustment and is conducive to realizing automated production.

[0089] The angular resolution δθ of the laser radar system 100 in the vertical direction according to the embodiment of the present disclosure is V =Δθ V / Q, where Q is the number of photodetection units included in the photodetector. V And / or increasing the number of photodetection units Q in the photodetector can reduce the angular resolution Δθ in the vertical direction V value, thereby improving the angular resolution in the vertical direction.

[0090] It is worth noting that in some embodiments, each photodetection unit may include a plurality of photodetection devices (such as SPADs) arranged along a direction, wherein the arrangement direction of the plurality of photodetection devices is perpendicular to the arrangement direction of the plurality of photodetection units. Through this arrangement, the number of photodetection devices in each photodetection unit can be increased without affecting the spacing of the photodetection units, thereby improving the accuracy of detection without affecting the spatial resolution.

[0091] See also Figure 5 In some embodiments, the laser radar system 100 further includes a housing 70. The housing 70 is connected to the front window 40, and the light-extinguishing member 60 is disposed on the inner side wall of the housing 70 facing the receiving surface of the receiving module 50 for receiving the echo light.

[0092] Specifically, the housing 70 and the front window 40 can be connected by snapping or screwing to facilitate installation and removal of the housing 70. The housing 70 and the front window 40 can also be connected by welding or gluing to make the connection between the housing 70 and the front window 40 more secure.

[0093] The extinction element 60 can be set on the inner wall of the shell 70 opposite to the receiving surface of the receiving module 50 that receives the echo light, so that the stray light formed after reflection by the scanner 30 or the receiving module 50 can be reflected and absorbed by the extinction element 60, thereby eliminating the stray light caused by the inner wall of the shell 70.

[0094] The matte piece 60 can be arranged on the housing 70 by screwing or snapping, so as to facilitate the installation and removal of the matte piece 60. The matte piece 60 can also be arranged on the housing 70 by welding or gluing, so that the housing 70 is more firmly arranged on the housing 70.

[0095] In this way, the shell 70 of the laser radar system 100 of the present application can not only support the front window 40 and optical machine and other structural parts, but also play the role of sealing and de-glazing the entire laser radar system 100, and by setting the de-glazing component 60 on the inner wall of the shell that is opposite to the receiving surface of the receiving module 50 that receives the echo light, the de-glazing component will not occupy additional space of the laser radar system, and there is no need to increase the size of the laser radar system.

[0096] In addition, the height of the light-extinguishing member 60 can be matched with the height of the inner wall of the shell 70 when set, and can contact the upper and lower walls of the shell 70, so as to completely eliminate the stray light generated by the side wall of the shell 70 and improve the light performance of the laser radar system 100.

[0097] The housing 70 may be made of metal or plastic, which is not limited here. When the housing 70 is made of metal, the service life of the housing 70 can be extended. When the housing 70 is made of plastic, the production cost can be reduced and the overall quality of the laser radar system 100 can be reduced.

[0098] See also Figure 7 In some embodiments, the matting element 60 includes a first matting surface 61. The first matting surface 61 is used to reflect and / or absorb stray light that is formed after being reflected by the receiving module 50 and does not pass through the scanner 30, so as to eliminate the stray light. In this case, the shape of the matting element 60 can be as follows: Figure 7 As shown, it can also be formed in other shapes that have the same matte effect. For example, the matte piece 60 can also be in the shape of a metal sheet. The matte piece 60 only needs to have a first matte surface 61, which is not limited here. It should be noted that the inclination direction of the first matte surface 61 is not limited to Figure 7 As for the inclined direction shown in FIG. 1 , the inclined direction of the first matte surface 61 only needs to be not perpendicular to the front window 40 .

[0099] The first extinction surface 61 is used to reflect and / or absorb stray light that is formed after being reflected by the receiving module 50 and does not pass through the scanner 30, so as to eliminate the stray light, including the following three situations: (1) The first extinction surface 61 is used to reflect the stray light that is formed after being reflected by the receiving module 50 and does not pass through the scanner 30, so as to eliminate the stray light. (2) The first extinction surface 61 is used to absorb the stray light that is formed after being reflected by the receiving module 50 and does not pass through the scanner 30, so as to eliminate the stray light. (3) The first extinction surface 61 is used to reflect and absorb the stray light that is formed after being reflected by the receiving module 50 and does not pass through the scanner 30, so as to eliminate the stray light.

[0100] Specifically, Figure 7 As shown, when the scanner 30 reflects the echo light reflected from the target object and reflected through the front window 40 to the receiving module 50, since the transmittance of the optical element cannot reach 100%, after the echo light reaches the receiving module 50, part of the echo light will be reflected by a lens of the receiving module 50 to form stray light that has not passed through the scanner 30 and reaches the first extinction surface 61. At this time, the first extinction surface 61 can reflect the stray light multiple times and absorb most of the energy of the stray light, thereby eliminating the stray light that has not passed through the scanner 30 formed after the reflection of the receiving module 50, and improving the optical performance of the laser radar system 100. It should be noted that the first extinction surface 61 can not only reflect the stray light multiple times and absorb most of the energy of the stray light, but also propagate a small part of the stray light in the direction away from the receiving module 50, thereby further eliminating the stray light that has not passed through the scanner 30 formed after the reflection of the receiving module 50, and improving the optical performance of the laser radar system 100.

[0101] In this way, the laser radar system 100 of the present application can reflect and absorb the stray light that is formed after reflection by the receiving module 50 and has not passed through the scanner 30 through the first extinction surface 61, thereby eliminating the stray light that is formed after reflection by the receiving module 50 and has not passed through the scanner 30, thereby improving the optical performance of the laser radar system 100.

[0102] See also Figure 8 In some embodiments, the matte element 60 further includes a second matte surface 63. The first matte surface 61 is connected to the second matte surface 63. The first matte surface 61 and the second matte surface 63 are at a first preset angle. The first preset angle is an acute angle. The second matte surface 63 is arranged parallel to the front window 40. The second matte surface 63 is used to reflect and / or absorb stray light reflected by the first matte surface 61 and form multiple reflections with the first matte surface 61 to eliminate stray light. In this case, the shape of the matte element 60 can be as follows: Figure 8 As shown, it can also be formed in other shapes that have the same extinction effect, which is not limited here. It should be noted that the inclination direction of the second extinction surface 63 is not limited to Figure 8 As for the inclined direction shown in FIG. 1 , the inclined direction of the second matte surface 63 only needs to be not perpendicular to the front window 40 .

[0103] The second extinction surface 63 is used to reflect and / or absorb the stray light reflected by the first extinction surface 61 and to form multiple reflections with the first extinction surface 61, so as to eliminate the stray light, including the following three situations: (1) The second extinction surface 63 is used to reflect the stray light reflected by the first extinction surface 61 and to form multiple reflections with the first extinction surface 61, so as to eliminate the stray light. (2) The second extinction surface 63 is used to absorb the stray light reflected by the first extinction surface 61 and to form multiple reflections with the first extinction surface 61, so as to eliminate the stray light. (3) The second extinction surface 63 is used to reflect and absorb the stray light reflected by the first extinction surface 61 and to form multiple reflections with the first extinction surface 61, so as to eliminate the stray light.

[0104] Specifically, the first matte surface 61 and the second matte surface 63 may be integrally formed to reduce production costs. The first preset angle range may be any angle in (0°, 90°), which is not limited here. Figure 8As shown, the first preset angle can be the angle α in the figure, and the angle α can be any angle in [10°, 60°]. The second extinction surface 63 can be arranged in parallel with the front window 40 to reflect the stray light reflected from the first extinction surface 61 to the second extinction surface 63 out of the front window 40. That is, the angle of the first preset angle can be adjusted according to the angular relationship between the first extinction surface 61 and the receiving module 50 to ensure that the first extinction surface 61 and the second extinction surface 63 can reflect and absorb as much as possible the stray light that is formed after reflection by the receiving module 50 and has not passed through the scanner 30, so as to eliminate the stray light that is formed after reflection by the receiving module 50 and has not passed through the scanner 30, and improve the optical performance of the laser radar system 100.

[0105] like Figure 8 As shown, when the first extinction surface 61 reflects the stray light that has not passed through the scanner 30 and is formed after being reflected by the receiving module 50 to the second extinction surface 63, the second extinction surface 63 can absorb part of the energy of the stray light reflected to the second extinction surface 63, and can reflect most of the stray light reflected to the second extinction surface 63 to the first extinction surface 61, so that the stray light forms multiple reflections between the first extinction surface 61 and the second extinction surface 63, until the first extinction surface 61 and the second extinction surface 63 absorb all the energy of the stray light, thereby eliminating the stray light and improving the optical performance of the laser radar system 100. It can be understood that after the stray light is reflected multiple times by the first extinction surface 61 and the second extinction surface 63, a small number of angles of stray light will be reflected out of the front window 40. Since the energy of the stray light reflected out of the front window 40 is very weak at this time, it will not be received by the receiving module 50, thereby ensuring that the imaging of the chip of the receiving module 50 will not be affected by the stray light.

[0106] In this way, the laser radar system 100 of the present application can reflect and absorb stray light reflected by the first extinction surface 61 by setting a second extinction surface 63 at a first preset angle to the first extinction surface 61, and can form multiple reflections with the first extinction surface 61, thereby eliminating stray light and improving the optical performance of the laser radar system 100.

[0107] Please also read Figure 5 , Fig. 9 and Fig.10 In some embodiments, the de-glazing element 60 may further include a third de-glazing surface 65. The third de-glazing surface 65 is connected to the second de-glazing surface 63. The third de-glazing surface 65 forms a second preset angle with the scanning reflection light path formed after reflection by the scanner 30. The second preset angle is an acute angle. The third de-glazing surface 65 is used to reflect and / or absorb stray light formed after reflection by the mirror surface of the scanner 30 to eliminate stray light. In this case, the shape of the de-glazing element 60 may be as follows: Figure 5 , Fig. 9 or Fig.10 As shown, it can also be formed in other shapes that have the same extinction effect, which is not limited here. It should be noted that the inclination direction of the third extinction surface 65 is not limited to Figure 5 As for the inclined direction shown in FIG. 1 , the inclined direction of the third matte surface 65 only needs to be not perpendicular to the front window 40 .

[0108] The third extinction surface 65 is used to reflect and / or absorb stray light formed after reflection from the mirror surface of the scanner 30 to eliminate stray light, including the following three situations: (1) The third extinction surface 65 is used to reflect stray light formed after reflection from the mirror surface of the scanner 30 to eliminate stray light. (2) The third extinction surface 65 is used to absorb stray light formed after reflection from the mirror surface of the scanner 30 to eliminate stray light. (3) The third extinction surface 65 is used to reflect and absorb stray light formed after reflection from the mirror surface of the scanner 30 to eliminate stray light.

[0109] Specifically, the third matte surface 65 and the second matte surface 63 may be integrally formed to reduce production costs. The second preset angle range may be any angle in (0°, 90°), which is not limited here. Fig.10 As shown, the second preset angle may be the angle β in the figure, and the angle β may be any angle in [10°, 60°]. That is, the second preset angle may be adjusted according to the angle relationship between the third extinction surface 65 and the scanner 30 to ensure that the third extinction surface 65 can reflect and absorb the stray light reflected by the scanner 30 as much as possible, thereby eliminating the stray light reflected by the scanner 30 and improving the optical performance of the laser radar system 100.

[0110] like Fig. 9 As shown, when the echo light is mirror-reflected by the front window 40 of the scanner 30 to generate stray light and is incident on the third extinction surface 65, the third extinction surface 65 will reflect the stray light to a position of the shell 70 away from the receiving module 50. Therefore, the stray light will not affect the receiving module 50, thereby eliminating the stray light formed after the reflection of the scanner 30 and improving the optical performance of the lidar system 100.

[0111] In this way, the laser radar system 100 of the present application can reflect and absorb stray light formed by the mirror reflection of the scanner 30 by setting a third extinction surface 65 at a second preset angle to the scanning reflection light path, thereby eliminating the stray light formed by the mirror reflection of the scanner 30 and improving the optical performance of the laser radar system 100.

[0112] In addition, considering that the space occupied by the extinction block in the left and right directions of the front window 40 will be too large, blocking the light entering the laser radar system 100 with a large field of view on the left side, the present application folds the first extinction surface 61 and the third extinction surface 65 into two extinction surfaces, which can effectively suppress stray light without blocking the echo light normally incident on the laser radar system 100, and will not increase the overall size of the laser system.

[0113] In some embodiments, the first matt surface 61, the second matt surface 63 and / or the third matt surface 65 are flat surfaces or slightly curved surfaces that are concave inwards.

[0114] Specifically, the first matt surface 61, the second matt surface 63 or the third matt surface 65 is taken as an example to be described in detail:

[0115] (1) The first extinction surface 61 is a plane or a slightly curved surface that is concave inwards. That is, when the first extinction surface 61 is a plane, stray light will be diffusely reflected by the first extinction surface 61 in parallel when it hits the first extinction surface 61, thereby improving the ability of the first extinction surface 61 to reflect stray light that is formed after reflection by the receiving module 50 and does not pass through the scanner 30. When the first extinction surface 61 is a slightly curved surface that is concave inwards, stray light can be reflected back and forth on the slightly curved surface that is concave inwards when it hits the first extinction surface 61, thereby improving the ability of the first extinction surface 61 to absorb stray light that is formed after reflection by the receiving module 50 and does not pass through the scanner 30.

[0116] (2) The second extinction surface 63 is a plane or a slightly curved surface that is concave inwards. That is, when the second extinction surface 63 is a plane, stray light will be diffusely reflected by the second extinction surface 63 in parallel when it hits the second extinction surface 63, thereby improving the ability of the second extinction surface 63 to reflect stray light reflected by the first extinction surface 61. When the second extinction surface 63 is a slightly curved surface that is concave inwards, when stray light hits the second extinction surface 63, the stray light can be reflected and absorbed by the slightly curved surface that is concave inwards, thereby improving the ability of the second extinction surface 63 to absorb stray light that is formed after reflection by the receiving module 50 and does not pass through the scanner 30.

[0117] (3) The third extinction surface 65 is a plane or a slightly curved surface that is concave inwards. That is, when the third extinction surface 65 is a plane, stray light will be diffusely reflected by the third extinction surface 65 in parallel when it hits the third extinction surface 65, thereby improving the ability of the third extinction surface 65 to reflect stray light formed by the mirror reflection of the scanner 30. When the third extinction surface 65 is a slightly curved surface that is concave inwards, when stray light hits the third extinction surface 65, the stray light can be reflected and absorbed by the slightly curved surface that is concave inwards, thereby improving the ability of the third extinction surface 65 to absorb stray light formed by the mirror reflection of the scanner 30.

[0118] It should be noted that, specifically, for the case where the first matt surface 61, the second matt surface 63 and the third matt surface 65 are planes or inwardly concave micro-arc surfaces, reference can be made to the above description of the first matt surface 61, the second matt surface 63 or the third matt surface 65 being planes or inwardly concave micro-arc surfaces, which will not be repeated here for the sake of brevity.

[0119] It can be understood that when the first matt surface 61 and the second matt surface 63 are both inwardly concave micro-arc surfaces, the first preset angle between the first matt surface 61 and the second matt surface 63 is the angle between the tangent of the first matt surface 61 and the tangent of the second matt surface 63.

[0120] When the third matt surface 65 is a slightly arc-shaped surface concave inward, the third matt surface 65 and the scanning reflected light path formed after reflection by the scanner 30 form a second preset angle, which is the angle between the tangent of the third matt surface 65 and the scanning reflected light path formed after reflection by the scanner 30.

[0121] In this way, when the first extinction surface 61, the second extinction surface 63 or the third extinction surface 65 of the laser radar system 100 of the present application is a plane, the stray light will be diffusely reflected by the extinction surface in parallel when it hits the extinction surface, thereby improving the ability of the extinction surface to reflect stray light. When the first extinction surface 61, the second extinction surface 63 or the third extinction surface 65 is an inwardly concave micro-arc surface, when the stray light hits the extinction surface, the stray light can be reflected and absorbed by the inwardly concave micro-arc surface, thereby improving the ability of the extinction surface to absorb stray light.

[0122] See also Fig. 9 and Fig.10 In some embodiments, the extinction element 60 may further include a fourth extinction surface 67. The fourth extinction surface 67 is connected to the first extinction surface 61. The fourth extinction surface 67 is inclined in a direction away from the front window 40. The fourth extinction surface 67 is at a third preset angle with the front window 40. The third preset angle is an acute angle. The fourth extinction surface 67 is used to avoid blocking the optical path of the echo light reflected from the target object and entering the laser radar system 100 near the extinction element 60 through the front window 40 and incident on the receiving module 50. In this case, the shape of the extinction element 60 may be as follows: Fig. 9 or Fig.10 As shown, it can also be composed of other shapes that have the same extinction effect, which is not limited here.

[0123] Specifically, the fourth matte surface 67 and the first matte surface 61 may be formed in one piece to reduce production costs. The third preset angle range may be any angle in (0°, 90°), which is not limited here. Fig.10As shown, the second preset angle may be the γ angle in the figure, and the fourth extinction surface 67 is inclined at the γ angle in the direction away from the front window 40, and the angle of the γ angle may be any angle in [10°, 60°]. That is, the angle of the third preset angle may be adjusted according to the size and azimuth field angle of the laser radar system 100 to ensure that the fourth extinction surface 67 does not block the maximum field angle echo light of the laser radar system 100.

[0124] like Fig. 9 As shown, when the echo light is incident from the side of the laser radar system 100 close to the extinction element 60, since the present application sets the fourth extinction surface 67 and the front window 40 at a third preset angle, the fourth extinction surface 67 can avoid blocking the optical path of the echo light reflected from the target object and entering the laser radar system 100 close to the extinction element 60 through the front window 40 and incident on the receiving module 50, thereby ensuring the optical performance of the laser radar system 100.

[0125] That is, please combine Figure 5 The fourth matte surface 67 can be set to avoid Figure 5 The radar light incident from the left side of the middle front window 40 at a large angle can be reflected back to the receiving module 50. It can be understood that if the fourth extinction surface 67 is not at the third preset angle with the front window 40, the radar light incident from the left side of the front window 40 at a large angle will be reflected to the outside of the front window 40, and thus will not be received by the receiving module 50. The fourth extinction surface 67 can be set to avoid Figure 5 The radar light incident at a large angle from the left side of the middle front window 40 can reflect the echo light incident from the left side of the front window 40 at a large angle to the receiving module 50. For example, the light at the left azimuth of 60 degrees will not be reflected to the outside of the front window 40 by the side of the extinction element 60 facing the front window 40, and can be successfully received by the receiving module 50.

[0126] See also Fig.11 In some embodiments, the connecting edge of the third extinction surface 65 and the second extinction surface 63 is an arc chamfer 69. That is, by setting the connecting edge of the third extinction surface 65 and the second extinction surface 63 to an arc chamfer 69, the present application can avoid the connecting edge forming a small plane parallel to the side wall surface of the laser radar system 100 to generate reflection, and reflect the stray light to the receiving module 50, thereby ensuring the optical performance of the laser radar system 100.

[0127] Please refer again Fig.11In some embodiments, the connecting edge of the fourth extinction surface 67 and the first extinction surface 61 is an arc chamfer 69. That is, by setting the connecting edge of the fourth extinction surface 67 and the first extinction surface 61 to an arc chamfer 69, the present application can avoid the connecting edge forming a small plane parallel to the side wall surface of the laser radar system 100 to generate reflection, and reflect the stray light to the receiving module 50, thereby ensuring the optical performance of the laser radar system 100.

[0128] In addition, if Fig.11 As shown, the connecting edge of the first extinction surface 61 and the second extinction surface 63 can also be set as an arc chamfer 69. That is, by setting the connecting edge of the first extinction surface 61 and the second extinction surface 63 as an arc chamfer 69, the present application can avoid the connecting edge forming a small plane parallel to the side wall surface of the laser radar system 100 to generate reflection, and reflect the stray light to the receiving module 50, thereby ensuring the optical performance of the laser radar system 100.

[0129] The present application also provides a vehicle, which includes the laser radar system 100 as described above.

[0130] In this way, the vehicle of the present application can reflect and absorb stray light formed after reflection by the scanner 30 or the receiving module 50 by setting the extinction element 60 on the reflected light path formed after the echo light is reflected by the receiving module 50, thereby eliminating the stray light formed after reflection by the scanner 30 or the receiving module 50 and improving the optical performance of the lidar system 100.

[0131] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A laser radar system, characterized in that: The laser radar system includes a transmitting module, a reflector, a scanner, a front window through which the laser beam can pass, a receiving module and a light-extinguishing element. The emission module is used to emit laser light to the reflector through an emission light path; The reflector is used to reflect the laser light emitted by the emission module; The scanner is used to reflect the laser light reflected by the reflector through the front window to the target object, the scanner rotates to make the laser light reach the azimuth field of view designed by the laser radar system, and is used to reflect the echo light reflected from the target object to the receiving module through the receiving optical path; The receiving module is used for receiving the echo light reflected by the scanner through the receiving optical path; The extinction element is located on the reflected light path formed after the echo light is reflected by the receiving module. The extinction element is used to reflect and / or absorb stray light formed after reflection by the scanner and / or the receiving module to eliminate the stray light.

2. The laser radar system according to claim 1, characterized in that: The laser radar system also includes a shell, which is connected to the front window, and the extinction element is arranged on the inner wall of the shell that is opposite to the receiving surface of the receiving module that receives the echo light.

3. The laser radar system according to claim 1, characterized in that: The matte element includes a first matte surface, and the first matte surface is used to reflect and absorb the stray light that is formed after being reflected by the receiving module and has not passed through the scanner, so as to eliminate the stray light.

4. The laser radar system according to claim 3, characterized in that: The matte piece also includes a second matte surface, the first matte surface is connected to the second matte surface, the first matte surface and the second matte surface form a first preset angle, the first preset angle is an acute angle, the second matte surface is arranged parallel to the front window, and the second matte surface is used to reflect and / or absorb the stray light reflected by the first matte surface and form multiple reflections with the first matte surface to eliminate the stray light.

5. The laser radar system according to claim 4, characterized in that: The matte piece also includes a third matte surface, which is connected to the second matte surface. The third matte surface forms a second preset angle with the scanning reflection light path formed after reflection by the scanner, and the second preset angle is an acute angle. The third matte surface is used to reflect and / or absorb the stray light formed after reflection by the mirror surface of the scanner to eliminate the stray light.

6. The laser radar system according to claim 5, characterized in that The first matt surface, the second matt surface and / or the third matt surface are flat surfaces or slightly curved surfaces that are concave inwards.

7. The laser radar system according to claim 3, characterized in that: The extinction element also includes a fourth extinction surface, which is connected to the first extinction surface, and is inclined in a direction away from the front window. The fourth extinction surface and the front window form a third preset angle, and the third preset angle is an acute angle. The fourth extinction surface is used to avoid blocking the optical path of the echo light reflected from the target object and entering the laser radar system through the front window close to the extinction element and incident on the receiving module.

8. The laser radar system according to claim 5, characterized in that: The connecting edge line between the third matte surface and the second matte surface is an arc-shaped chamfer.

9. The laser radar system according to claim 7, characterized in that: The connecting edge line between the fourth matte surface and the first matte surface is an arc-shaped chamfer.

10. A vehicle, characterized in that: The vehicle comprises a lidar system as described in any one of claims 1-9.

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