Laser radar device and vehicle

Abstract

The invention discloses a laser radar device and a vehicle, the laser radar device comprises at least two laser emission modules and a laser receiving module, and the laser receiving module is located between the at least two laser emission modules in a first direction; an included angle exists between the plane where the laser transmitting modules are located and the plane where the laser receiving modules are located, and the laser transmitting modules are used for at least transmitting laser to the sides, away from the laser receiving modules, of the laser transmitting modules, so that the union set of the field angles of the at least two laser transmitting modules is larger than or equal to 180 degrees; the laser receiving module is used for receiving the returned laser. The laser radar device provided by the invention has relatively wide environmental perception.

Description

Technical Field

[0001] The present invention relates to the technical field of sensing detection, and particularly to a lidar device and a vehicle. Background Art

[0002] In a parking scenario, multiple sensors work together to provide environmental information around the vehicle, which plays an important role in enabling the driver to park safely and accurately.

[0003] Currently, ultrasonic sensors, as indispensable sensors in the assisted driving system, provide the function of obstacle ranging for the whole vehicle. Ultrasonic sensors have low cost and moderate accuracy and can directly output distance information. However, the field of view angle of ultrasonic sensors is limited, and a relatively large number of ultrasonic sensors need to be arranged to achieve environmental detection in all directions of the vehicle. Summary of the Invention

[0004] The present invention provides a lidar device and a vehicle to provide a lidar device with a larger field of view angle relative to ultrasonic sensors, ensuring that a relatively small number of lidar devices can achieve environmental detection in all directions of the vehicle.

[0005] According to one aspect of the present invention, a lidar device is provided, including at least two laser emission modules and a laser reception module. Along a first direction, the laser reception module is located between at least two of the laser emission modules;

[0006] There is an included angle between the plane where the laser emission module is located and the plane where the laser reception module is located. The laser emission module is configured to emit laser at least to the side of the laser emission module facing away from the laser reception module, so that the union of the field of view angles of at least two of the laser emission modules is greater than or equal to 180 degrees; the laser reception module is configured to receive the returned laser.

[0007] Optionally, the field of view angles of at least two of the laser emission modules overlap.

[0008] Optionally, at least two laser emission modules include a first emission module and a second emission module; along the first direction, the first emission module and the second emission module are arranged on both sides of the laser reception module. A first included angle between the plane where the first emission module is located and the plane where the laser reception module is located, and a second included angle between the plane where the second emission module is located and the plane where the laser reception module is located are both acute angles, and the first included angle and the second included angle are opposite to each other.

[0009] Optionally, the first included angle is equal to the second included angle; and / or, the perpendicular distance from the first emission module to the laser reception module is equal to the perpendicular distance from the second emission module to the laser reception module.

[0010] Optionally, the sum of the first included angle and half of the field of view angle of the first emission module is 90 degrees, and the sum of the second included angle and half of the field of view angle of the second emission module is 90 degrees.

[0011] Optionally, the laser receiving module includes a receiving chip and a first circuit board. The receiving chip is disposed on the first circuit board. The receiving chip is configured to receive the laser and convert the laser into an electrical signal. The first circuit board is configured to process the electrical signal output by the receiving chip. The first emission module includes a first emission chip and a second circuit board. The first emission chip is mounted on the second circuit board. The included angle between the second circuit board and the first circuit board is the first included angle. The second circuit board is configured to output a first driving signal. The first emission chip is configured to emit laser according to the first driving signal. The second emission module includes a second emission chip and a third circuit board. The second emission chip is mounted on the third circuit board. The included angle between the third circuit board and the first circuit board is the second included angle. The third circuit board is configured to output a second driving signal. The second emission chip is configured to emit laser according to the second driving signal.

[0012] Optionally, the receiving chip adopts a single photon avalanche diode array. The number of rows of the single photon avalanche diode array is at least two rows, and the number of columns of the single photon avalanche diode array is at least two columns.

[0013] Optionally, the laser receiving module further includes a lens group. The lens group is disposed on a side of the receiving chip away from the first circuit board. The lens group is configured to focus the laser and transmit it to the receiving chip.

[0014] According to another aspect of the present invention, a vehicle is provided, including at least one of the lidar devices.

[0015] Optionally, the vehicle includes a first lidar device, a second lidar device, a third lidar device, and a fourth lidar device. The first lidar is disposed on a first side of the vehicle. The second lidar is disposed on a second side of the vehicle. The third lidar is disposed on a third side of the vehicle. The fourth lidar is disposed on a fourth side of the vehicle. The first side is opposite to the second side. The third side is opposite to the fourth side. The third side is connected to the first side and the second side. The fourth side is connected to the first side and the second side.

[0016] In the technical solution of the embodiment of the present invention, the lidar device includes at least two laser emission modules and a laser reception module. Along the first direction, the laser reception module is located between at least two laser emission modules; there is an included angle between the plane where the laser emission module is located and the plane where the laser reception module is located. The laser emission module is configured to emit laser at least to the side of the laser emission module facing away from the laser reception module, so that the union of the field of view angles of at least two laser emission modules is greater than or equal to 180 degrees, and the laser reception module is configured to receive the returned laser. Since the laser emission module emits laser at least to the side of the laser emission module facing away from the laser reception module, and at least two laser emission modules are located at both ends of the laser reception module, therefore, there is an intersection of the laser beams emitted by at least two laser emission modules located at both ends of the laser reception module, which can make the union of the field of view angles of at least two laser emission modules greater than or equal to 180 degrees. Compared with ultrasonic sensors, it has a larger field of view angle, enabling the lidar device to have a broader environmental perception and ensuring that a smaller number of lidar devices can achieve environmental detection in all directions of the vehicle.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 is a schematic structural diagram of a lidar device provided by an embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of another lidar device provided by an embodiment of the present invention;

[0021] Figure 3 is a top view of a single-photon avalanche diode array provided by an embodiment of the present invention;

[0022] Figure 4 is a schematic structural diagram of a vehicle provided by an embodiment of the present invention;

[0023] Figure 5 is a schematic diagram of the vertical direction perception range of a vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] The embodiment of the present invention provides a lidar device. Figure 1 It is a schematic structural diagram of a lidar device provided by the embodiment of the present invention. As Figure 1 shown, the lidar device 100 includes at least two laser emission modules 110 and a laser reception module 120. Along the first direction x, the laser reception module 120 is located between at least two laser emission modules 110; there is an included angle between the plane where the laser emission module 110 is located and the plane where the laser reception module 120 is located. The laser emission module 110 is used to emit laser at least to the side of the laser emission module 110 facing away from the laser reception module 120, so that the union of the field of view angles of at least two laser emission modules 120 is greater than or equal to 180 degrees; the laser reception module 120 is used to receive the returned laser.

[0027] In the embodiment of the present invention, the laser emission module 110 is a module capable of generating and emitting a laser beam. For example, the laser emission module 110 includes a Vertical Cavity Surface Emitting Laser (VCSEL). The field of view angle of the laser emitted by the laser emission module 110 refers to the spatial range that the laser can cover. The laser reception module 120 is a module for receiving the laser and processing the laser to obtain relevant information. For example, the obtained relevant information includes distance information and the like.

[0028] In an embodiment of the present invention, at least two laser emission modules 110 are located on both sides of the laser reception module. The laser emission module 110 emits laser at least to the side of the laser emission module 110 facing away from the laser reception module 120. The laser reception module 120 receives the returned laser and obtains distance information based on the returned laser. The bisector of the field of view angle of the vertical cavity surface laser emitter is perpendicular to the plane where the laser emission module 110 is located. For example, if the field of view angle of the vertical cavity surface laser emitter is 120 degrees, by setting the angle between the plane where the laser emission module 110 is located and the plane where the laser reception module 120 is located, the union of the field of view angles of at least two laser emission modules 120 can be made greater than or equal to 180 degrees. Among them, the union of the field of view angles of at least two laser emission modules 120 refers to taking the "union operation" of the field of view angles of at least two laser emission modules, including the range covered by the field of view angle of any one of the at least two laser emission modules. In some embodiments, the field of view angles of the respective laser emission modules 120 are continuous, thereby ensuring the continuity of the environmental range greater than or equal to 180 degrees detected by the entire lidar device.

[0029] In the technical solution of this embodiment, the lidar device includes at least two laser emission modules and a laser reception module. Along the first direction, the laser reception module is located between the at least two laser emission modules; there is an angle between the plane where the laser emission module is located and the plane where the laser reception module is located. The laser emission module is configured to emit laser at least to the side of the laser emission module facing away from the laser reception module, so that the union of the field of view angles of at least two laser emission modules is greater than or equal to 180 degrees, and the laser reception module is configured to receive the returned laser. Since the laser emission module emits laser at least to the side of the laser emission module facing away from the laser reception module, and at least two laser emission modules are located at both ends of the laser reception module, therefore, the lasers emitted by the at least two laser emission modules located at both ends of the laser reception module have an intersection, which can make the union of the field of view angles of at least two laser emission modules greater than or equal to 180 degrees. Compared with ultrasonic sensors, it has a larger field of view angle, enabling the lidar device to have a broader environmental perception and ensuring that a smaller number of lidar devices can achieve environmental detection in all directions of the vehicle.

[0030] Based on the above embodiments, Figure 2 is a schematic structural diagram of another lidar device provided by an embodiment of the present invention. As Figure 2 shown, the field of view angles of at least two laser emission modules 110 overlap, which can further ensure the continuity of the scanning area of the lidar device.

[0031] Exemplarily, at least two laser emission modules 110 include a first emission module 111 and a second emission module 112; along a first direction, the first emission module 111 and the second emission module 112 are respectively arranged on two sides of the laser reception module 120. A first included angle a1 between the plane where the first emission module 111 is located and the plane where the laser reception module 120 is located, and a second included angle a2 between the plane where the second emission module 112 is located and the plane where the laser reception module 120 is located are both acute angles, and the first included angle a1 and the second included angle a2 are opposite to each other.

[0032] In an embodiment of the present invention, the first emission module 111 is located on the left side of the laser reception module 120, and the second emission module 112 is located on the right side of the laser reception module 120. One side of the field of view angle of the first emission module 111 is parallel to the plane where the laser reception module 120 is located, one side of the field of view angle of the second emission module 112 is parallel to the plane where the laser reception module 120 is located, and the other side of the field of view angle of the first emission module 111 intersects with the other side of the field of view angle of the second emission module 112 above the plane where the laser reception module 120 is located. That is, there is an overlap between the field of view angles of the first emission module 111 and the second emission module 112, ensuring that the field of view angle of the scanning area of the lidar device in the first direction satisfies 180 degrees, and at the same time ensuring the continuity of the scanning area of the lidar device.

[0033] Optionally, the first included angle a1 is equal to the second included angle a2; and / or, along the first direction, the perpendicular distance from the first emission module 111 to the laser reception module 120 is equal to the perpendicular distance from the second emission module 112 to the laser reception module 120.

[0034] In an embodiment of the present invention, the first included angle a1 is 30 degrees, and the second included angle a2 is 30 degrees. The field of view angles of both the first emission module 111 and the second emission module 112 are 120 degrees. One side of the field of view angle of the first emission module 111 is parallel to the plane where the laser reception module 120 is located, and one side of the field of view angle of the second emission module 112 is parallel to the plane where the laser reception module 120 is located. Since the field of view angles of both the first emission module 111 and the second emission module 112 are obtuse angles, there is an overlap between the field of view angles of the first emission module 111 and the second emission module 112, ensuring the continuity of the scanning area of the lidar device.

[0035] Preferably, the sum of the first included angle a1 and half of the field of view angle of the first emission module 111 is 90 degrees, and the sum of the second included angle a2 and half of the field of view angle of the second emission module 112 is 90 degrees.

[0036] In the embodiment of the present invention, both the first transmitting module 111 and the second transmitting module 112 adopt vertical-cavity surface-emitting lasers, and the angular bisector of the field of view angle of the vertical-cavity surface-emitting laser is perpendicular to the plane where the vertical-cavity surface-emitting laser is located. Referring to the above embodiment, one side of the first transmitting module 111 is parallel to the plane where the laser receiving module 120 is located, and one side of the second transmitting module 112 is parallel to the plane of the laser receiving module 120. By setting the sum of the first angle a1 and half of the field of view angle of the first transmitting module 111 to be 90 degrees, and setting the sum of the second angle a2 and half of the field of view angle of the second transmitting module 112 to be 90 degrees, it is possible to ensure that the field of view angle of the lidar device is 180 degrees.

[0037] Continue to refer to Figure 2 , the laser receiving module 120 includes a receiving chip U1 and a first circuit board P1. The receiving chip U1 is disposed on the first circuit board P1. The receiving chip U1 is used to receive laser light and convert the laser light into an electrical signal. The first circuit board P1 is used to process the electrical signal output by the receiving chip U1. The first transmitting module 111 includes a first transmitting chip U2 and a second circuit board P2. The first transmitting chip U2 is mounted on the second circuit board P2. The second circuit board P2 forms a first angle a1 with the first circuit board P1. The second circuit board P2 is used to output a first driving signal. The first transmitting chip U2 is used to emit laser light according to the first driving signal. The second transmitting module 112 includes a second transmitting chip U3 and a third circuit board P3. The second transmitting chip U3 is mounted on the third circuit board P3. The third circuit board P3 forms a second angle a2 with the first circuit board P1. The third circuit board P3 is used to output a second driving signal. The second transmitting chip U3 is used to emit laser light according to the second driving signal.

[0038] In the embodiment of the present invention, the receiving chip U1 can convert the received laser signal into an electrical signal, mainly working based on the principle of the photoelectric effect. Its main functions include photoelectric conversion, signal amplification, signal filtering and shaping, etc. The types of receiving chips include photodiode chips, avalanche photodiode chips, etc. The first circuit board P1 carries and connects various electronic components, provides electrical connection, physical support for the electronic components, and realizes relevant circuit functions. The first circuit board P1 is connected to the receiving chip U1, can provide power for the receiving chip U1, perform signal transmission conditioning and signal processing analysis on the electrical signal output by the receiving chip U1, and realize information extraction and reading.

[0039] The first emission chip U2 and the second emission chip U3 are functional chips such as semiconductors that can generate and output laser light. For example, laser beams are generated using semiconductor materials through the stimulated emission principle. The types of emission chips include edge-emitting laser chips, vertical-cavity surface-emitting laser chips, etc. The second circuit board P2 and the third circuit board P3 respectively provide a stable power supply for the first emission chip U2 and the second emission chip U3, and can accurately provide appropriate voltage and current according to the type and requirements of the emission chip. At the same time, the circuit board in the laser emission module is responsible for driving the emission chip to work and modulating the laser to meet different application requirements, and adjusts the laser output of the chip by reasonably controlling parameters such as the magnitude of the current and the pulse width.

[0040] Specifically, the receiving chip U1 uses a single-photon avalanche diode (Single Photon Avalanche Diode, SPAD) array. The number of rows of the single-photon avalanche diode array is at least two rows, and the number of columns of the single-photon avalanche diode array is at least two columns.

[0041] In the embodiment of the present invention, the single-photon avalanche diode array is an optoelectronic device with multiple detection units based on single-photon avalanche diodes. Exemplarily, Figure 3 is a top view of the single-photon avalanche diode array provided by the embodiment of the present invention. As Figure 3 shown, the single-photon avalanche diode array uses 72 rows * 24 columns, and the ratio of the number of columns to the number of rows is 1 / 3. According to the above embodiment, if the field of view angle of the lidar device in the horizontal direction is set to 180 degrees, where the horizontal direction is the first direction x. According to the relationship between the number of columns and rows of the single-photon avalanche diode array, the field of view angle of the lidar device in the vertical direction y is 60 degrees. The angular resolution of the lidar device in both the horizontal and vertical directions is 2.5 degrees. By setting the single-photon avalanche diode array, the resolution of the lidar device in the vertical direction meets the ranging requirements, solving the problem in the prior art that the ultrasonic sensor has no vertical direction resolution, resulting in the inability to identify the height information of obstacles.

[0042] Continuing to refer to Figure 2 , the lidar device further includes a lens group 130. The lens group 130 is disposed on the side of the receiving chip U1 away from the first circuit board P1. The lens group 130 is used to focus the laser and transmit it to the receiving chip U1.

[0043] Specifically, the projection of the lens group 130 on the first circuit board P1 does not overlap with the projection of the laser emission module on the first circuit board P1. The distance between at least part of the structure of the lens group 130 and the first circuit board P1 is greater than the height of the farthest end of the second circuit board P2 from the first circuit board P1, and the distance between the lens group 130 and the first circuit board P1 is greater than the distance between the farthest end of the third circuit board P3 and the first circuit board P1. Among them, the farthest end of the second circuit board P2 is the end farthest from the first circuit board P1, and the farthest end of the third circuit board P3 is the end farthest from the first circuit board P1.

[0044] In the embodiment of the present invention, the lens group 130 is a component that converges the laser to the receiving chip. The lens group 130 includes a glass lens 1211, a first plastic lens 1212, a second plastic lens 1213 and a filter film (not shown in the figure). The first plastic lens 1212 is arranged on the side of the lens group 130 close to the first circuit board P1, the glass lens 1211 is arranged on the side of the lens group 130 away from the first circuit board P1, and the second plastic lens 1213 is arranged between the glass lens 1211 and the first plastic lens 1212. The filter film is arranged on the glass lens 1211. Based on the principles of light interference and absorption, the filter film presents different transmission characteristics for light of different wavelengths, and can be designed to allow only lasers of a specific wavelength range to pass through, while reflecting or absorbing light of other wavelengths. For example, the filter film uses a 905nm filter film, which can filter out the spectrum of the bands other than 905±10nm, thereby reducing the noise of other spectrums. Filtering the target laser signal to avoid interference from other stray light signals helps to accurately obtain the useful information carried by the laser and improve the accuracy and reliability of the measurement.

[0045] In an embodiment of the present invention, the first transmitting module and the second transmitting module are respectively located on both sides of the laser receiving module, the first transmitting module at least transmits laser light to the side of the first transmitting module away from the laser receiving module, and the second transmitting module at least transmits laser light to the side of the second transmitting module away from the laser receiving module. The laser receiving module receives the returned laser light and obtains distance information based on the laser light. By setting the angle between the plane where the first transmitting module is located and the plane where the laser receiving module is located, and the angle between the plane where the second transmitting module is located and the plane where the laser receiving module is located, the union of the field of view angles of the two laser transmitting modules can be made greater than or equal to 180 degrees, thereby increasing the field of view angle of the laser radar device and enabling the laser radar device to have a wider environmental perception.

[0046] An embodiment of the present invention further provides a vehicle, Figure 4 is a schematic diagram of the structure of a vehicle provided by an embodiment of the present invention, such as Figure 4As shown in the figure, the vehicle 10 provided in this embodiment includes at least one lidar device 100 in any of the above embodiments, and has the beneficial effects in any of the above embodiments. In addition, applying the lidar device to a vehicle can be used in scenarios where the vehicle speed is higher than 15 kilometers per hour, solving the drawback in the prior art that ultrasonic sensors are limited by the speed of sound propagation. At the same time, the lidar device has a high refresh rate, improving the accuracy of measurement results.

[0047] Exemplarily, the vehicle 10 includes a first lidar device 101, a second lidar device 102, a third lidar device 103, and a fourth lidar device 104. The first lidar is disposed on the first side of the vehicle, the second lidar is disposed on the second side of the vehicle, the third lidar is disposed on the third side of the vehicle, and the fourth lidar is disposed on the fourth side of the vehicle. The first side is opposite to the second side, the third side is opposite to the fourth side, the third side is connected to the first side and the second side, and the fourth side is connected to the first side and the second side. Among them, the first side is the front of the vehicle, the second side is the rear of the vehicle, the third side is the left side of the vehicle, and the fourth side is the right side of the vehicle. Continuing to refer to Figure 4 , the horizontal field of view angles of the lidar devices on the front, rear, left, and right four sides of the vehicle are all 180 degrees. Since the detection distance of the lidar can reach more than 5 meters, taking the detection distance of 4 meters as an example, through layout verification of the vehicle body data, there is a blind area of 265.8 mm at the front of the vehicle in the horizontal direction and a blind area of 268.3 mm at the rear of the vehicle, meeting the requirements of the vehicle's ranging performance in the parking scenario.

[0048] Based on the above embodiment, the vertical field of view angle is 60 degrees. In order to reduce the detection blind area in the vertical direction, the angle between the vertical direction of the lidar device and the side is b, and the angle b can be set to 10 degrees. Figure 5 is a schematic diagram of the vehicle's vertical direction perception range provided by an embodiment of the present invention. As Figure 5 shown, the vertical direction probe is tilted downward by 10 degrees, and the detection blind area of the installation layout is 0.764 meters. The detection height at 3 meters is 2041.91 mm, and the detection height at 5 meters is 2769.85 mm, meeting the requirements of the vehicle's ranging performance in the parking scenario.

[0049] It should be understood that various forms of processes shown above can be used, reordering, adding, or deleting steps. For example, the steps described in the present invention can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, which is not limited herein.

[0050] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lidar device, characterized in that, It includes at least two laser emission modules and a laser reception module. Along the first direction, the laser reception module is located between at least two of the laser emission modules; There is an angle between the plane where the laser emission module is located and the plane where the laser reception module is located. The laser emission module is used to emit laser at least to the side of the laser emission module facing away from the laser reception module, so that the union of the field of view angles of at least two of the laser emission modules is greater than or equal to 180 degrees; the laser reception module is used to receive the returned laser.

2. The lidar device according to claim 1, characterized in that, The field of view angles of at least two of the laser emission modules overlap.

3. The lidar device according to claim 1, wherein At least two of the laser emission modules include a first emission module and a second emission module; Along the first direction, the first emission module and the second emission module are respectively arranged on both sides of the laser reception module. The first angle between the plane where the first emission module is located and the plane where the laser reception module is located, and the second angle between the plane where the second emission module is located and the plane where the laser reception module is located are both acute angles, where the first angle and the second angle are opposite to each other.

4. The lidar device according to claim 3, wherein The first angle is equal to the second angle; And / or, the perpendicular distance from the first emission module to the laser reception module is equal to the perpendicular distance from the second emission module to the laser reception module.

5. The lidar device according to claim 3, wherein The sum of the first angle and half of the field of view angle of the first emission module is 90 degrees, and the sum of the second angle and half of the field of view angle of the second emission module is 90 degrees.

6. The lidar device according to claim 3, wherein, The laser reception module includes a receiving chip and a first circuit board. The receiving chip is arranged on the first circuit board. The receiving chip is used to receive the laser and convert the laser into an electrical signal. The first circuit board is used to process the electrical signal output by the receiving chip; The first emission module includes a first emission chip and a second circuit board. The first emission chip is installed on the second circuit board. The second circuit board forms the first angle with the first circuit board. The second circuit board is used to output a first driving signal. The first emission chip is used to emit laser according to the first driving signal; The second emission module includes a second emission chip and a third circuit board. The second emission chip is installed on the third circuit board. The third circuit board forms the second angle with the first circuit board. The third circuit board is used to output a second driving signal. The second emission chip is used to emit laser according to the second driving signal.

7. The lidar device according to claim 6, wherein, The receiving chip uses a single-photon avalanche diode array. The number of rows of the single-photon avalanche diode array is at least two rows, and the number of columns of the single-photon avalanche diode array is at least two columns.

8. The lidar device according to claim 6, wherein, The laser reception module further includes a lens group. The lens group is arranged on the side of the receiving chip away from the first circuit board. The lens group is used to focus the laser and transmit it to the receiving chip.

9. A vehicle, characterized in that, It includes at least one lidar device according to any one of claims 1-9.

10. The vehicle according to claim 9, characterized in that, The vehicle includes a first lidar device, a second lidar device, a third lidar device, and a fourth lidar device. The first lidar is disposed on a first side of the vehicle, the second lidar is disposed on a second side of the vehicle, the third lidar is disposed on a third side of the vehicle, and the fourth lidar is disposed on a fourth side of the vehicle. The first side is opposite to the second side, the third side is opposite to the fourth side, the third side is connected to the first side and the second side, and the fourth side is connected to the first side and the second side.

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