Transmitting system and related device
By using two drive modules to adjust the beam waveform in the lidar, the problem of overlapping histogram waveforms acquired by the VCSEL lidar was solved, improving the accuracy of intensity estimation and the distinguishability of detected targets.
Patent Information
- Application Number
- CN202410799807.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-19
- Publication Date
- 2025-12-26
AI Technical Summary
The histogram waveforms acquired by VCSEL-based lidar have a high degree of overlap in falling edges, and the intensity estimates fluctuate, resulting in low target discrimination.
Two driving modules are used to jointly drive the light emitting module to emit a light beam. The pulse signal waveforms emitted by the two driving modules are different. By synthesizing the pulse signal to drive the light emitting module, the beam waveform is adjusted to reduce the overlap of the falling edges of the histogram waveform.
It improved the accuracy of intensity estimates and enhanced the distinguishability of detected targets.
Smart Images
Figure CN121208780A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of laser radar, and in particular to a transmitting system and related device. BACKGROUND
[0002] With the development of information technology and computer vision, detection technology has developed rapidly, and various detection devices have brought great convenience to people's life and travel. Detection devices can be regarded as the "eyes" of the environment, including visual system sensors such as cameras and radar system sensors such as millimeter wave radars, laser radars and ultrasonic radars. Among them, laser radar (light detection and ranging, Lidar, or light detection and ranging device) has obvious advantages in detection range, ranging accuracy and reliability, and has the characteristics of nearly all-weather work. It is a key sensor in the perception field and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing and other fields.
[0003] In laser radar applications, a common pulse adjustment scheme is to adjust the pulse power, and pulses of different powers are used to meet the detection needs of different scenes. For example, two kinds of transmitting waveforms of large pulse width and small pulse width are used, where the large pulse width is used to obtain large power and improve the detection distance for detecting distant targets. The small pulse width is used to obtain small power for detecting nearby targets, and also can improve the distance resolution.
[0004] However, the laser radar based on a vertical-cavity surface-emitting laser (VCSEL) has a high degree of overlap of the falling edges of the collected histogram waveform, and the intensity estimation value is relatively jittery, resulting in a low degree of differentiation of the detected targets. SUMMARY
[0005] Embodiments of the present application provide a transmitting system and related device, which can reduce the overlap degree of the falling edges of the collected histogram waveform, improve the accuracy of the intensity estimation value, and improve the differentiation degree of the detected targets.
[0006] In a first aspect, embodiments of the present application provide a transmitting system, which comprises:
[0007] a light emitting module, a first driving module, and a second driving module.
[0008] The first end of the light emitting module is connected with the first end of the first driving module and the first end of the second driving module respectively; the second end of the light emitting module is connected with a power supply, and the second end of the first driving module and the second end of the second driving module are grounded; or the second end of the light emitting module is grounded, and the second end of the first driving module and the second end of the second driving module are connected with the power supply.
[0009] The first driving module is configured to generate a first pulse signal, and the second driving module is configured to generate a second pulse signal, and the first pulse signal is different from the second pulse signal.
[0010] The third pulse signal synthesized by the first pulse signal and the second pulse signal is configured to drive the light emitting module to emit the first light beam.
[0011] In the embodiments of the present application, a transmitting system is provided, the first driving module in the transmitting system is configured to generate a first pulse signal, the second driving module in the transmitting system is configured to generate a second pulse signal, the first pulse signal is different from the second pulse signal, and a third pulse signal synthesized by the first pulse signal and the second pulse signal is configured to drive the light emitting module in the transmitting system to emit a first light beam. It can be understood that the first driving module and the second driving module jointly drive the light emitting module to emit a light beam.
[0012] At present, the falling edge overlap degree of the histogram waveform collected by the VCSEL-based laser radar is high, the intensity estimation value is relatively jittered, and the discrimination degree for the detected target is also low.
[0013] The transmitting system in the embodiments of the present application jointly drives the light emitting module to emit a light beam by two driving modules, the waveforms of the pulse signals emitted by the two driving modules are different, the light emitting module is driven to emit a first light beam based on a synthesized pulse signal of the pulse signals emitted by the two driving modules, the waveform adjustment of the first light beam can be realized, the falling edge overlap degree of the collected histogram waveform is reduced, the accuracy of the intensity estimation value is improved, and the discrimination degree of the detected target is improved.
[0014] In a possible implementation, the transmitting system further comprises:
[0015] a first resistor;
[0016] The first resistor is arranged on the path of the light emitting module and the second driving module.
[0017] The resistance value of the first resistor is adjustable.
[0018] In the embodiment of the present application, the emission system further comprises a first resistor arranged in the path of the light emission module and the second driving module. By adjusting the resistance value of the first resistor, the current in the loop where the light emission module and the second driving module are located can be adjusted, thereby adjusting the waveform height of the second pulse signal generated by the second driving module, and further adjusting the waveform height of the synthesized third pulse signal, so as to adjust the waveform height of the first light beam, reduce the overlap degree of the falling edge of the collected histogram waveform, improve the accuracy of the intensity estimation value, and improve the discrimination of the detected target.
[0019] Optionally, the first resistor can also be arranged in the path of the light emission module and the first driving module. By adjusting the resistance value of the first resistor, the current in the loop where the light emission module and the first driving module are located can be adjusted, thereby adjusting the waveform height of the first pulse signal generated by the first driving module, and further adjusting the waveform height of the synthesized third pulse signal, so as to adjust the waveform height of the first light beam.
[0020] In a possible embodiment, the first pulse signal comprises a first main pulse signal and a first sub-pulse signal, and the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.
[0021] In the embodiment of the present application, possible specific embodiments of the first pulse signal are provided. The first pulse signal is composed of a first main pulse signal and a first sub-pulse signal, and the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal. By using the first pulse signal designed in this way, better detection effect can be obtained, thereby improving the detection performance of the emission system.
[0022] Optionally, the first main pulse signal is adjacent to the first sub-pulse signal, or the first main pulse signal partially overlaps with the first sub-pulse signal.
[0023] It can be understood that the first main pulse signal adjacent to the first sub-pulse signal can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a certain interval, or can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a connection relationship.
[0024] In the above design, different connection relationships (such as adjacent or partially overlapping) between the first main pulse signal and the first sub-pulse signal can form different first pulse signals. In this way, in different use scenarios, a matching first pulse signal can be flexibly selected to drive the light emission module to emit a light beam (or perform detection), so as to obtain better detection effect.
[0025] Optionally, the first main pulse signal and the first sub-pulse signal are different in shape.
[0026] In the above design, by making the first main pulse signal and the first sub-pulse signal have different shapes, the characteristics of the first pulse signal can be utilized to obtain a better detection effect.
[0027] Optionally, the first main pulse signal is before the first sub-pulse signal.
[0028] In the above design, the different positional relationship between the first main pulse signal and the first sub-pulse signal can form different first pulse signals, so that in different use scenarios, a matching first pulse signal can be flexibly selected to drive the light emitting module to emit a light beam, thereby obtaining a better detection effect.
[0029] In a possible implementation, the second pulse signal includes a second main pulse signal and a second sub-pulse signal, and the amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal.
[0030] The amplitude of the second main pulse signal is smaller than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.
[0031] In the embodiments of the present application, possible specific implementations of the second pulse signal are provided, the second pulse signal is composed of a second main pulse signal and a second sub-pulse signal, the amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal, the amplitude of the second main pulse signal is smaller than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal. The design of the second pulse signal is different from the main pulse signal and the sub-pulse signal of the first pulse signal, based on the different second pulse signal and the first pulse signal, a third pulse signal with adjusted waveform can be synthesized, and based on the synthesized third pulse signal, the light emitting module can be driven to emit a first light beam, so that the waveform adjustment of the first light beam can be realized.
[0032] Optionally, the second main pulse signal is adjacent to the second sub-pulse signal, or the second main pulse signal partially overlaps the second sub-pulse signal.
[0033] Optionally, the second main pulse signal and the second sub-pulse signal have different shapes.
[0034] Optionally, the second main pulse signal is before the second sub-pulse signal.
[0035] In a possible implementation, the third pulse signal includes a third main pulse signal and a third sub-pulse signal, and the amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal.
[0036] The amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.
[0037] In the embodiments of the present application, possible specific embodiments of the third pulse signal are provided, the third pulse signal is composed of a third main pulse signal and a third sub-pulse signal, the amplitude of the third sub-pulse signal is less than the amplitude of the third main pulse signal, the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal. By the above different second pulse signal and first pulse signal, a third pulse signal with adjusted waveform can be synthesized, the waveform of the third pulse signal combines the waveform characteristics of the first pulse signal and the waveform characteristics of the second pulse signal, and based on the synthesized third pulse signal, the light emitting module is driven to emit the first light beam, so that the waveform of the first light beam can be adjusted, the degree of overlap of the falling edge of the histogram waveform collected is reduced, the accuracy of the intensity estimation value is improved, and the discrimination of the detected target is improved.
[0038] Optionally, the third main pulse signal is adjacent to the third sub-pulse signal, or the third main pulse signal partially overlaps with the third sub-pulse signal.
[0039] Optionally, the third main pulse signal and the third sub-pulse signal have different shapes.
[0040] Optionally, the third main pulse signal is before the third sub-pulse signal.
[0041] In a possible embodiment, the first driving module and the second driving module are two separate drivers.
[0042] Alternatively, the first driving module and the second driving module are two driving channels in one integrated driver.
[0043] Alternatively, the first driving module includes one driver, and the second driving module includes a second resistor and a first capacitor.
[0044] Alternatively, the first driving module includes a second resistor and a first capacitor, and the second driving module includes one driver.
[0045] In the embodiments of the present application, possible specific implementations of the first driving module and the second driving module are provided, specifically, the first driving module and the second driving module can be two separate drivers, or two driving channels in an integrated driver, or can be composed of a resistor and a capacitor, and the embodiments of the present application do not limit this. Optionally, the internal resistance of the first driving module and the second driving module can be the same or different, and it can be understood that the current generated by the first driving module and the second driving module can be the same or different, and the embodiments of the present application do not limit this. Through the first driving module and the second driving module in the embodiments of the present application, the loop parasitic inductance can be reduced, the driving capability can be improved, different first pulse signals and second pulse signals can be generated, the third pulse signal after waveform adjustment can be synthesized, and the waveform adjustment of the light beam emitted by the light emitting module can be realized.
[0046] In a possible implementation, the emission system further includes:
[0047] a controller;
[0048] The controller is configured to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is further configured to adjust the time delay between the first pulse signal and the second pulse signal.
[0049] In the embodiments of the present application, the emission system further includes a controller configured to adjust the pulse width of the first pulse signal and / or the second pulse signal, so that the pulse width of the synthesized third pulse signal can be adjusted, and the waveform adjustment of the light beam emitted by the light emitting module driven by the synthesized third pulse signal can be realized. Alternatively, the controller can be further configured to adjust the time delay between the first pulse signal and the second pulse signal, and the pulse width of the synthesized third pulse signal can be adjusted by adjusting the time delay of the two, and the waveform adjustment of the light beam emitted by the light emitting module driven by the synthesized third pulse signal can be realized.
[0050] In a possible implementation, the first driving module and / or the second driving module includes an N-type metal oxide semiconductor or a P-type metal oxide semiconductor.
[0051] In a possible implementation, the light emitting module includes at least one of the following:
[0052] edge emitting laser (EEL), vertical-cavity surface-emitting laser (VCSEL), photonic crystal surface-emitting laser (PCSEL), horizontal cavity surface-emitting laser (HCSEL).
[0053] In a second aspect, the embodiments of the present application provide a chip, which comprises the transmitting system in the first aspect or any possible implementation manner of the first aspect.
[0054] In a third aspect, the embodiments of the present application provide a radar or a radar system, which comprises the transmitting system in the first aspect or any possible implementation manner of the first aspect, or comprises the chip in the second aspect.
[0055] In a possible implementation manner, the radar comprises but is not limited to a laser radar and the like.
[0056] In a possible implementation manner, there can be a smart sensor integrated with multiple sensors, and in a case where the smart sensor comprises but is not limited to a laser detection function and the like, the smart sensor can also be referred to as a radar or a radar system.
[0057] In a fourth aspect, the embodiments of the present application provide a terminal device, which comprises the transmitting system in the first aspect or any possible implementation manner of the first aspect, or comprises the chip in the second aspect, or comprises the radar or the radar system in the third aspect.
[0058] In a fifth aspect, the embodiments of the present application provide a vehicle terminal, which comprises the transmitting system in the first aspect or any possible implementation manner of the first aspect, or comprises the chip in the second aspect, or comprises the radar or the radar system in the third aspect, or comprises the terminal device in the fourth aspect. BRIEF DESCRIPTION OF DRAWINGS
[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.
[0060] FIG. 1AA radar application scenario schematic diagram provided by an embodiment of the present application;
[0061] FIG. 1B A radar application scenario schematic diagram provided by an embodiment of the present application;
[0062] FIG. 2A A radar architecture schematic diagram provided by an embodiment of the present application;
[0063] FIG. 2B A radar architecture schematic diagram provided by an embodiment of the present application;
[0064] FIG. 3A A waveform schematic diagram of different energy echoes provided by an embodiment of the present application;
[0065] FIG. 3B Another waveform schematic diagram of different energy echoes provided by an embodiment of the present application;
[0066] FIG. 4A A waveform schematic diagram of transmitting light pulses provided by an embodiment of the present application;
[0067] FIG. 4B Another waveform schematic diagram of transmitting light pulses provided by an embodiment of the present application;
[0068] FIG. 5 A structure schematic diagram of a transmitting system provided by an embodiment of the present application;
[0069] FIG. 6A A first pulse signal schematic diagram provided by an embodiment of the present application;
[0070] FIG. 6B A second pulse signal schematic diagram provided by an embodiment of the present application;
[0071] FIG. 6C A third pulse signal schematic diagram provided by an embodiment of the present application;
[0072] FIG. 7 Another structure schematic diagram of a transmitting system provided by an embodiment of the present application;
[0073] FIG. 8 Still another structure schematic diagram of a transmitting system provided by an embodiment of the present application;
[0074] FIG. 9A A control signal schematic diagram provided by an embodiment of the present application;
[0075] FIG. 9B A control signal schematic diagram provided by an embodiment of the present application;
[0076] FIG. 10AAnother schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6.
[0077] FIG. 10B Another schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6.
[0078] FIG. 11A Another schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6.
[0079] FIG. 11B Another schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6.
[0080] FIG. 12A Another schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6.
[0081] FIG. 12B Another schematic diagram of a structure of a transmitting system provided by an embodiment of the present application is shown in FIG. 6. DETAILED DESCRIPTION
[0082] In order to make the objects, technical solutions and advantages of the present application clearer, the following will describe the embodiments of the present application with reference to the accompanying drawings.
[0083] The terms "first" and "second" and the like in the specification, claims and drawings of the present application are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device, etc.
[0084] In this document, "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean that the same embodiment is referred to, nor does it mean that the embodiments are mutually exclusive or alternative to each other. It is explicitly and implicitly understood by those skilled in the art that, unless otherwise specified and logically contradictory, the terms and / or descriptions between various embodiments are consistent and can be mutually referred to, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.
[0085] It should be understood that in the present application, "at least one" refers to one or more, "multiple" refers to two or more, "at least two" refers to two or three and three or more, and "and / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c, can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.
[0086] As described in the background section, the falling edge overlap of the histogram waveform collected by the current VCSEL-based lidar is high, the intensity estimate value is relatively jittered, and the discrimination of the detected target is also low. The present application provides a transmitting system and related device, which relates to the technical field of lidar, can reduce the falling edge overlap of the collected histogram waveform, improve the accuracy of the intensity estimate value, and improve the discrimination of the detected target.
[0087] In order to more clearly describe the scheme of the present application, some possible application scenarios of lidar are introduced as follows.
[0088] Please refer to FIG. 1A and FIG. 1B , FIG. 1A and FIG. 1B are the application scenario diagrams of the radar provided by the embodiments of the present application.
[0089] As shown in FIG. 1A and FIG. 1B , this exemplary application scenario takes the installation of a lidar on a vehicle as an example.
[0090] The vehicle may, for example, be a driverless car, an intelligent car, an electric car, or a digital car, etc. The lidar can be deployed at various positions of the vehicle (see FIG. 1B ). For example, the lidar can be deployed in any one or more of the front, rear, left, and right directions of the vehicle to capture the environmental information around the vehicle. FIG. 1A The lidar is deployed in front of the vehicle as an example. The lidar can perceive the fan-shaped area as shown in the dashed box of FIG. 1A , which can be referred to as the detection area of the lidar (or the field of view of the lidar).
[0091] In one possible implementation, the laser radar can acquire the longitude and latitude, speed, orientation of the ego vehicle, or associated information (e.g., distance of the target, moving speed of the target, pose of the target, or grayscale map of the target, etc.) of the target (e.g., other vehicles around the ego vehicle) in a certain range in real time or periodically. The laser radar or the vehicle can determine the position and / or path planning of the vehicle, etc. according to the associated information. For example, the position of the vehicle is determined by using the longitude and latitude, or the driving direction and destination of the vehicle in a future period of time is determined by using the speed and orientation, or the number, density, etc. of obstacles around the vehicle is determined by using the distance of the surrounding objects. Further, optionally, the functions of the advanced driving assistant system (ADAS) can be combined to achieve the assisted driving or autonomous driving of the vehicle, etc. It should be understood that the principle of the laser radar detecting the associated information of the target is that the laser radar emits a detection light in a certain direction, if there is a target in the detection region of the laser radar, the target can reflect the received detection light back to the laser radar (the reflected detection light can be referred to as a return signal), and the laser radar determines the associated information of the target according to the return signal.
[0092] It should be noted that the above application scenarios are only examples, and the laser radar (including the optical waveguide assembly provided in the present application) provided in the present application can also be applied to various other possible scenarios, and is not limited to the above examples. For example, the laser radar can also be installed on a drone as an airborne radar. For another example, the laser radar can also be installed on a road side unit (RSU) as a roadside traffic laser radar, and can achieve intelligent vehicle-road cooperative communication. For another example, the laser radar can be installed on an automated guided vehicle (AGV), where the AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path, has safety protection and various transfer functions. Here, they are not listed one by one. It should be understood that the application scenarios described in the present application are for more clearly illustrating the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided in the present application. It can be known by those skilled in the art that, as new application scenarios appear, the technical solutions provided in the present application are also applicable to similar technical problems.
[0093] Based on the above content, the above application scenarios can be applied to the fields of unmanned driving, autonomous driving, assisted driving, intelligent driving, networked vehicles, security monitoring, remote interaction, surveying and mapping, or artificial intelligence, etc.
[0094] The following describes some related concepts of the laser radar in combination with FIG. 2A and FIG. 2B .
[0095] Laser radar, also known as optical radar, is the abbreviation of light detection and ranging system, and can also be called Laser Radar or LADAR (laser detection and ranging).
[0096] The laser radar uses light as a detection medium, and uses the emission and reception of laser light to realize the detection of a target, such as range finding, speed measurement, or azimuth angle measurement. The laser radar can realize the range finding of a target based on the time of flight of laser light, that is, the time difference between the transmission and reception of laser light, or the laser radar can realize the range finding of a target based on the phase difference between the emitted laser signal and the echo signal of the received laser signal. The biggest advantage of the laser radar is that it can use the multi-spectral imaging technology to create a clear three-dimensional (3D) image of the target. The laser radar collects the three-dimensional coordinates, reflectivity, and texture of a large number of dense points on the surface of the target by using the emission and reception of laser light, and obtains a three-dimensional model of the measured target according to the collected information, establishes a three-dimensional point cloud map, and draws an environmental map to achieve the purpose of environmental perception. Compared with traditional passive imaging technologies such as visible light and infrared light, the laser radar imaging technology revolutionizes the traditional two-dimensional projection imaging mode, can collect the depth information of the target surface, obtain the relatively complete spatial information of the target, reconstruct the three-dimensional surface of the target through data processing, obtain a three-dimensional graph that can better reflect the geometric shape of the target, and also can obtain rich feature information such as the reflection characteristics and the movement speed of the target surface, thereby providing sufficient information support for target detection, recognition, tracking, and other data processing, and reducing the algorithm difficulty.
[0097] Please refer to FIG. 2A , FIG. 2A The laser radar provided by the embodiment of the present application is shown in a schematic diagram of the architecture of a radar.
[0098] As FIG. 2A shown, the laser radar mainly includes a laser emission part (or system) 100, a laser reception part (or system) 200, and a signal processing part (or system) 300.
[0099] The laser emission part 100 includes an excitation source (or laser driver), a laser, and an emission optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), and the laser beam (or laser pulse) is emitted outward through the emission optical system. The laser receiving part 200 includes a receiving optical system and a detector; the laser beam emitted from the laser radar encounters a target object, interacts with the target object to form a reflected / scattered return light beam, the return light beam is collected by the receiving optical system, and then received by the detector, and the light signal is converted into an electrical signal, and the electrical signal is transmitted to the signal processing part 300 after analog front-end processing. The signal processing part 300 processes the received signal to obtain the distance, speed, azimuth angle, etc. of the target object, and can further obtain the surface morphology, physical properties, etc. of the target object to establish an object model. The detector is usually a photodetector that converts the received light signal into an electrical signal, and the electrical signal is usually an analog signal, while the signal processing part 300 is usually used to process digital signals, such as a digital signal processor (DSP), so that the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the signal processing part 300, and the electrical signal can also be amplified and processed, and the amplified and processed electrical signal is converted into a digital signal by an analog-to-digital converter and provided to the signal processing part 300. The signal processing part 300 includes a signal processing circuit for processing the digital signal to obtain the distance, speed, azimuth angle, etc. of the target object, and further establishing an object model. The laser radar also includes a control circuit, such as a control part for controlling the excitation source and a control part for controlling the scanning drive circuit, which can be integrated or independently arranged. In addition, the signal processing circuit and the control circuit can also be integrated or independently arranged.
[0100] In addition, in one implementation, the laser emission part 100 can also include a laser modulator and a beam controller, and the laser beam emitted by the laser passes through the beam controller, which controls the direction and line number of the emitted laser beam under the control of the laser modulator, and the laser beam emitted from the beam controller passes through the emission optical system and is emitted outward.
[0101] In addition, the laser radar can also include a scanning part (or system) 400, and the laser beam emitted by the laser is subjected to the action of the scanning part 400 to realize the scanning of the laser beam on the plane to generate real-time plane information. The scanning part 400 mainly includes a scanning mechanism and a scanning drive circuit, and the scanning drive circuit is used to drive the scanning mechanism to work, and the laser beam is changed from a "line" to a "plane" under the action of the scanning mechanism.
[0102] For example, in a mechanical rotating scanning mode, please refer to FIG. 2B , FIG. 2BA schematic diagram of a radar architecture is provided for embodiments of the present application.
[0103] As shown in FIG. 2B , the scanning driving circuit drives the scanning mechanism to rotate at a stable speed. After the laser beam is incident on the optical element of the emission optical system, the optical element is rotated by the scanning mechanism, and dense scanning of the laser beam on the target plane is realized to generate planar image information. The scanning mechanism herein is, for example, a motor, and the scanning driving circuit is a motor driver. The motor rotates to drive the optical element in the emission optical system to rotate, so that the laser beam incident on the optical element is reflected by the optical element to quickly and accurately realize the change from "line scanning" to "area scanning".
[0104] The histogram waveforms collected by different laser radar architectures are different. For details, refer to FIG. 3A to FIG. 4B , FIG. 3A and FIG. 3B The waveform diagrams of several different energy echoes provided for embodiments of the present application are shown in FIG. 4A and FIG. 4B The waveform diagrams of several emission light pulses provided for embodiments of the present application are shown in
[0105] As shown in FIG. 3A , histogram sampling based on single photon avalanche diode (SPAD) of VCSEL, wherein the abscissa represents the time of flight of the light pulse, and the ordinate represents the intensity value of receiving the light pulse. Different curves respectively represent the intensity corresponding to different energy echoes.
[0106] As shown in FIG. 3B , histogram sampling based on SPAD of EEL, wherein the abscissa represents the time of flight of the light pulse, and the ordinate represents the intensity value of receiving the light pulse. Different curves respectively represent the intensity corresponding to different energy echoes.
[0107] As shown in the waveform in region 1 in FIG. 3A and the waveform in region 2 in FIG. 3B , compared with the laser radar based on EEL, the falling edge of the histogram waveform collected by the laser radar based on VCSEL is more seriously overlapped under the strong energy echo, so that the intensity estimation value is more jittered, and the discrimination for the detected target is also lower.
[0108] As shown in FIG. 4A , FIG. 4A , waveform 1 in is histogram sampling of the emission light pulse waveform based on VCSEL, FIG. 4A , waveform 2 in is histogram sampling of the emission light pulse waveform based on EEL, wherein the abscissa represents the time of flight of the light pulse, and the ordinate represents the intensity value of emitting the light pulse.
[0109] As FIG. 4B shown, a local enlarged schematic view of histogram sampling in FIG. 4A , specifically a waveform enlarged schematic view in the period of 15.0s to 32.5s, wherein the abscissa represents the time of flight of the light pulse, and the ordinate represents the intensity value of the light pulse.
[0110] As FIG. 4B shown by the waveform 1 and the waveform 2 in the elliptical region, compared with the VCSEL-based lidar, the EEL-based lidar has a relatively high intensity value at the trailing end of the falling edge of the emitted light pulse waveform, i.e. the falling edge of the histogram waveform collected by the two has a certain difference in the degree of overlap.
[0111] As FIG. 3A to FIG. 4B shown by the waveform schematic, the falling edge of the histogram waveform collected by the VCSEL-based lidar has a high degree of overlap, the intensity estimation value is jittered, and the degree of differentiation of the detected target is also low.
[0112] In view of this, the application provides a transmitting system and related device, which relates to the technical field of lidar, and the light emitting module emits a light beam through the common driving of two driving modules, and the waveforms of the pulse signals emitted by the two driving modules are different, the first light beam is emitted by the light emitting module based on the composite pulse signal of the pulse signals emitted by the two driving modules, the waveform of the first light beam can be adjusted, the degree of overlap of the falling edge of the collected histogram waveform is reduced, the accuracy of the intensity estimation value is improved, and the degree of differentiation of the detected target is improved.
[0113] The transmitting system and related device provided by the application will be described below in conjunction with the accompanying drawings.
[0114] Please refer to FIG. 5 , FIG. 5 for a structural schematic view of a transmitting system provided by an embodiment of the application.
[0115] As FIG. 5 shown, the transmitting system comprises:
[0116] a first driving module 501, a second driving module 502, and a light emitting module 503.
[0117] Each of the above modules has the following connection relationship:
[0118] The first end 5031 of the light emitting module 503 is connected with the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is connected with the positive pole of the power supply, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.
[0119] Alternatively, each of the above modules can also be in the following connection relationship two:
[0120] The first end 5031 of the light emitting module 503 is connected with the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is connected with the positive pole of the power supply, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.
[0121] It can be understood that the first driving module 501 and the second driving module 502 are connected in parallel.
[0122] It can be understood that, for the above two possible connection relationships (connection relationship one and connection relationship two), the embodiments of the present application do not make any limitation, and for the convenience and simplicity of description, the connection relationship one (i.e. FIG. 5 The connection relationship) is taken as an example for description in the following.
[0123] Alternatively, the first driving module 501 and / or the second driving module 502 includes an N-type metal oxide semiconductor (N-channel mental oxide semiconductor, NMOS) or a P-type metal oxide semiconductor (P-channel metal oxide semiconductor, PMOS) to adapt to different driving schemes, and the embodiments of the present application do not make any limitation.
[0124] Alternatively, the light emitting module 503 includes at least one of the following: an edge emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), a photonic crystal surface-emitting laser (PCSEL), a horizontal cavity surface-emitting laser (HCSEL), and the embodiments of the present application do not make any limitation.
[0125] The first driving module 501 is configured to generate a first pulse signal, and the second driving module 502 is configured to generate a second pulse signal, and the first pulse signal is different from the second pulse signal.
[0126] The third pulse signal, which is a combination of the first pulse signal and the second pulse signal, is used to drive the light emitting module 503 to emit a first light beam. It can be understood that the first driving module 501 and the second driving module 502 jointly drive the light emitting module 503 to emit the light beam.
[0127] At present, the falling edge overlap degree of the histogram waveform collected by the VCSEL-based laser radar is high, and the intensity estimation value is relatively jittered, which leads to a low degree of differentiation of the detected target.
[0128] The emission system in the embodiment of the present application jointly drives the light emitting module 503 to emit the light beam through two driving modules (the first driving module 501 and the second driving module 502), and the waveforms of the pulse signals (the first pulse signal and the second pulse signal) emitted by the two driving modules are different. The light emitting module 503 is driven to emit the first light beam based on the combined pulse signal of the pulse signals emitted by the two driving modules, which can realize the waveform adjustment of the first light beam, reduce the falling edge overlap degree of the collected histogram waveform, improve the accuracy of the intensity estimation value, and improve the degree of differentiation of the detected target.
[0129] In a possible embodiment, the first pulse signal includes a first main pulse signal and a first sub-pulse signal.
[0130] The amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.
[0131] For details, please refer to FIG. 6A , FIG. 6A A schematic diagram of a first pulse signal provided by the embodiment of the present application.
[0132] As shown in FIG. 6A , the abscissa represents the time of flight of the pulse signal, the ordinate represents the amplitude of the pulse signal, and the curve represents the first pulse signal. The first pulse signal includes a first main pulse signal and a first sub-pulse signal, and the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.
[0133] Through the designed first pulse signal, better detection effect can be obtained, so as to improve the detection performance of the emission system.
[0134] Alternatively, the first main pulse signal is adjacent to the first sub-pulse signal, or the first main pulse signal partially overlaps the first sub-pulse signal, which is not limited in the embodiment of the present application.
[0135] It can be understood that the first main pulse signal adjacent to the first sub-pulse signal can mean that the first main pulse signal is adjacent to the first sub-pulse signal with a certain interval, or can also mean that the first main pulse signal is adjacent to the first sub-pulse signal with a connection relationship.
[0136] In the above design, the different connection relationships (such as adjacent or partially overlapping) between the first main pulse signal and the first sub-pulse signal can form different first pulse signals, so that the matched first pulse signal can be flexibly selected for driving the light emitting module to emit a light beam (or for detection) in different use scenarios, so as to obtain a better detection effect.
[0137] Optionally, the first main pulse signal and the first sub-pulse signal are different in shape.
[0138] In the above design, by making the first main pulse signal and the first sub-pulse signal have different shapes, the characteristics of the first pulse signal can be utilized to obtain a better detection effect.
[0139] Optionally, the first main pulse signal is before the first sub-pulse signal.
[0140] In the above design, the different position relationships between the first main pulse signal and the first sub-pulse signal can form different first pulse signals, so that the matched first pulse signal can be flexibly selected for driving the light emitting module to emit a light beam in different use scenarios, so as to obtain a better detection effect.
[0141] In a possible embodiment, the second pulse signal includes a second main pulse signal and a second sub-pulse signal.
[0142] The amplitude of the second sub-pulse signal is less than the amplitude of the second main pulse signal, the amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.
[0143] For details, please refer to FIG. 6B , FIG. 6B A schematic diagram of a second pulse signal provided by an embodiment of the present application.
[0144] As FIG. 6B shown, the abscissa represents the time of flight of the pulse signal, the ordinate represents the amplitude of the pulse signal, and the curve represents the second pulse signal. The second pulse signal includes a second main pulse signal and a second sub-pulse signal, and the amplitude of the second sub-pulse signal is less than the amplitude of the second main pulse signal. Moreover, the amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.
[0145] The second pulse signal of the design is different from the main pulse signal and the sub-pulse signal of the first pulse signal. Based on the different second pulse signal and the first pulse signal, a third pulse signal with adjusted waveform can be synthesized. Based on the synthesized third pulse signal, the light emitting module can emit the first light beam, and the waveform of the first light beam can be adjusted.
[0146] Optionally, the second main pulse signal is adjacent to the second sub-pulse signal, or the second main pulse signal partially overlaps with the second sub-pulse signal. The embodiments of the present application do not limit this.
[0147] It can be understood that the second main pulse signal adjacent to the second sub-pulse signal can mean that the second main pulse signal is adjacent to the second sub-pulse signal with a certain interval, or can mean that the second main pulse signal is adjacent to the second sub-pulse signal with a connection relationship.
[0148] In the above design, the different connection relationship (such as adjacent or partially overlapping) between the second main pulse signal and the second sub-pulse signal can form different second pulse signals. In this way, in different use scenarios, a matched second pulse signal can be flexibly selected to drive the light emitting module to emit a light beam (or to detect), so as to obtain a better detection effect.
[0149] Optionally, the second main pulse signal and the second sub-pulse signal have different shapes.
[0150] In the above design, by making the second main pulse signal and the second sub-pulse signal have different shapes, the characteristics of the second pulse signal can be utilized to obtain a better detection effect.
[0151] Optionally, the second main pulse signal is before the second sub-pulse signal.
[0152] In the above design, the different position relationship between the second main pulse signal and the second sub-pulse signal can form different second pulse signals. In this way, in different use scenarios, a matched second pulse signal can be flexibly selected to drive the light emitting module to emit a light beam, so as to obtain a better detection effect.
[0153] In a possible embodiment, the third pulse signal includes a third main pulse signal and a third sub-pulse signal.
[0154] The amplitude of the third sub-pulse signal is less than the amplitude of the third main pulse signal, the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.
[0155] For details, please refer to FIG. 6C , FIG. 6CA schematic diagram of a third pulse signal is provided for the embodiments of the present application.
[0156] As shown in FIG. 6C the horizontal axis represents the time of flight of the pulse signal, and the vertical axis represents the amplitude of the pulse signal. The solid curve represents the third pulse signal, which includes a third main pulse signal and a third sub-pulse signal. The amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal. Moreover, the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.
[0157] By the different second pulse signal and first pulse signal described above, a third pulse signal with adjusted waveform can be synthesized, which combines the waveform characteristics of the first pulse signal and the waveform characteristics of the second pulse signal. Based on the synthesized third pulse signal for driving the light emitting module to emit the first light beam, the waveform of the first light beam can be adjusted, the degree of overlap of the falling edge of the histogram waveform collected can be reduced, the accuracy of the intensity estimate value can be improved, and the discrimination of the detected target can be improved.
[0158] Alternatively, the third main pulse signal is adjacent to the third sub-pulse signal, or the third main pulse signal partially overlaps with the third sub-pulse signal, which is not limited in the embodiments of the present application.
[0159] It can be understood that the third main pulse signal adjacent to the third sub-pulse signal can mean that the third main pulse signal and the third sub-pulse signal are adjacent with a certain interval, or can mean that the third main pulse signal and the third sub-pulse signal are adjacent with a connection relationship.
[0160] In the above design, different connection relationships (such as adjacent or partially overlapping) between the third main pulse signal and the third sub-pulse signal can form different third pulse signals, so that the matched third pulse signal can be flexibly selected for driving the light emitting module to emit the light beam (or for detection) in different use scenarios, so as to obtain a better detection effect.
[0161] Alternatively, the third main pulse signal and the third sub-pulse signal have different shapes.
[0162] In the above design, by making the third main pulse signal and the third sub-pulse signal have different shapes, the characteristics of the third pulse signal can be utilized to obtain a better detection effect.
[0163] Alternatively, the third main pulse signal precedes the third sub-pulse signal.
[0164] The different position relationships between the third main pulse signal and the third sub-pulse signal in the above design can form different third pulse signals, so that the third pulse signal matched in different use scenarios can be selected to drive the light emitting module to emit a light beam, so as to obtain a better detection effect.
[0165] In a possible embodiment, the emission system can further include a first resistor.
[0166] The first resistor is arranged on a path of the light emitting module 503 and the second driving module 502, and the first resistor is adjustable.
[0167] For details, refer to FIG. 7 , FIG. 7 Another structure diagram of an emission system provided by an embodiment of the present application.
[0168] As FIG. 7 shown, the emission system further includes a first resistor R1, which is arranged on a path of the light emitting module 503 and the second driving module 502. By adjusting the resistance value of the first resistor R1, the current size of a loop in which the light emitting module 503 and the second driving module 502 are located can be adjusted, so that the waveform height of the second pulse signal generated by the second driving module 502 is adjusted, and then the waveform height (i.e., the tail height of the third pulse signal after synthesis) of the synthesized third pulse signal can be adjusted, so that the waveform height of the first light beam is adjusted, the degree of overlap of the falling edge of the collected histogram waveform is reduced, the accuracy of the intensity estimation value is improved, and the discrimination of the detected target is improved.
[0169] Optionally, the first resistor R1 can also be arranged on a path of the light emitting module 503 and the first driving module 501. By adjusting the resistance value of the first resistor R1, the current size of a loop in which the light emitting module 503 and the first driving module 501 are located can be adjusted, so that the waveform height of the first pulse signal generated by the first driving module 501 is adjusted, and then the waveform height (i.e., the tail height of the third pulse signal after synthesis) of the synthesized third pulse signal can be adjusted, so that the waveform height of the first light beam is adjusted.
[0170] In a possible embodiment, the emission system can further include a controller.
[0171] The controller is configured to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is further configured to adjust the time delay between the first pulse signal and the second pulse signal.
[0172] For details, refer to FIG. 8 , FIG. 8 Another structure diagram of an emission system provided by an embodiment of the present application.
[0173] As shown in FIG. 8 , the transmitting system further comprises a controller 504, which is configured to adjust the pulse width of the first pulse signal and / or the second pulse signal, so as to adjust the pulse width of the third pulse signal, and to adjust the waveform of the light beam emitted by the light emitting module 503 based on the third pulse signal.
[0174] Optionally, refer to FIG. 9A , FIG. 9A for another control signal provided by the embodiment of the present application.
[0175] As shown in FIG. 9A , the controller 504 controls the first driving module 501 to emit the first pulse signal through a control signal 1, controls the second driving module 502 to emit the second pulse signal through a control signal 2, and adjusts the pulse width of the first pulse signal and / or the second pulse signal through adjusting the control signal 1 and the control signal 2, so as to adjust the pulse width of the third pulse signal, and to adjust the pulse width of the third sub-pulse signal (i.e. the tail length of the third pulse signal after combination).
[0176] Alternatively, the controller 504 can also be configured to adjust the time delay between the first pulse signal and the second pulse signal, to adjust the pulse width of the third pulse signal through adjusting the time delay between the first pulse signal and the second pulse signal, and to adjust the waveform of the light beam emitted by the light emitting module 503 based on the third pulse signal.
[0177] Optionally, refer to FIG. 9B , FIG. 9B for another control signal provided by the embodiment of the present application.
[0178] As shown in FIG. 9B , the controller 504 controls the first driving module 501 to emit the first pulse signal through a control signal a, controls the second driving module 502 to emit the second pulse signal through a control signal b, and adjusts the time delay between the first pulse signal and the second pulse signal through adjusting the control signal 1 and the control signal 2, so as to adjust the pulse width of the third pulse signal through adjusting the time delay between the first pulse signal and the second pulse signal, and to adjust the pulse width of the third sub-pulse signal (i.e. the tail length of the third pulse signal after combination).
[0179] It can be understood that the above FIG. 9A and FIG. 9B are only possible implementation manners of the two control signals, and should not be regarded as limitation on the embodiments of the present application, and the new control manners obtained based on reasonable deformation of the above two control signals all belong to the protection scope of the present application.
[0180] Optionally, an amplifier can also be arranged between the controller 504 and the first driving module 501 and / or the second driving module 502, for amplifying the electrical signal so as to have greater energy and higher power for transmission or driving the load in the circuit.
[0181] In a possible embodiment, the first driving module 501 and the second driving module 502 can have the following structures:
[0182] Case one:
[0183] The first driving module 501 and the second driving module 502 are two separate drivers.
[0184] For details, refer to FIG. 10A and FIG. 10B , FIG. 10A and FIG. 10B are structural diagrams of the transmitting system provided by the embodiments of the present application.
[0185] As shown in FIG. 10A , the first driving module 501 and the second driving module 502 are two separate drivers, specifically NMOS drivers.
[0186] In this case, the first end 5031 of the light emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is connected to the positive electrode of the power supply, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.
[0187] As shown in FIG. 10B , the first driving module 501 and the second driving module 502 are two separate drivers, specifically PMOS drivers.
[0188] In this case, the first end 5031 of the light emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is grounded, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are connected to the positive electrode of the power supply.
[0189] Case two:
[0190] The first driving module 501 and the second driving module 502 are two driving channels in an integrated driver.
[0191] Similar to the above FIG. 10A and FIG. 10B , for details, refer to the above FIG. 10A and FIG. 10BThe description is the same as that of the first driving module 501, and is not repeated here.
[0192] Case three:
[0193] The first driving module 501 includes a driver, and the second driving module 502 includes a second resistor and a first capacitor.
[0194] For details, please refer to FIG. 11A and FIG. 11B , FIG. 11A and FIG. 11B The structure diagram of the transmitting system provided by the embodiment of the application is shown.
[0195] As shown in FIG. 11A , the first driving module 501 includes a driver, specifically a NMOS driver, and the second driving module 502 includes a second resistor R2 and a first capacitor C1.
[0196] In this case three, the first end 5031 of the light emitting module 503 is connected with the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is connected with the positive pole of the power supply, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.
[0197] As shown in FIG. 11B , the first driving module 501 includes a driver, specifically a PMOS driver, and the second driving module 502 includes a second resistor R2 and a first capacitor C1.
[0198] In this case three, the first end 5031 of the light emitting module 503 is connected with the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502 respectively, the second end 5032 of the light emitting module 503 is grounded, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are connected with the positive pole of the power supply.
[0199] It can be understood that a MOS driver and an R / C device are connected in parallel at the driving end of the transmitting system to generate a modulated electric pulse signal, drive the laser to generate a light pulse signal, and thus perform waveform regulation. The R / C device can include a second resistor R2 and a first capacitor C1 (connected in series between R2 and C1), and the parameters of R2 and C1 can be adjusted. The size of the loop current is adjusted by adjusting the parameters of R2 and C1, and thus the height of the light pulse waveform, i.e., the tail height of the synthesized light pulse waveform, is adjusted.
[0200] Case four:
[0201] The first drive module 501 comprises a second resistor and a first capacitor, and the second drive module 502 comprises a driver.
[0202] Similar to the above FIG. 11A and FIG. 11B , specific reference can be made to the description of the above FIG. 11A and FIG. 11B , which will not be repeated here.
[0203] It can be understood that the first drive module 501 and the second drive module 502 can be two separate drivers, or two drive channels in an integrated driver, or composed of resistors and capacitors, and the embodiments of the present application do not limit this.
[0204] Optionally, the internal resistance of the first drive module 501 and the second drive module 502 can be the same or different, and it can be understood that the current generated by the first drive module 501 and the second drive module 502 can be the same or different, and the embodiments of the present application do not limit this.
[0205] Through the first drive module 501 and the second drive module 502 in the embodiments of the present application, the loop parasitic inductance can be reduced, the driving capability can be improved, different first pulse signals and second pulse signals can be generated, and the third pulse signal after waveform adjustment can be synthesized to realize waveform adjustment of the light beam emitted by the light emitting module 503.
[0206] Please refer to FIG. 12A and FIG. 12B , FIG. 12A and FIG. 12B are the waveform diagrams of different energy echoes provided by the embodiments of the present application.
[0207] As shown in FIG. 12A , it is a histogram sampling of different energy echo intensities when there is no light pulse waveform regulation, wherein the abscissa represents the flight time of the light pulse, and the ordinate represents the intensity value of the light pulse.
[0208] As shown in FIG. 12B , it is a histogram sampling of different energy echo intensities when the light pulse waveform is regulated by the emission system provided by the present application, wherein the abscissa represents the flight time of the light pulse, and the ordinate represents the intensity value of the light pulse.
[0209] The waveform shown by FIG. 12A Region 1 and FIG. 12BAs can be seen from the waveform shown in region 2, compared with no light pulse waveform modulation, under strong energy echo, the falling edge overlap of the histogram waveform acquired by the emission system provided in this application under light pulse waveform modulation is lower. That is, it can reduce the falling edge overlap of the acquired histogram waveform, improve the accuracy of the intensity estimate, and improve the discrimination of the detected target.
[0210] This application provides a chip that includes the transmission system provided in this application.
[0211] This application provides a radar or radar system, which includes the transmitting system provided in this application or the chip described above.
[0212] In one possible implementation, the radar includes, but is not limited to, lidar.
[0213] In one possible implementation, there may be a smart sensor that integrates multiple sensors. In the case that the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called a radar or radar system.
[0214] This application also provides a terminal device, which includes the transmitting system, chip, radar, or radar system provided in this application. For example, the terminal device can be a means of transportation, such as a car, truck, aircraft, drone, slow-moving vehicle, spacecraft, or ship, or any other possible vehicle used in any scenario. It can also be any device capable of carrying a detection device, such as surveying equipment. One or more transmitting systems, chips, radars, or radar systems provided in this application are deployed on the terminal device.
[0215] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A launching system, characterized in that, include: Optical emission module, first driver module, second driver module; Wherein, the first end of the optical emitting module is connected to the first end of the first driving module and the first end of the second driving module respectively; the second end of the optical emitting module is connected to the power supply, and the second ends of the first driving module and the second driving module are grounded; or, the second end of the optical emitting module is grounded, and the second ends of the first driving module and the second driving module are connected to the power supply. The first driving module is used to generate a first pulse signal, and the second driving module is used to generate a second pulse signal, wherein the first pulse signal is different from the second pulse signal; The third pulse signal, synthesized from the first pulse signal and the second pulse signal, is used to drive the optical emitting module to emit the first beam.
2. The launching system according to claim 1, characterized in that, The launch system also includes: First resistor; The first resistor is disposed in the path between the optical emitting module and the second driving module; The resistance value of the first resistor is adjustable.
3. The launching system according to claim 1 or 2, characterized in that, The first pulse signal includes a first main pulse signal and a first sub-pulse signal, wherein the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.
4. The launching system according to claim 3, characterized in that, The second pulse signal includes a second main pulse signal and a second sub-pulse signal, wherein the amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal; The amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.
5. The launching system according to claim 4, characterized in that, The third pulse signal includes a third main pulse signal and a third sub-pulse signal, wherein the amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal; The amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.
6. The launching system according to any one of claims 1 to 5, characterized in that, The first driving module and the second driving module are two separate drivers; Alternatively, the first driver module and the second driver module may be two driver channels in an integrated driver. Alternatively, the first driving module includes a driver, and the second driving module includes a second resistor and a first capacitor; Alternatively, the first driving module may include a second resistor and a first capacitor, and the second driving module may include a driver.
7. The launching system according to any one of claims 1 to 6, characterized in that, The launch system also includes: Controller; The controller is used to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is also used to adjust the time delay between the first pulse signal and the second pulse signal.
8. The launching system according to any one of claims 1 to 7, characterized in that, The first driving module and / or the second driving module include an N-type metal-oxide semiconductor or a P-type metal-oxide semiconductor.
9. The launching system according to any one of claims 1 to 8, characterized in that, The optical emitting module includes at least one of the following: Edge-emitting laser (EEL), vertical-cavity surface-emitting laser (VCSEL), photonic crystal surface-emitting laser (PCSEL), and horizontal-cavity surface-emitting laser (HCSEL).
10. A chip, characterized in that, The chip includes the transmission system according to any one of claims 1 to 9.
11. A radar, characterized in that, The radar includes the transmitting system according to any one of claims 1 to 9, or the chip according to claim 10.
12. A terminal device, characterized in that, The terminal device includes the transmitting system according to any one of claims 1 to 9, or the chip according to claim 10, or the radar according to claim 11.
13. A vehicle end, characterized in that, The vehicle end includes the transmission system according to any one of claims 1 to 9, or the chip according to claim 10, or the radar according to claim 11, or the terminal device according to claim 12.