Drive circuits, excitation circuits, laser emission circuits, lidar, and vehicles

Abstract

The present disclosure provides a driving circuit, an excitation circuit, a laser emission circuit, a laser radar, and a vehicle. The driving circuit comprises a driver, a first voltage stabilizing circuit, and a compensation circuit, wherein: the driver comprises a control end, a first input end, a second input end, and an output end, the control end is configured to be coupled with a control signal, the first input end is configured to be coupled with a first feedback signal of a driven circuit, and the driver is configured to output a signal of the first input end or the second input end to the driven circuit under the control of the control signal; the first voltage stabilizing circuit is connected between the first input end and the second input end of the driver; and the compensation circuit is configured to compensate for a voltage change between the first input end and the second input end, and the second input end of the driver is configured to be coupled with an input signal through the compensation circuit. The present disclosure has the technical effects of improving the consistency of laser light emission and improving the detection performance of the laser radar.

Description

Technical Field

[0001] This disclosure relates to the field of optical detection technology, and more particularly to a driving circuit, an excitation circuit, a laser emitting circuit, a lidar, and a carrier. Background Technology

[0002] Optical detection technology uses light as a medium to detect objects. Compared to ordinary light sources, lasers possess characteristics such as monochromaticity and good directionality, making them widely used for object detection. For example, LiDAR (Light Detection and Ranging) uses lasers as a medium for object detection and has found applications in fields such as autonomous driving, drones, robot recognition, geographic mapping, and environmental monitoring. In LiDAR applications, the consistency of the laser light emitted is particularly important for its performance. Summary of the Invention

[0003] This disclosure provides a driving circuit, an excitation circuit, a laser emitting circuit, a lidar, and a carrier, which can improve the consistency of laser emission to enhance the detection performance of the lidar. The driving circuit includes a driver, a first voltage regulator circuit, and a compensation circuit. The driver includes a control terminal, a first input terminal, a second input terminal, and an output terminal. The control terminal is configured to be coupled to a control signal, and the first input terminal is configured to be coupled to a first feedback signal of the driven circuit. The driver is configured to output a signal from either the first or second input terminal to the driven circuit under the control of the control signal. The first voltage regulator circuit is connected between the first and second input terminals of the driver. The compensation circuit is configured to compensate for voltage variations between the first and second input terminals, and the second input terminal of the driver is configured to be coupled to the input signal through the compensation circuit.

[0004] The above driving circuit includes a first voltage regulator circuit connected between the first and second input terminals. This regulator circuit adjusts the output of the driving signal based on the first feedback signal from the driven circuit, ensuring that the voltage used to drive the switching circuit to turn on or off remains as stable as possible. This improves the consistency of the current driving the laser to emit light, thereby enhancing the consistency of laser emission. The compensation circuit compensates for the impact of environmental changes on the voltage difference between the first and second input terminals, reducing the influence of environmental factors on the consistency of laser emission. In short, this driving circuit improves the consistency of laser emission while driving the laser to emit light.

[0005] Optionally, the compensation circuit includes a second voltage regulator circuit, a first branch, and a second branch, wherein: the second voltage regulator circuit includes a signal input terminal, a signal output terminal, and a feedback terminal; the signal input terminal is configured to be coupled to an input signal; the feedback terminal is configured to receive a second feedback signal from the signal output terminal and adjust the output signal of the signal output terminal based on the second feedback signal; the output signal is used to provide a second input terminal to the driver; the first branch is connected between the signal output terminal of the second voltage regulator circuit and the second input terminal of the driver; the second branch is connected between the signal output terminal and the feedback terminal of the second voltage regulator circuit; the output signal generates the same voltage change through the first branch and the second branch.

[0006] In the above driving circuit, the second voltage regulator circuit uses its own output signal as a feedback signal to adjust its own output signal. When the environment changes, the impact of this change on the second voltage regulator circuit will be reflected in the adjustment of the second voltage regulator circuit based on the feedback signal, and thus reflected in the output signal, to compensate for the impact of the environment on the first voltage regulator circuit. The first branch and the second branch provide the same voltage change for the output signal on the two output branches, thereby reducing the impact of different branches on the compensation and making the compensation circuit have a better compensation effect.

[0007] Optionally, the first branch includes a first resistor and a first diode, which are connected in series between the signal output terminal of the second voltage regulator circuit and the second input terminal of the driver; the second branch includes a second resistor and a second diode, which are connected in series between the signal output terminal and the feedback terminal of the second voltage regulator circuit; wherein the first resistor and the second resistor have the same impedance, and the first diode and the second diode have the same forward voltage drop.

[0008] Optionally, the first voltage regulator circuit includes: a first capacitor connected in parallel between the first and second input terminals of the driver; and a first Zener diode, with its anode connected to the first input terminal of the driver and its cathode connected to the second input terminal of the driver.

[0009] In the above driving circuit, the first voltage regulator circuit, through the design of the first capacitor, can stabilize the voltage between the first and second input terminals. Furthermore, the design of the first Zener diode can further reduce the probability of damage to switching elements or the driver, thus improving the stability of the laser emission circuit of the lidar. Especially for lidars employing resonant emission circuits, the design of the above first voltage regulator circuit can effectively improve the stability of the lidar's laser emission circuit.

[0010] Optionally, the second voltage regulator circuit includes a linear regulator, a voltage divider circuit, and a second Zener diode, wherein: the input terminal of the linear regulator serves as the signal input terminal of the second voltage regulator circuit and is configured to couple to the input signal; the feedback terminal of the linear regulator serves as the feedback terminal of the second voltage regulator circuit and is configured to receive a second feedback signal; the output terminal of the linear regulator serves as the signal output terminal of the second voltage regulator circuit; a second branch is connected between the output terminal of the linear regulator and the voltage divider circuit, and the voltage divider circuit is connected between the second branch and the feedback terminal of the linear regulator; the cathode of the second Zener diode is connected to the voltage divider circuit and the second branch, and the anode of the second Zener diode is grounded.

[0011] Optionally, the first Zener diode and the second Zener diode have the same electrical characteristics.

[0012] Optionally, the voltage divider circuit is configured to divide the output signal to the feedback terminal of the linear regulator, wherein the voltage signal at the feedback terminal of the linear regulator satisfies the condition that the difference between the average current flowing through the third resistor to the ground terminal and the signal output by the driver at the second input terminal is less than or equal to a threshold.

[0013] Optionally, the voltage divider circuit includes a third resistor and a fourth resistor, wherein: one end of the third resistor is connected to the feedback terminal of the linear regulator and the other end is grounded; one end of the fourth resistor is connected to the feedback terminal of the linear regulator and the other end is connected to the cathode of the second Zener diode.

[0014] Optionally, it also includes a second capacitor connected in parallel with the fourth resistor.

[0015] Optionally, it also includes a fifth resistor connected between the signal output terminal and the ground terminal of the second voltage regulator circuit.

[0016] Optionally, it also includes a sixth resistor and a seventh resistor, wherein: one end of the sixth resistor is connected to the control terminal of the driver, and the other end is used to couple the control signal; one end of the seventh resistor is connected to the first input terminal of the driver, and the other end is used to couple the control signal.

[0017] Optionally, it also includes a third diode, a sixth resistor, and a seventh resistor for coupling the control signal through the third diode, wherein the anode of the third diode is used to couple the control signal, and the cathode of the third diode is connected to the sixth resistor and the seventh resistor.

[0018] Optionally, it also includes: a third capacitor, connected in series with a sixth resistor between the output terminal of the driver and the control terminal of the driver.

[0019] Optionally, it also includes: an eighth resistor, one end of which is connected to the first input terminal of the driver, and the other end is grounded.

[0020] In a second aspect, an excitation circuit is provided, comprising: a power supply; a switching circuit connected between the power supply and a laser; and a driving circuit of the first aspect, the driving circuit being configured to output a driving signal to the switching circuit, the driving signal being used to control the switching circuit to be turned on or off.

[0021] Thirdly, a laser emitting circuit is provided, comprising: a laser for emitting laser light; and an excitation circuit, as in the second aspect, configured to excite the laser to emit laser light.

[0022] Fourthly, a lidar is provided, comprising: a laser emitting circuit as described in the third aspect, configured to emit a laser; a laser receiving circuit, configured to receive the echo of the laser and convert the echo into an electrical signal; and a processing circuit, configured to process the electrical signal.

[0023] Fifthly, a vehicle is provided, including a lidar as described in the fourth aspect. Attached Figure Description

[0024] The accompanying drawings used in the description of the embodiments of this disclosure are briefly introduced below:

[0025] Figure 1 The diagram shows an example structure of a lidar provided in some embodiments of this disclosure;

[0026] Figure 2 The diagram shows an example structure of an excitation circuit provided in some embodiments of this disclosure;

[0027] Figure 3 The diagram shows an example structure of a drive circuit provided in some embodiments of this disclosure;

[0028] Figure 4 The diagram shows an example of the structure of another driving circuit provided in some embodiments of this disclosure;

[0029] Figure 5 This diagram shows a structural example of another driving circuit provided in some embodiments of the present disclosure;

[0030] Figure 6 This diagram shows a structural example of another driving circuit provided in some embodiments of the present disclosure;

[0031] Figure 7 The diagram shows an example structure of a second voltage regulator circuit provided in some embodiments of this disclosure;

[0032] Figure 8 This diagram shows a structural example of another driving circuit provided in some embodiments of the present disclosure;

[0033] Figure 9A structural example diagram of another excitation circuit provided in some embodiments of this disclosure is shown;

[0034] Figure 10 The diagram shows an example structure of a laser emitting circuit provided in some embodiments of this disclosure;

[0035] Figure 11 The diagram shows an example structure of a lidar provided in some embodiments of this disclosure;

[0036] Figure 12 The diagram shows an example structure of a vehicle provided in some embodiments of this disclosure. Detailed Implementation

[0037] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings or embodiments can be obtained based on these drawings or embodiments without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0038] To keep the drawings simple, each figure only schematically shows the parts relevant to the embodiment, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, only some structures or parts are schematically shown, and there may be more or fewer similar structures or parts in reality.

[0039] LiDAR (Light Detection and Ranging) uses laser light as a medium for object detection and has found applications in many fields. For example, LiDAR can be used in autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automated driving or assisted driving, includes any level of automated driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform one or more functions such as analysis, decision-making, or control. Vehicles include, but are not limited to, vehicles, manufacturing terminals, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0040] Figure 1 The diagram illustrates an example structure of a lidar provided in some embodiments of this disclosure. Please refer to... Figure 1The lidar 100 includes a laser emitting system 110, a laser receiving system 120, and a control and processing system 130. Optionally, the lidar 100 may also include a scanning system 140, such as a mechanical lidar or a semi-solid-state lidar. The scanning system 140 may include a scanner and a driving device, the driving device being used to drive the scanner to rotate, oscillate, or vibrate, so that the laser can achieve scanning of one or all of the vertical or horizontal field of view. For example, the laser is emitted through the scanner, the scanner can change the emission path of the laser, and the laser echo is guided to the light receiving path through the scanner. The embodiments of this disclosure do not limit the type of scanner, such as including but not limited to rotating mirrors, oscillating mirrors, galvanizing mirrors, or other devices that can direct the laser to different directions in the environment. As another example, the scanning system 140 may include a rotating platform, and one or more of the laser emitting circuit, laser receiving circuit, or optical system may be disposed on the rotating platform, so that scanning of one or all of the vertical or horizontal field of view can be achieved as the rotating platform rotates.

[0041] The laser emitting system 110 emits a laser beam. When the laser beam encounters an object 10, it is reflected back to the lidar 100; this reflected light is called an echo. The laser receiving system 120 receives the echo and converts it into an electrical signal. This electrical signal is pre-processed to obtain echo data. The echo data is provided to the control and processing system 130. The control and processing system 130 processes the echo data to obtain sensing data, such as point cloud data. The control and processing system 130 can then send the sensing data to the vehicle's control platform, which uses the sensing data to perform one or more functions, such as analysis, decision-making, or control.

[0042] The laser emitting system 110 may include a laser emitting circuit and emitting optical elements. The laser emitting circuit includes, for example, a laser and an excitation circuit. The laser emits laser light under the excitation of the excitation circuit, and the laser light exits through the emitting optical elements. The laser may include, but is not limited to, semiconductor lasers, fiber lasers, or other types of lasers. Semiconductor lasers may include, but are not limited to, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices.

[0043] The laser receiving system 120 may include receiving optical elements and a laser receiving circuit. The laser receiving circuit may include a detector and a readout circuit. The receiving optical elements can focus the echo reflected from an object onto the photosensitive surface of the detector; the detector uses the photoelectric effect to convert the optical signal into an electrical signal. The readout circuit is used to read out the electrical signal converted by the detector. Optionally, the laser receiving circuit may also include a gating circuit; the gating circuit can be used to select some or all of the detectors, and the selected detectors are in a state of responding to the optical signal, which can convert the echo into an electrical signal. Detectors include, but are not limited to: photodetector circuits, PIN photodiodes (PINPDs), avalanche photodiodes (APDs), single photon avalanche diodes (SPADs), silicon photomultipliers (SiPMs), or similar devices.

[0044] The emitting optical element is located in the laser emission path and is used to shape the laser emitted by the laser and adjust the laser's exit path. The receiving optical element is located in the laser receiving path and is used to collect the echo reflected back by the object 10 and converge the echo onto the photosensitive surface of the detector. For example, the emitting optical element includes, but is not limited to, one or more optical elements such as an emitting lens, a reflector, a homogenizer, and a beam splitter. For example, the receiving optical element includes, but is not limited to, one or more optical elements such as a receiving lens, a reflector, a filter, and a beam splitter (or beam splitter). The emitting and receiving optical elements can be independent, partially multiplexed, or fully multiplexed. For example, a lidar may include independent emitting and receiving optical elements, such as independent emitting and receiving lenses. For example, a lidar may include optical elements shared by the emitting and receiving optical paths. For example, the shared optical element may include a beam splitter, which separates the emitting and receiving optical paths. For example, the optical elements shared by the transmitting and receiving optical paths may include a shared lens, which is used to shape the light beams in the transmitting and receiving optical paths.

[0045] Preprocessing may include one or more of the following: amplification, filtering, digitization, etc. The preprocessing circuit may be part of or independent of the laser receiving circuit. For example, the preprocessing circuit may include one or more of the following: amplification circuit, filtering circuit, sampling circuit, etc. The amplification circuit may include, for example, an amplifier for amplifying the electrical signal converted by the detector. The filtering circuit may include a filter for filtering out noise or interference. The sampling circuit may include one or more of the following: an analog-to-digital converter (ADC) or a time-to-digital converter (TDC). For example, an ADC converts the analog electrical signal into a digital signal representing the echo waveform by periodically sampling the detector output signal, thus obtaining echo data. Alternatively, the electrical signal converted by the detector may be converted (e.g., converted into a voltage and compared with a reference voltage to generate an over-threshold signal) and provided to the TDC. The TDC performs time sampling based on the received over-threshold signal to measure the signal over-threshold time, thus obtaining echo data. The echo data may include data representing the echo time and / or echo intensity.

[0046] The control and processing system 130 is used to process the echo data to obtain sensing data. The control and processing system 130 is also used to send control signals to the excitation circuit to control the excitation circuit to excite the laser to emit light. When the lidar 100 includes a scanning system 140, the control and processing system 130 is also used to control the scanning system 140. In some embodiments, the control and processing system 130 may include one or more processors. Processors include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), and central processing units (CPUs). Hardware circuits implemented with PLDs include, but are not limited to, field-programmable gate arrays (FPGAs). When the control and processing system 130 includes multiple processors, the types of processors may be the same or different. For example, the control and processing system 130 may include an MCU and an FPGA; or, the control and processing system 130 may include an MCU, an FPGA, and a CPU; or, the control and processing system 130 may include a CPU and an FPGA, and so on. When the control and processing system 130 includes multiple processors, these processors may be configured separately, partially integrated together, or fully integrated together. For example, the control and processing system 130 may be implemented as a system-on-chip (SOC) or an ASIC.

[0047] Figure 2 A structural example diagram of an excitation circuit provided in some embodiments of this disclosure is shown. Please refer to... Figure 2The excitation circuit 200 may include a switching circuit 210 connected between the supply voltage V0 and the laser LD. The switching circuit 210 is turned on or off under the drive signal S0. The drive signal S0 may be generated based on a control signal Sc, which may originate from the control and processing system 130 of the lidar or from other control signal sources. For example, the excitation circuit 200 may also include a drive circuit 220 coupled to the control signal Sc and outputting the drive signal S0 based on the control signal Sc; the drive signal S0 is used to control the on or off state of the switching circuit 210. For example, the switching circuit 210 may be either high-level or low-level on, and the drive signal S0 may be a voltage signal. Taking high-level conduction as an example, when the driving circuit 220 outputs a high-level driving signal S0, the switching circuit 210 is turned on, the laser LD receives power from the supply voltage V0, and emits laser light; when the driving circuit 220 outputs a low-level driving signal S0, the switching circuit 210 is turned off, the supply voltage V0 is cut off, and the laser LD stops emitting laser light. The control signal Sc can include pulse signals, such as pulse width modulation (PWM) signals. The control signal Sc can be a positive pulse or a negative pulse. Figure 2 Taking a positive pulse as an example, in some other embodiments, the effective pulse can be a negative pulse.

[0048] The above description uses the example of the switching circuit 210 connected between the power supply voltage V0 and the anode of the laser LD. In some other embodiments, the switching circuit can also be connected between the cathode of the laser and the ground terminal, with the anode of the laser coupled to the power supply voltage, and the emission state of the laser controlled by controlling the grounding of the cathode.

[0049] In some embodiments, the switching circuit 210 may include a switching element, such as a semiconductor switching element. A semiconductor switching element can be an electronic device that uses the properties of a semiconductor material to control the flow of current. For example, the conductivity of a semiconductor material is altered by doping it with specific types of impurities (e.g., P-type or N-type impurities). Doping with P-type impurities increases the number of holes (positively charged particles) in the semiconductor, forming a P-type semiconductor. Doping with N-type impurities increases the number of electrons (negatively charged particles) in the semiconductor, forming an N-type semiconductor. Semiconductor switching elements include, but are not limited to, any one or more of the following electronic devices: N-type metal-oxide-semiconductor (NMOS) transistors, NPN transistors, or N-channel GaN transistors, P-type metal-oxide-semiconductor (PMOS), PNP transistors, or P-channel GaN transistors. When the switching circuit 210 includes switching elements such as NMOS, PMOS, N-channel GaN transistors, or P-channel GaN transistors, the drive signal S0 can be coupled to the gate of the switching element to control the conduction or cutoff between the source and drain of the switching element. When the switching circuit 210 includes switching elements such as NPN transistors or PNP transistors, the drive signal S0 can be coupled to the base of the switching element to control the conduction or cutoff between the collector and emitter of the switching element.

[0050] In some embodiments of this disclosure, the excitation circuit 200 may further include a feedback branch that can feed back signals from the driven circuit to the drive circuit 220. For example, please refer to... Figure 2 The feedback branch feeds the signal from the anode of the laser LD back to the drive circuit 220. The drive circuit 220 can adjust the output drive signal S0 based on the feedback signal F0 from the driven circuit, so that the drive signal S0 can maintain the control effect on the switching circuit after the switching circuit 210 is turned on, thereby improving the light output consistency of the laser LD.

[0051] The circuit components of the driving circuit 220 may be affected by environmental factors, causing the driving signal S0 output by the driving circuit 220 to fluctuate with changes in the environment, thereby affecting the consistency of laser emission. For example, when the ambient temperature changes, the performance of the circuit components in the driving circuit 220 may change, affecting the accuracy of the output driving signal S0 and thus impacting the consistency of laser emission. This disclosure provides a driving circuit, an excitation circuit, a laser emitting circuit, a lidar, and a carrier, aiming to improve the consistency of laser emission by designing the driving circuit or excitation circuit, thereby enabling the lidar using the laser to have better detection performance and the carrier using the lidar to have more reliable sensing performance.

[0052] Figure 3 A structural example diagram of a driving circuit provided in some embodiments of this disclosure is shown. Please refer to... Figure 3 The driving circuit 300 may include a driver 310, a first voltage regulator circuit 320, and a compensation circuit 330. The driver 310 includes a control terminal IN0, a first input terminal IN1, a second input terminal IN2, and an output terminal OUT. The control terminal IN0 is configured to be coupled to a control signal Sc, and the first input terminal IN1 is configured to be coupled to a first feedback signal F1 of the driven circuit. The driver 310 is configured to output a driving signal S0 to the driven circuit 30 under the control of the control signal Sc. The driving signal S0 includes the signal from either the first input terminal IN1 or the second input terminal IN2. The first voltage regulator circuit 320 is connected between the first input terminal IN1 and the second input terminal IN2. The compensation circuit 330 is configured to compensate for voltage variations between the first input terminal IN1 and the second input terminal IN2. The second input terminal IN2 is configured to be coupled to an input signal V1 through the compensation circuit 330.

[0053] The driving circuit 300 of this embodiment has a first voltage regulator circuit 320 connected between the first input terminal IN1 and the second input terminal IN2. This circuit can adjust the output of the driving signal S0 based on the first feedback signal F1 of the driven circuit, ensuring that the voltage used to drive the switching circuit 210 to turn on or off remains as stable as possible. For example, the switching circuit 210 includes an NMOS transistor. The gate of the NMOS transistor can be coupled to the driving signal S0, the source of the NMOS transistor can be coupled to the laser LD, and the drain of the NMOS transistor can be coupled to the supply voltage V0. The first voltage regulator circuit 320 can maintain a stable voltage difference between the first input terminal IN1 and the second input terminal IN2, ensuring that the voltage difference between the gate and source of the NMOS transistor remains stable before and after it is turned on, thus maintaining the control effect of the driving signal S0 on the NMOS transistor. This improves the consistency of the current driving the laser to emit light, thereby improving the consistency of laser emission. The compensation circuit can compensate for the impact of environmental changes on the voltage difference between the first input terminal IN1 and the second input terminal IN2, reducing the impact of environmental factors on the consistency of laser LD emission. It can be seen that the driving circuit 300 can improve the consistency of laser light output while driving the laser LD to emit light.

[0054] In some embodiments of this disclosure, a voltage regulator circuit can be used to compensate for voltage variations between the first input terminal IN1 and the second input terminal IN2. For example, Figure 4 A structural example diagram of another driving circuit provided in some embodiments of this disclosure is shown. Please refer to... Figure 4 The compensation circuit 330 may include a second voltage regulator circuit 331, a first branch 332, and a second branch 333. The second voltage regulator circuit 331 may include a signal input terminal VIN, a signal output terminal VOUT, and a feedback terminal FB. The signal input terminal VIN is configured to be coupled to an input signal V1. The feedback terminal FB is configured to receive a second feedback signal F2 from the signal output terminal VOUT and adjust the output signal Vout1 of the signal output terminal VOUT based on the second feedback signal F2. The output signal Vout1 is provided to the second input terminal IN2 of the driver 310. The first branch 332 is connected between the signal output terminal VOUT of the second voltage regulator circuit 331 and the second input terminal IN2 of the driver 310; the second branch 333 is connected between the signal output terminal VOUT of the second voltage regulator circuit 331 and the feedback terminal FB. The output signal Vout1 generates the same voltage change through the first branch 332 and the second branch 333.

[0055] The second voltage regulator circuit 331 uses its own output signal as a feedback signal to adjust its own output signal. When the environment changes, the impact of this change on the second voltage regulator circuit 331 will be reflected in the adjustment of the second voltage regulator circuit 331 based on the feedback signal, and thus reflected in the output signal of the second voltage regulator circuit 331, to compensate for the impact of the environment on the first voltage regulator circuit 320. The first branch 332 and the second branch 333 provide the same voltage change for the output signal on the two output branches of the output signal, thereby reducing the impact of different branches on the compensation and making the compensation circuit 330 have a better compensation effect.

[0056] In some embodiments of this disclosure, the first and second branches may be equipped with protective elements to prevent reverse current. For example, Figure 5 A structural example diagram of yet another driving circuit provided in some embodiments of this disclosure is shown. In some embodiments, please refer to... Figure 5 The first branch 332 includes a first diode D1, connected between the signal output terminal VOUT of the second voltage regulator circuit 331 and the second input terminal IN2 of the driver 310; the second branch 333 includes, for example, a second diode D2, connected between the signal output terminal VOUT of the second voltage regulator circuit 331 and the feedback terminal FB; the forward voltage drop of the first diode D1 and the second diode D2 is the same. The first diode D1 and the second diode D2 can prevent reverse current flow, improve the stability of the driver circuit 300, and reduce voltage fluctuations caused by reverse current, thereby improving the stability of the output signal of the second voltage regulator circuit 331.

[0057] In some embodiments of this disclosure, please continue to refer to Figure 5 The first branch 332 further includes a first resistor R1, which is connected in series with a first diode D1 between the signal output terminal VOUT of the second voltage regulator circuit 331 and the second input terminal IN2 of the driver 310. The second branch 333, for example, also includes a second resistor R2, which is connected in series with a second diode D2 between the signal output terminal VOUT of the second voltage regulator circuit 331 and the feedback terminal FB. The first resistor R1 and the second resistor R2 have the same impedance.

[0058] The fact that the forward voltage drops of the first diode D1 and the second diode D2 are the same ensures that the output signal flowing through the first branch 332 and the second branch 333 produces the same voltage change. Similarly, the fact that the impedances of the first resistor R1 and the second resistor R2 are the same also ensures that the output signal flowing through the first branch 332 and the second branch 333 produces the same voltage change. The concept of "same" in this disclosure includes differences between the components not exceeding a tolerance threshold. For example, if the impedance difference between the first resistor R1 and the second resistor R2 is less than or equal to an impedance error threshold, then the impedances of the first resistor R1 and the second resistor R2 can be considered the same. Similarly, if the difference between the forward voltage drops of the first diode D1 and the second diode D2 is less than or equal to a voltage drop error threshold, then the forward voltage drops of the first diode D1 and the second diode D2 can be considered the same. This disclosure does not limit the size of the tolerance threshold; for example, it may include differences of 15% or less between device parameter values. For example, the impedance difference between the first resistor R1 and the second resistor R2 is less than or equal to 15% of the first resistor R1 or the second resistor R2; as another example, the difference between the forward voltage drops of the first diode D1 and the second diode D2 is less than or equal to 15% of the forward voltage drops of the first diode D1 or the second diode D2.

[0059] The embodiments disclosed herein do not limit the series connection order of the first resistor R1 and the first diode D1, nor do they limit the series connection order of the second resistor R2 and the second diode D2. The series connection order of the first resistor R1 and the first diode D1 can be the same as or different from the series connection order of the second resistor R2 and the second diode D2.

[0060] In some embodiments of this disclosure, the first voltage regulator circuit 320 can be implemented using capacitive devices and electronic devices with voltage clamping capabilities. For example, Figure 6 A structural example diagram of yet another driving circuit provided in some embodiments of this disclosure is shown. Please refer to... Figure 6 The first voltage regulator circuit 320 includes, for example, a first capacitor C1 and a first Zener diode Z1. The first capacitor C1 is connected in parallel between the first input terminal IN1 and the second input terminal IN2 of the driver 310; the anode of the first Zener diode Z1 is connected to the first input terminal IN1 of the driver 310, and the cathode is connected to the second input terminal IN2 of the driver 310.

[0061] The first voltage regulator circuit 320 described above, through the design of the first capacitor C1, can stabilize the voltage between the first input terminal IN1 and the second input terminal IN2. The design of the first Zener diode Z1 can reduce the probability of damage to the switching element 211 or the driver 310, thereby improving the stability of the laser emission circuit of the lidar. For lidars employing a resonant emission circuit, the design of the first voltage regulator circuit 320 can effectively improve the stability of the lidar's laser emission circuit. For example, please refer to... Figure 6 The document provides an example of a resonant light-emitting circuit 40, which includes, for example, a resistor R0, an inductor L0, and a capacitor C0, utilizing the resonance effect to improve the efficiency and power factor of the power supply Vs. Optionally, the resonant light-emitting circuit 40 may also include a diode D0 to prevent backflow. When the on-resistance of the laser LD is small, the quality factor of the resonant light-emitting circuit 40 may be greater than 0.707. During the laser LD's emission process, the voltage of capacitor C0 may resonate to a negative voltage, which will cause the input signal V1 to start charging the first capacitor C1, making the voltage across the first capacitor C1 larger. This may cause the following problems: First, it may cause the driver 310 to drive the switching element 211 to conduct, exceeding the maximum allowable value of the control terminal of the switching element 211, resulting in damage to the switching element 211. The switching element 211 includes a first electrode P1, a second electrode P2, and a third electrode P3. The first electrode serves as a control terminal, used to control the conduction or cutoff between the second electrode P2 and the third electrode P3. Taking a GaN transistor as an example, the first electrode P1 is, for example, the gate, the second electrode P2 is, for example, the source or drain, and the third electrode P3 is, for example, the drain or source. The drive signal S0 may exceed the maximum allowable value Vgs(max) of the gate-source voltage of the GaN transistor. Secondly, it may cause the voltage between the second input terminal IN2 and the first input terminal IN1 of the driver 310 to exceed the specified voltage of the driver, which may damage the driver 310.

[0062] The design of the first voltage regulator circuit 320 above stabilizes the voltage across the capacitive device by setting up electronic devices with voltage clamping function, thereby enabling the driving circuit 300 to provide a more stable driving signal to the driven circuit and improving the consistency of the laser LD output.

[0063] In some embodiments of this disclosure, the first resistor R1 in the first branch can be used to slow down the charging speed of the first capacitor C1. The first Zener diode Z1 is used to clamp the voltage across the first capacitor C1. The first Zener diode Z1 may have a positive or negative temperature coefficient. If the ambient temperature changes, the operating voltage across the first Zener diode Z1 will also change, resulting in an unsatisfactory voltage clamping effect. For example, when a laser LD emits light, it releases a lot of heat, which may cause the board temperature of the circuit board to rise, affecting the clamping effect of the first Zener diode Z1. The introduction of the compensation circuit 330 can compensate for the voltage difference change between the first input terminal IN1 and the second input terminal IN2 of the driver 310 caused by the effect of temperature changes on the clamping effect of the first Zener diode Z1, thereby improving the light output consistency of the lidar.

[0064] In some embodiments of this disclosure, the second voltage regulator circuit 331 can be implemented using a linear regulator; alternatively, a second Zener diode can be used for voltage clamping. For example, Figure 7 A structural example diagram of a second voltage regulator circuit provided in some embodiments of this disclosure is shown. Please refer to... Figure 7 The second voltage regulator circuit 331 may include a linear regulator 710, a voltage divider circuit 720, and a second Zener diode Z2. The input terminal IN7 of the linear regulator 710 serves as the signal input terminal of the second voltage regulator circuit 331 and is configured to couple to the input signal V1; the feedback terminal FB7 of the linear regulator 710 serves as the feedback terminal of the second voltage regulator circuit 331 and is configured to receive a second feedback signal; the output terminal OUT7 of the linear regulator 710 serves as the signal output terminal of the second voltage regulator circuit 331. A second branch 333 is connected between the output terminal OUT7 and the voltage divider circuit 720, and the voltage divider circuit 720 is connected between the second branch 333 and the feedback terminal FB7. The cathode of the second Zener diode Z2 is connected to the voltage divider circuit 720 and the second branch 333, and the anode is grounded.

[0065] The output signal V of the linear regulator 710 OUT1 After being divided by the second branch 333 and the voltage divider circuit 720, the voltage is provided to the feedback terminal FB7. The voltage at the feedback terminal FB7 is compared with the internally set reference voltage, and the voltage of the output signal Vout1 is adjusted. After cyclic feedback regulation, a stable output signal Vout1 is achieved. For example, the linear regulator 710 includes a low dropout regulator (LDO).

[0066] The linear regulator 710 may also include an enable terminal EN7 and a ground terminal GND7. Optionally, the enable terminal EN7 can be coupled to the input signal V1 to keep it enabled for continuous operation. The ground terminal GND7 is grounded.

[0067] When the second voltage regulator circuit 331 is operating, the second Zener diode Z2 is reverse biased to clamp the voltage at point B (i.e., the connection between the cathode of the second Zener diode Z2 and the voltage divider circuit 720). Through the design of the first and second branches, the voltage at point B of the voltage divider circuit can be made approximately equal to the voltage at the second input terminal IN2 of the driver 310, thus compensating for voltage fluctuations at the second input terminal IN2 caused by environmental influences on the first voltage regulator circuit, thereby stabilizing the voltage difference between the first input terminal IN1 and the second input terminal IN.

[0068] In some embodiments of this disclosure, reference continues to be made to Figure 7The voltage divider circuit 720 includes, for example, a third resistor R3 and a fourth resistor R4. One end of the third resistor R3 is connected to the feedback terminal FB7 of the linear regulator 710, and the other end is grounded; one end of the fourth resistor R4 is connected to the feedback terminal FB7 of the linear regulator 710, and the other end is connected to the cathode of the second Zener diode Z2. The feedback voltage at the feedback terminal FB7 is obtained by dividing the voltage at point B across the third resistor R3.

[0069] In some embodiments of this disclosure, the first Zener diode Z1 and the second Zener diode Z2 have the same electrical characteristics. Similar to the embodiments above, the similarities in the embodiments of this disclosure include differences between objects not exceeding a tolerance threshold. For example, if the difference in electrical characteristics between the first Zener diode Z1 and the second Zener diode Z2 is less than or equal to the parameter threshold corresponding to that electrical characteristic, then the first Zener diode Z1 and the second Zener diode Z2 can be considered to have the same electrical characteristics.

[0070] In some embodiments of this disclosure, the voltage divider circuit 720 is configured to output signal V out1 The voltage is divided to the feedback terminal FB7 of the linear regulator 710. The voltage signal at the feedback terminal FB7 satisfies the condition that the difference between the current flowing to the ground terminal through the third resistor R3 and the average current when the driver 310 outputs the signal at the second input terminal IN2 is less than or equal to a threshold.

[0071] When the linear regulator 710 is operating, the voltage at point B, i.e., the voltage across the second Zener diode Z2, is as follows: Vvrd = Vfb × (R3 + R4) / R3, where Vvrd represents the voltage at point B, Vfb represents the voltage at the feedback terminal FB7, R3 represents the resistance of the third resistor R3, and R4 represents the resistance of the fourth resistor R4. The voltage Vvrd can be slightly higher than the rated voltage of the second Zener diode Z2. Assuming that when the ambient temperature (e.g., the board temperature of the circuit board where the second Zener diode Z2 is located) is the first temperature T1, the current flowing through the second Zener diode Z2 is ID1, then Vout1 = Vdiode2 + R2 × (Vfb / R3 + ID1) + Vvrd, where Vdiode2 represents the forward voltage drop of the second diode D2.

[0072] The first Zener diode Z1 and the second Zener diode Z2 have identical electrical characteristics. The output signal Vout1 generates the same voltage change through the first branch 332 and the second branch 333. For example, the forward voltage drop of the first diode D1 and the second diode D2 is the same; the impedance of the first resistor R1 and the second resistor R2 is the same. For instance, the first Zener diode Z1 and the second Zener diode Z2 are of the same model; the first diode D1 and the second diode D2 are of the same model; the first resistor R1 and the second resistor R2 are of the same model. From the perspective of the driver circuit 300, during the conduction of the switching circuit, the voltage between the first input terminal IN1 and the second input terminal IN2 of the driver 310, for example, the voltage at the end where the first capacitor C1 is connected to the second input terminal IN2, is Vc2 = Vout1 - Vdiode1 - R1 × (ID1 + Ig), where Vdiode1 represents the forward voltage drop of the first diode D1; R1 represents the resistance value of the first resistor R1; and Ig represents the average current of the driver 310 driving the switching circuit 210 to conduct, that is, the average current when the driver 310 outputs the signal at the second input terminal IN2. Ig = Qg * f, where Qg represents the total charge at the control terminal of the driving switching element. Taking a GaN transistor as an example, Qg represents the total gate charge, and f is the operating repetition frequency. When the average current Ig at the second input terminal IN2 of the driver satisfies the formula Vfb / R3≈Ig, Vc2 = Vvrd can be achieved. It can be seen that the voltage at the second input terminal IN2 of the driver of the switching circuit can be stabilized at Vvrd; thus, when the ambient temperature changes, temperature compensation is achieved for the first voltage regulator circuit, so that the driving signal output by the driver is basically consistent under different ambient temperatures, thereby improving the consistency of the laser's output light.

[0073] In some embodiments of this disclosure, reference continues to be made to Figure 7 The driving circuit 300 may also include a second capacitor C2, which is connected in parallel with the fourth resistor R4. The second capacitor C2 is located at the feedback terminal FB7 of the linear regulator 710, which can stabilize the feedback loop, improve the stability and response speed of the received feedback signal, and reduce the occurrence of circuit oscillation or performance degradation caused by unstable feedback signal.

[0074] The embodiments disclosed herein can also incorporate peripheral circuit design for the drive circuit, further improving its stability. For example, Figure 8 A structural example diagram of another driving circuit provided in some embodiments of this disclosure is shown.

[0075] Please refer to Figure 8In some embodiments of this disclosure, the driving circuit further includes a fifth resistor R5, connected between the signal output terminal VOUT7 of the second voltage regulator circuit 331 and the ground terminal. The fifth resistor R5 provides a path in the circuit, allowing reverse current to flow through the fifth resistor R5 to the ground terminal, preventing reverse current from flowing back to the linear regulator 710, protecting the normal operation of the linear regulator, and improving the stability and reliability of the driving circuit.

[0076] Please refer to Figure 8 In some embodiments of this disclosure, the driving circuit further includes a sixth resistor R6 and a seventh resistor R7. One end of the sixth resistor R6 is connected to the control terminal IN0 of the driver, and the other end is coupled to the control signal Sc; one end of the seventh resistor R7 is connected to the first input terminal IN1 of the driver 310, and the other end is coupled to the control signal Sc.

[0077] The sixth resistor R6 and the seventh resistor R7 can divide the voltage provided by the control signal Sc. The sixth resistor R6 and the seventh resistor R7 can limit the current from the control signal Sc input to the control terminal IN0 and the first input terminal IN1, reducing the possibility of damage to the driver 310.

[0078] In some embodiments of this disclosure, reference continues to be made to Figure 8 The driving circuit 300 may further include a third diode D3, a sixth resistor R6, and a seventh resistor R7 for coupling the control signal Sc through the third diode D3. The anode of the third diode D3 is used to couple the control signal Sc, and the cathode is connected to the sixth resistor R6 and the seventh resistor R7.

[0079] The third diode D3 is configured to reverse-cut off when the voltage at the cathode of the third diode D3 is higher than the voltage provided by the control signal Sc, thus preventing reverse current flow.

[0080] In some embodiments of this disclosure, reference continues to be made to Figure 8 The driving circuit 300 may also include a third capacitor C3, which is connected in series with a sixth resistor R6 between the output terminal OUT and the control terminal IN0 of the driver 310.

[0081] When the control signal Sc voltage of the input driver 310 fluctuates, the input voltage of the driver's control terminal IN0 also fluctuates, which may cause a change in the voltage of the drive signal S0 output by the driver 310. This, in turn, causes the switching circuit 210 to be briefly turned off, resulting in secondary emission of the laser LD and affecting the detection performance of the lidar. The third capacitor C3 can act as a hysteresis capacitor, stabilizing the voltage at the control terminal of the driver 310, reducing the occurrence of secondary emission of the laser LD, and further improving the consistency of the laser LD's output light.

[0082] Please continue to refer to this. Figure 8In some embodiments of this disclosure, the driving circuit 300 further includes an eighth resistor R8. One end of the eighth resistor R8 is connected to the first input terminal IN1 of the driver 310, and the other end is grounded. After the laser LD completes one emission, the switching circuit 210 will be turned off, and the eighth resistor R8 can provide a charging path for the first capacitor C1. After the laser LD completes one emission, the input signal V1 can charge the first capacitor C1 through the loop formed by the compensation circuit, the first capacitor C1, and the eighth resistor R8.

[0083] Based on a similar technical concept, embodiments of this disclosure also provide an excitation circuit. For example, Figure 9 An example diagram of another excitation circuit provided in some embodiments of this disclosure is shown. The excitation circuit 900 includes: a power supply 910; a switching circuit 920 connected between the power supply 910 and the laser 930; and a driving circuit 940 provided in any of the above embodiments, the driving circuit 940 being configured to output a driving signal to the switching circuit 920, the driving signal being used to control the switching circuit 920 to be turned on or off.

[0084] Based on a similar technical concept, embodiments of this disclosure also provide a laser emitting circuit. For example, Figure 10 A structural example diagram of a laser emitting circuit provided in some embodiments of this disclosure is shown. The laser emitting circuit 1000 includes a laser 1010 for emitting laser light. The excitation circuit 1020 provided in the above embodiments is configured to excite the laser 1010 to emit laser light.

[0085] Based on a similar technical concept, embodiments of this disclosure also provide a lidar. For example, Figure 11 The diagram illustrates an example structure of a lidar provided in some embodiments of this disclosure. The lidar 1100 includes a laser emitting circuit 1110 as provided in the above embodiments, configured to emit a laser; a laser receiving circuit 1120, configured to receive the laser echo and convert the echo into an electrical signal; and a processing circuit 1130, configured to process the electrical signal.

[0086] Based on a similar technical concept, embodiments of this disclosure also provide a vehicle. For example, Figure 12 The diagram illustrates a structural example of a vehicle provided in some embodiments of this disclosure. The vehicle includes the lidar provided in the above embodiments. The vehicle may include, for example, a vehicle 1210, on which the lidar 1220 is mounted for detecting objects around the vehicle 1210. Figure 12The lidar 1220 is mounted on the front of the roof, but this is only an example. The dotted box in the diagram shows several other possible mounting locations. For example, the lidar 1220 can be mounted on the vehicle 1210 in the following locations: the top of the vehicle (e.g., the front, rear, or other roof positions), near the headlights, hidden within the headlights, on both sides of the vehicle body, in the front bumper, within the grille, above the windshield, above the rear window, on the side fenders, front wheel arches, the hood, the trunk lid, under the trunk, or in a location within the cabin that can be detected from the outside through the windshield. Furthermore, the vehicle 1210 can be equipped with one or more lidar 1220s. In summary, this disclosure does not limit the number and location of LiDARs installed on a vehicle. The number and location of LiDARs can be selected and designed based on various factors such as perception performance, safety, cost, appearance, and engineering. For example, one LiDAR can be installed on the front side of the roof; another example is to install one LiDAR near the headlights on both sides of the vehicle; yet another example is to install one LiDAR on the front of the roof and one LiDAR on each side of the fender; yet another example is to install one LiDAR at the front and one at the rear of the roof and one LiDAR on each side of the front wheel arch.

[0087] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" may include one lidar or multiple lidars.

[0088] "Multiple" includes two or more, and other classifiers are similar.

[0089] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0090] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A driving circuit, characterized in that, Includes a driver, a first voltage regulator circuit, and a compensation circuit, wherein: The driver includes a control terminal, a first input terminal, a second input terminal, and an output terminal. The control terminal is configured to be coupled to a control signal, the first input terminal is configured to be coupled to a first feedback signal of the driven circuit, and the driver is configured to output a signal from the first input terminal or the second input terminal to the driven circuit under the control of the control signal. The first voltage regulator circuit is connected between the first input terminal and the second input terminal of the driver; The compensation circuit is configured to compensate for voltage changes between the first input terminal and the second input terminal, and the second input terminal of the driver is configured to be coupled to the input signal through the compensation circuit; The compensation circuit includes a second voltage regulator circuit, a first branch, and a second branch, wherein: The second voltage regulator circuit includes a signal input terminal, a signal output terminal, and a feedback terminal. The signal input terminal is configured to be coupled to the input signal. The feedback terminal is configured to receive a second feedback signal from the signal output terminal and adjust the output signal of the signal output terminal based on the second feedback signal. The output signal is used to provide the second input terminal of the driver. The first branch is connected between the signal output terminal of the second voltage regulator circuit and the second input terminal of the driver; The second branch is connected between the signal output terminal and the feedback terminal of the second voltage regulator circuit; The output signal generates the same voltage change through the first branch and the second branch.

2. The driving circuit according to claim 1, characterized in that, The first branch includes a first resistor and a first diode, which are connected in series between the signal output terminal of the second voltage regulator circuit and the second input terminal of the driver. The second branch includes a second resistor and a second diode, which are connected in series between the signal output terminal and the feedback terminal of the second voltage regulator circuit. The first resistor and the second resistor have the same impedance, and the first diode and the second diode have the same forward voltage drop.

3. The driving circuit according to claim 1 or 2, characterized in that, The first voltage regulator circuit includes: A first capacitor is connected in parallel between the first input terminal and the second input terminal of the driver; The first Zener diode has its anode connected to the first input terminal of the driver and its cathode connected to the second input terminal of the driver.

4. The driving circuit according to claim 3, characterized in that, The second voltage regulator circuit includes a linear regulator, a voltage divider circuit, and a second Zener diode, wherein: The input terminal of the linear regulator serves as the signal input terminal of the second voltage regulator circuit and is configured to be coupled to the input signal; the feedback terminal of the linear regulator serves as the feedback terminal of the second voltage regulator circuit and is configured to receive the second feedback signal; the output terminal of the linear regulator serves as the signal output terminal of the second voltage regulator circuit. The second branch is connected between the output terminal of the linear regulator and the voltage divider circuit, and the voltage divider circuit is connected between the second branch and the feedback terminal of the linear regulator. The cathode of the second Zener diode is connected to the voltage divider circuit and the second branch, and the anode of the second Zener diode is grounded.

5. The driving circuit according to claim 4, characterized in that, The first Zener diode and the second Zener diode have the same electrical characteristics.

6. The driving circuit according to claim 4 or 5, characterized in that, The voltage divider circuit is configured to divide the output signal to the feedback terminal of the linear regulator, wherein the voltage signal at the feedback terminal of the linear regulator satisfies the condition that the difference between the current flowing through the third resistor to the ground terminal and the average current when the driver outputs the signal at the second input terminal is less than or equal to a threshold.

7. The driving circuit according to claim 6, characterized in that, The voltage divider circuit includes the third resistor and the fourth resistor, wherein: One end of the third resistor is connected to the feedback terminal of the linear regulator, and the other end is grounded. One end of the fourth resistor is connected to the feedback terminal of the linear regulator, and the other end is connected to the cathode of the second Zener diode.

8. The driving circuit according to claim 7, characterized in that, Also includes: The second capacitor is connected in parallel with the fourth resistor.

9. The driving circuit according to any one of claims 1-8, characterized in that, Also includes: The fifth resistor is connected between the signal output terminal and the ground terminal of the second voltage regulator circuit.

10. The driving circuit according to any one of claims 1-9, characterized in that, It also includes a sixth resistor and a seventh resistor, wherein: One end of the sixth resistor is connected to the control terminal of the driver, and the other end is used to couple the control signal. One end of the seventh resistor is connected to the first input terminal of the driver, and the other end is used to couple the control signal.

11. The driving circuit according to claim 10, characterized in that, It also includes a third diode, the sixth resistor and the seventh resistor being used to couple the control signal through the third diode, wherein the anode of the third diode is used to couple the control signal, and the cathode of the third diode is connected to the sixth resistor and the seventh resistor.

12. The driving circuit according to claim 10 or 11, characterized in that, Also includes: The third capacitor, together with the sixth resistor, is connected in series between the output terminal of the driver and the control terminal of the driver.

13. The driving circuit according to any one of claims 1-9, characterized in that, Also includes: The eighth resistor has one end connected to the first input terminal of the driver and the other end grounded.

14. An excitation circuit, characterized in that, include: power supply; A switching circuit is connected between the power supply and the laser; The driving circuit according to any one of claims 1-13, wherein the driving circuit is configured to output a driving signal to the switching circuit, the driving signal being used to control the switching circuit to be turned on or off.

15. A laser emitting circuit, characterized in that, include: A laser, used to emit laser light; The excitation circuit as described in claim 14 is configured to excite the laser to emit laser light.

16. A lidar, characterized in that, include: The laser emitting circuit as described in claim 15 is configured to emit a laser; A laser receiving circuit is configured to receive the echo of the laser and convert the echo into an electrical signal; The processing circuit is configured to process the electrical signal.

17. A vehicle, characterized in that, Including the lidar as described in claim 16.

Images