Laser radar emission control circuit and method
By using the gating and identification module and the emission synchronization processing module in the lidar emission control circuit, combined with digital gating signals and emission trigger signals, flexible control of the high-beam lidar is achieved, reducing the use of control circuitry and improving control flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUHAN WANJI INFORMATION TECH
- Filing Date
- 2024-11-12
- Publication Date
- 2026-05-12
AI Technical Summary
Traditional high-beam lidar transmitting circuits suffer from excessive FPGA resource consumption or inflexible control, especially in high-beam lidar where there are many control circuits that cannot be flexibly adjusted.
The laser radar emission control circuit, including a first control unit and a laser drive circuit, is adopted. It achieves selective control of the drive unit by combining digital gating signals and light emission triggering signals, and utilizes a gating recognition module and a light emission synchronization processing module, thereby reducing the use of control circuitry.
This method enables flexible control of multi-channel light-emitting units using a small number of control circuits, solving the problem of numerous and inflexible control circuits in traditional methods.
Smart Images
Figure CN122017800A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of radar technology, specifically relating to a laser radar transmission control circuit and method. Background Technology
[0002] Traditional high-beam lidar transmitting circuits generally employ two design approaches. One is a one-to-one control method, where one emitting unit corresponds to one FPGA (Field Programmable Gate Array) pin. This consumes a massive amount of FPGA resources; for example, in mainstream high-beam lidar with 128 or 192 lines, the emission control would occupy an equal number of I / O pins, which is clearly unacceptable. The other approach uses multiplexing, such as using 8-to-1 or 16-to-1 multiplexers, which can significantly reduce the number of FPGA pins used. However, this results in fixed and inflexible control of the emitting units, making adjustments impossible. Summary of the Invention
[0003] To address the shortcomings of existing technologies, this application proposes a lidar emission control circuit and method.
[0004] In a first aspect, this application proposes a lidar emission control circuit, comprising:
[0005] The first control unit is used to generate digital gating signals and light-emitting trigger signals, and send them to the laser driving circuit;
[0006] A laser driving circuit is used to receive a digital gating signal and a light emission trigger signal; wherein the laser driving circuit includes a second control unit and a driving unit, the second control unit determines and selects an output port in response to the digital gating signal, and provides the light emission trigger signal to the driving unit through the selected output port.
[0007] Optionally, the second control unit includes: a gating and recognition module and a light emission synchronization processing module, wherein,
[0008] The gating and identification module is used to receive and identify the digital gating signal, and transmit the identified digital gating signal to the light emission synchronization processing module.
[0009] The light emission synchronization processing module is used to determine the output port that needs to be selected in the second control unit according to the identified digital gating signal, and connect the output terminal of the light emission synchronization processing module to the determined output port that needs to be selected; receive and identify the light emission trigger signal, and transmit the identified light emission trigger signal to the selected output port in the second control unit.
[0010] Optionally, the driving unit includes multiple driving branches, each driving branch being connected to a corresponding output terminal of the second control unit; wherein, the driving branch is used to receive and generate a driving pulse signal according to the light-emitting trigger signal.
[0011] Optionally, it further includes a light-emitting unit; the light-emitting unit includes multiple light-emitting circuits, each of which is connected to the driving circuit in a one-to-one correspondence, for receiving the driving pulse signal and emitting light according to the driving pulse signal.
[0012] Optionally, the digital strobe signal and the light-emitting trigger signal are any one of LVDS, CAN, SPI, and IIC signals.
[0013] Optionally, the first control unit and the second control unit are field-programmable gate arrays or complex programmable logic devices.
[0014] Optionally, the digital gating signal and the light-emitting trigger signal can be transmitted separately, or the digital gating signal and the light-emitting trigger signal can be transmitted using a set of signal lines.
[0015] Optionally, when the digital gating signal and the light-emitting trigger signal share a set of signal lines for transmission, an AND gate is provided in the laser driving circuit; the second control unit provides a high-level signal to one input of the AND gate according to the identified digital gating signal, and the other input of the AND gate receives the light-emitting trigger signal provided by the first control unit; and when the light-emitting trigger signal is high, the AND gate outputs the light-emitting trigger signal to the second control unit, so that the light-emitting trigger signal is provided to the driving light-emitting unit through the gating output port.
[0016] Optionally, the AND gate can be constructed as a discrete device outside the second control unit or disposed within the second control unit.
[0017] Secondly, a lidar emission control method is proposed, which is implemented using the lidar emission control circuit described in the first aspect, including:
[0018] The first control unit sends a digital strobe signal to the laser drive circuit.
[0019] The second control unit in the laser driving circuit responds to the digital gating signal to determine and select the output port;
[0020] The first control unit sends a light-emitting trigger signal to the laser driving circuit.
[0021] The second control unit in the laser driving circuit provides the light emission trigger signal to the driving unit through a selected output port.
[0022] Optionally, a second control unit including a light emission synchronization processing module and a gating recognition module is provided in the laser driving circuit. The digital gating signal and the light emission trigger signal are transmitted in two sets of signal lines, and the output of the light emission synchronization processing module is connected to the output pin of the second control unit.
[0023] Optionally, a second control unit including a light emission synchronization processing module and a gating recognition module is provided in the laser driving circuit. The digital gating signal and the light emission trigger signal share a set of signal lines. The output of the light emission synchronization processing module is connected to the output pin of the second control unit, and an AND gate is set to recognize and process the light emission trigger signal.
[0024] The beneficial effects of the technical solutions provided in some embodiments of this application include at least the following:
[0025] This application provides a lidar emission control circuit and method. The lidar emission control circuit includes a first control unit for sending a digital gating signal and a light emission trigger signal to a laser driving circuit; and a laser driving circuit for receiving the digital gating signal and the light emission trigger signal. A second control unit in the laser driving circuit determines and selects an output port in response to the digital gating signal, and provides the light emission trigger signal to a driving unit in the laser driving circuit through the selected output port, thereby achieving selective control of the driving unit. This application solves the problem of numerous control lines and inflexible control in existing high-beam radar laser driving circuits, achieving the effect of flexible control of multi-channel light emission units using very few control lines.
[0026] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application are realized and obtained through the structures particularly pointed out in the description, claims and drawings.
[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings.
[0028] The advantages of this application in its additional aspects will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0030] Figure 1 This is a schematic diagram of a lidar emission control circuit according to an embodiment of this application;
[0031] Figure 2 This is a schematic diagram of the principle of the lidar emission control circuit when the digital gating signal and the emission trigger signal are transmitted independently, as shown in the embodiment of this application.
[0032] Figure 3 This is a schematic block diagram of a lidar emission control circuit shown in a specific example of an embodiment of this application.
[0033] Figure 4 This is a schematic diagram illustrating the transmission of a digital strobe signal in an embodiment of this application;
[0034] Figure 5 This is a schematic diagram of a laser driving circuit that receives a digital gating signal and determines and selects the output port in a specific example of an embodiment of this application.
[0035] Figure 6 This is a schematic diagram of the principle of the lidar emission control circuit when the digital gating signal and the light emission trigger signal share a set of signal lines for transmission, as shown in the embodiments of this application.
[0036] Figure 7 This is a schematic block diagram of a lidar emission control circuit, as shown in another specific example of an embodiment of this application.
[0037] Figure 8 This is a schematic diagram of a laser driving circuit controlling the selection of the light-emitting unit path after receiving a digital gating signal, as shown in another specific example of an embodiment of this application.
[0038] Figure 9 This is a timing diagram showing the first control unit sending a light-emitting trigger signal to the laser driving circuit, as shown in another specific example of an embodiment of this application.
[0039] Figure 10 This is a flowchart of a lidar emission control method as shown in an embodiment of this application. Detailed Implementation
[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.
[0041] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of methods and apparatus consistent with some aspects of this application as detailed in the appended claims.
[0042] In the description of this application, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.
[0043] This application proposes a radar transmission control circuit and method that enables flexible control of multi-channel light-emitting units using very few control lines. The following description, in conjunction with embodiments and accompanying drawings, provides further details.
[0044] Example 1
[0045] The following will describe in detail, with reference to the accompanying drawings, a lidar emission control circuit provided in an embodiment of this application. See also... Figure 1 The schematic diagram of the lidar emission control circuit provided in the embodiments of this application includes:
[0046] The first control unit is used to send digital gating signals and light emission trigger signals to the laser driving circuit;
[0047] A laser driving circuit includes a second control unit and a driving unit for receiving a digital gating signal and a light emission triggering signal; wherein, the second control unit determines and selects an output port in response to the digital gating signal, and provides the light emission triggering signal to the driving unit through the selected output port.
[0048] Specifically, the laser driving circuit includes a second control unit consisting of a gating and identification module and a light emission synchronization processing module. The gating and identification module receives and identifies the digital gating signal and transmits the identified digital gating signal to the light emission synchronization processing module. The light emission synchronization processing module receives the identified digital gating signal, determines the output port in the second control unit that needs to be selected based on the received and identified digital gating signal, and connects the output of the light emission synchronization processing module to the determined output port that needs to be selected; that is, it connects the output of the light emission synchronization processing module to the corresponding output pin (i.e., output port) of the second control unit. The light emission synchronization processing module also receives and identifies a light emission trigger signal and transmits the identified light emission trigger signal to the corresponding output pin of the second control unit.
[0049] In some embodiments, the lidar emission control circuit further includes a driving unit and a light-emitting unit.
[0050] The first control unit acts as the main control unit, sending digital gating signals and light-emitting trigger signals to the laser driving circuit. In this embodiment, both the digital gating signal and the light-emitting trigger signal are a set of digital instructions. The digital gating signal controls the channel of the light-emitting unit, and the light-emitting trigger signal controls the light-emitting time of the selected light-emitting channel.
[0051] The second control unit in the laser driving circuit acts as a slave control unit. The function of the gating and identification module is to receive and process the digital gating signal and transmit the result to the light emission synchronization processing module. The function of the light emission synchronization processing module is to process the light emission trigger signal of the next timing sequence and connect the output of the light emission synchronization processing module to the corresponding output pin of the second control unit according to the result of the gating and identification module. Further, the driving unit responds to the light emission trigger signal transmitted from the second control unit and drives the light emission unit to emit light. Finally, the light emission unit emits light under the drive of the driving unit.
[0052] The control flow is described as follows:
[0053] The first control unit generates a digital gating signal and a light-emitting trigger signal, and then sends them to the second control unit via a signal line (serial / parallel bus). The gating identification module in the second control unit receives and identifies the digital gating signal, and transmits the identified digital gating signal to the light-emitting synchronization processing module. The light-emitting synchronization processing module in the second control unit receives the identified digital gating signal from the gating identification module, determines the output port in the second control unit that needs to be selected based on the identified digital gating signal, and connects the output of the light-emitting synchronization processing module to the selected output port in the second control unit. Then, the first control unit sends a light-emitting trigger signal to the second control unit in the laser drive circuit. The light-emitting synchronization processing module in the second control unit processes the received light-emitting trigger signal and directly transmits the light-emitting trigger signal to the selected output pin in the second control unit. The light-emitting trigger signal is then transmitted to the drive unit via the selected output pin in the second control unit to control the drive unit to selectively drive the light-emitting unit to emit light.
[0054] Specifically, the digital strobe signal and the light-emitting trigger signal can be any one of the following signals: LVDS (Low Voltage Differential Signaling), CAN (Controller Area Network), SPI (Serial Peripheral Interface), or IIC (Inter-Integrated Circuit). Generally, when using serial bus transmission, the digital strobe signal and the light-emitting trigger signal are of the same type; when using parallel bus transmission, the digital strobe signal and the light-emitting trigger signal can be of the same type or different types.
[0055] In specific implementation, the first control unit and the second control unit can be either an FPGA (Field Programmable Gate Array) or a CPLD (Complex Programmable Logic Device).
[0056] Those skilled in the art will understand that the light-emitting unit includes multiple light-emitting circuits, each connected to a corresponding driving circuit, for receiving the driving pulse signal and emitting light according to the driving pulse signal. Each light-emitting circuit includes at least one light-emitting device, which can be any one of LD (Laser Diode), VCSEL (Vertical-Cavity Surface-Emitting Laser), etc.; this embodiment does not limit the type of light-emitting device.
[0057] In specific implementations, the digital gating signal and the light-emitting trigger signal are transmitted separately, or the digital gating signal and the light-emitting trigger signal are transmitted using a set of signal lines.
[0058] Specifically, when the digital gating signal and the light-emitting trigger signal share a set of signal lines for transmission, an AND gate is provided in the laser driving circuit; the second control unit provides a high-level signal to one input of the AND gate according to the identified digital gating signal, and the other input of the AND gate receives the light-emitting trigger signal provided by the first control unit; and when the light-emitting trigger signal is high, the AND gate outputs the light-emitting trigger signal to the second control unit, so that the light-emitting trigger signal is provided to the driving light-emitting unit through the output port of the gating gate.
[0059] In practice, AND gates are either built as discrete components outside the second control unit or installed inside the second control unit.
[0060] It is easy to see that placing the AND gate circuit outside the second control unit and using discrete components would increase costs.
[0061] This application solves the problem of numerous control lines and inflexible control in high-beam radar laser drive circuits, achieving the effect of flexibly controlling multi-channel light-emitting units with very few control lines.
[0062] The following specific examples illustrate the implementation process of this embodiment in detail:
[0063] Example 1
[0064] like Figure 2 As shown, the digital gating signal and the light-emitting trigger signal are transmitted separately between the first control unit and the second control unit. The digital gating signal carries the light-emitting channel information of the light-emitting unit, while the light-emitting trigger signal carries the light-emitting time of the light-emitting unit. The first control unit first sends the digital gating signal to the second control unit. The gating recognition module of the second control unit receives and recognizes the digital gating signal from the first control unit and transmits the recognition result to the light-emitting synchronization processing module. The channels selected by the digital gating signal are unrestricted; they can be partially selected, not selected at all, or all selected, meaning that any combination of light emission is possible. After receiving the recognition information from the gating recognition module, the light-emitting synchronization processing module of the second control unit connects its output to the corresponding output pin of the second control unit. After a certain delay, the first control unit sends a trigger pulse representing the light-emitting trigger signal to the second control unit. The second control unit recognizes the received trigger pulse and directly transmits the recognized light-emitting trigger signal to the already selected output pin of the second control unit.
[0065] When the digital gating signal and the light-emitting trigger signal are transmitted separately, the gating recognition module only receives and processes the digital gating signal, while the light-emitting synchronization processing module receives the recognized digital gating signal and the light-emitting trigger signal.
[0066] The following is a detailed control process for an example of a lidar emission control circuit with 8 light-emitting units using digital signal LVDS. The control process is the same for other digital signal formats and different numbers of light-emitting unit channels. The circuit block diagram is shown below. Figure 3 As shown;
[0067] Step S31: When the first control unit needs to control certain light-emitting circuits in the light-emitting unit, it first transmits the channel code (i.e., digital strobe signal) to the second control unit via LVDS. Figure 4The example diagram illustrates the transmission of digital strobe signals, specifically representing the binary code 0B01010101 sent when the circuit requires the first, third, fifth, and seventh light-emitting circuits to emit light.
[0068] Step S32: The gating and identification module of the second control unit receives and identifies the channel code, and then transmits the gating results of channels 1, 3, 5, and 7 to the light emission synchronization processing module. The light emission synchronization processing module directly connects its output to the output pins of channels 1, 3, 5, and 7 of the second control unit, thus preparing the light emission circuits corresponding to channels 1, 3, 5, and 7 to emit light. Figure 5 The diagram shows the selection of channels 1, 3, 5, and 7:
[0069] Step S33: After waiting for several clock cycles, the first control unit sends a light-emitting trigger signal to the second control unit. The second control unit directly transmits the light-emitting trigger signal to channels 1, 3, 5, and 7. After receiving the light-emitting trigger signal, the driving unit drives the light-emitting circuits of channels 1, 3, 5, and 7 to emit light.
[0070] This example demonstrates how the light-emitting units can be combined to emit light in any way through the direct connection gating method described above.
[0071] It is understandable that the digital strobe signal and light-emitting trigger signal between the first control unit and the second control unit can be reused to enable the first control unit to control multiple second control units or similar functional units at the same time.
[0072] Example 2
[0073] like Figure 6 As shown, the digital strobe signal and the light-emitting trigger signal between the first control unit and the second control unit share a set of signal lines. The digital strobe signal transmits the light-emitting channel information of the light-emitting unit, and the light-emitting trigger signal transmits the light-emitting time of the light-emitting unit.
[0074] At this point, the gating and recognition module will receive the digital gating signal and the light-emitting trigger signal in sequence, but it only processes the digital gating signal. After the digital gating signal arrives, it outputs a high level to one input of the AND gate. After a delay, the light-emitting trigger signal arrives, but it does not process it (or the light-emitting trigger signal is invalid for the gating and recognition module). The light-emitting synchronization processing module will also receive the digital gating signal and the light-emitting trigger signal in sequence, but when the digital gating signal arrives, the other input of the AND gate (i.e., the output connected to the gating and recognition module) is low. Only when the gating and recognition module has received the digital gating signal and output a high level to the input of the AND gate will the light-emitting trigger signal arrive, and the AND gate will output a high level normally.
[0075] The first control unit first generates a digital gating signal and sends it to the second control unit. The gating recognition module of the second control unit receives and recognizes the digital gating signal from the first control unit and transmits the recognition result to the light emission synchronization processing module. The recognition result is the recognized digital gating signal. The channels selected by the digital gating signal are unrestricted; they can be partially selected, not selected at all, or all selected, meaning that any combination of light emission can be used without being limited by factors such as quantity or position.
[0076] After receiving the identification information from the gating and recognition module, the light emission synchronization processing module of the second control unit determines the output port to be selected in the second control unit based on the identified digital gating signal, and connects the output of the light emission synchronization processing module to the selected output port in the second control unit. After a certain delay, the first control unit sends a light emission trigger signal to the second control unit. The second control unit processes the received light emission trigger signal using an AND gate and directly transmits the processed light emission trigger signal to the selected output pin of the second control unit. The AND gate processing trigger pulse has a fixed delay, which is subtracted here.
[0077] This example demonstrates trigger pulse recognition by using an AND gate in the light emission synchronization processing module. The two inputs of the AND gate are connected to the connection line between the first and second control units, and to one output of the gating recognition module of the second control unit, respectively. The output of the AND gate is connected to the output of the light emission synchronization module.
[0078] Initially, the signal output from the gating and identification module of the second control unit to the AND gate remains low, and the AND gate outputs a low level. There is a time interval between the digital gating signal sent from the first control unit and the light-emitting trigger signal; that is, the digital gating signal sent from the first control unit arrives at the second control unit first. The gating and identification module of the second control unit identifies and processes the received digital gating signal. On one hand, it transmits the processing result to the light-emitting synchronization processing module, so that the light-emitting synchronization processing module determines the output port that needs to be gated in the second control unit based on the identified digital gating signal, and connects the output of the light-emitting synchronization processing module to the determined output port that needs to be gated. On the other hand, the gating and identification module outputs a high level to one of the inputs of the AND gate, so that when the light-emitting trigger signal arrives at the AND gate, the light-emitting trigger signal can be provided to the light-emitting synchronization processing module through the AND gate.
[0079] After receiving the identification information from the gating and recognition module, the light emission synchronization processing module connects its output to the corresponding output pin of the second control unit. When the light emission trigger signal arrives, the light emission synchronization processing module of the second control unit processes the received light emission trigger signal using an AND gate, directly transmitting the processed light emission trigger signal to the gating output pin of the second control unit. At this time, the AND gate outputs a high level.
[0080] like Figure 7 As shown, the digital gating signal and the light-emitting trigger signal share a set of signal lines between the first control unit and the second control unit. The process of transmitting the digital gating signal and the light-emitting trigger signal sequentially is as follows:
[0081] Step S71: When the first control unit needs to control certain light-emitting circuits in the light-emitting unit to work, it first transmits the channel code to the second control unit via a digital signal. For example, if the first, third, fifth, and seventh light-emitting circuits need to work, it sends the binary code 0B 01010101. At this time, the gating and identification module of the second control unit outputs a low level to the AND gate input.
[0082] Step S72: The gating and identification module of the second control unit receives and identifies the channel code, and then transmits the gating results of channels 1, 3, 5, and 7 to the light emission synchronization processing module. The light emission synchronization processing module directly connects its output to the output pins of channels 1, 3, 5, and 7 of the second control unit, thus preparing the light emission units of channels 1, 3, 5, and 7 to emit light. Figure 8 Channels 1, 3, 5, and 7 are selected as shown. At this time, the second control unit's selection and identification module outputs a high level to the AND gate input.
[0083] Step S73: The first control unit sends a light-emitting trigger signal to the second control unit, and the AND gate outputs a high level at this time, with the timing as follows: Figure 9 As shown, this process obviously involves waiting for several clock cycles.
[0084] The light emission synchronization processing module of the second control unit directly transmits the light emission trigger signal to channels 1, 3, 5, and 7. After receiving the light emission trigger signal, the drive unit drives the light emission units of channels 1, 3, 5, and 7 to emit light.
[0085] Similarly, the digital gating signal and light-emitting trigger signal between the first control unit and the second control unit can be reused, enabling the first control unit to simultaneously control the second control unit, the third control unit, etc.
[0086] Example 2
[0087] This application proposes a radar transmission control method, such as... Figure 10 As shown, it includes the following steps:
[0088] Step S1: Generate a digital strobe signal through the first control unit and send it to the laser drive circuit;
[0089] Step S2: The second control unit in the laser driving circuit determines and selects the output port in response to the digital strobe signal;
[0090] Step S3: Generate a light-emitting trigger signal through the first control unit and send it to the laser driving circuit;
[0091] Step S4: The second control unit in the laser driving circuit provides the light emission trigger signal to the driving unit through the selected output port;
[0092] Furthermore, the driving unit drives the laser emitting unit of the corresponding channel to emit light.
[0093] In one feasible implementation, the digital gating signal and the light-emitting trigger signal are transmitted in two sets of signal lines, and the output of the light-emitting synchronization processing module is connected to the output pin of the second control unit.
[0094] In another feasible implementation, the digital gating signal and the light-emitting trigger signal share a set of signal lines, the output of the light-emitting synchronization processing module is connected to the output pin of the second control unit, and an AND gate is set to recognize and process the light-emitting trigger signal.
[0095] The radar transmission control method provided in this embodiment is implemented by the radar transmission control circuit provided in Embodiment 1. It has the same technical features as the radar transmission control circuit provided in Embodiment 1, so it can also solve the same technical problems and achieve the same technical effects.
[0096] Those skilled in the art will understand that, for the sake of convenience and brevity, the methods described above can be referred to the corresponding control processes in the aforementioned circuit embodiments, and will not be repeated here.
[0097] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered 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.
[0098] The applicant has provided a detailed description of the implementation examples of this application in conjunction with the accompanying drawings. However, those skilled in the art should understand that the above implementation examples are merely preferred embodiments of this application. The detailed description is only intended to help readers better understand the spirit of this application and is not intended to limit the scope of protection of this application. On the contrary, any improvements or modifications made based on the inventive spirit of this application should fall within the scope of protection of this application.
Claims
1. A laser radar emission control circuit, characterized in that, include: The first control unit is used to generate and send digital gating signals and light-emitting trigger signals; A laser driving circuit is used to receive the digital gating signal and the light emission triggering signal; wherein, the laser driving circuit includes a second control unit and a driving unit, the second control unit determines and selects an output port in response to the digital gating signal, and provides the light emission triggering signal to the driving unit through the selected output port.
2. The lidar emission control circuit according to claim 1, characterized in that, The second control unit includes: a gating and recognition module and a light emission synchronization processing module; wherein, The gating and identification module is used to receive and identify the digital gating signal, and transmit the identified digital gating signal to the light emission synchronization processing module; The light emission synchronization processing module is used to determine the output port that needs to be selected in the second control unit according to the identified digital gating signal, and connect the output terminal of the light emission synchronization processing module to the determined output port that needs to be selected; receive and identify the light emission trigger signal, and transmit the identified light emission trigger signal to the selected output port in the second control unit.
3. The lidar emission control circuit according to claim 1, characterized in that, The driving unit includes multiple driving branches, each of which is connected to the output terminal of the second control unit in a corresponding manner; wherein, the driving branch is used to receive and generate a driving pulse signal according to the light-emitting trigger signal.
4. The lidar emission control circuit according to claim 3, characterized in that, It also includes light-emitting units; The light-emitting unit includes multiple light-emitting circuits, which are connected one-to-one with the driving circuit to receive the driving pulse signal and emit light according to the driving pulse signal.
5. The lidar emission control circuit according to claim 1, characterized in that, The digital strobe signal and the light-emitting trigger signal are any one of LVDS, CAN, SPI, or IIC signals.
6. The lidar emission control circuit according to claim 2, characterized in that, The first control unit and the second control unit are field-programmable gate arrays or complex programmable logic devices.
7. The lidar emission control circuit according to any one of claims 1 to 4, characterized in that, The digital gating signal and the light-emitting trigger signal are transmitted separately, or the digital gating signal and the light-emitting trigger signal are transmitted using a set of signal lines.
8. The lidar emission control circuit according to claim 7, characterized in that, When the digital gating signal and the light-emitting trigger signal share a set of signal lines for transmission, an AND gate is provided in the laser driving circuit; the second control unit provides a high-level signal to one input of the AND gate according to the identified digital gating signal, and the other input of the AND gate receives the light-emitting trigger signal provided by the first control unit; and when the light-emitting trigger signal is high, the AND gate outputs the light-emitting trigger signal to the second control unit, so that the light-emitting trigger signal is provided to the driving light-emitting unit through the gating output port.
9. The lidar emission control circuit according to claim 8, characterized in that, The AND gate is constructed as a discrete device outside the second control unit or is located inside the second control unit.
10. A laser radar emission control method, implemented using the laser radar emission control circuit according to any one of claims 1 to 9, characterized in that, include: The first control unit generates and sends a digital strobe signal to the laser drive circuit. The second control unit in the laser driving circuit responds to the digital gating signal to determine and select the output port; The first control unit generates a light-emitting trigger signal and sends it to the laser driving circuit; The second control unit in the laser driving circuit provides the light emission trigger signal to the driving unit through a selected output port.