Vehicle-mounted LiDAR system and vehicles

Abstract

This disclosure relates to the field of automotive technology, and more specifically, to an in-vehicle lidar system and a vehicle. The in-vehicle lidar system includes a signal processing module and a lidar module mounted on the vehicle. An electrical connection exists between a first interface of the lidar module and a second interface of the signal processing module. The lidar module is used to transmit raw radar signals acquired from the system to the signal processing module via the electrical connection; the signal processing module is used to process the received raw radar signals.

Description

Technical Field

[0001] This disclosure relates to the field of automotive technology, and in particular to an in-vehicle lidar system and vehicle. Background Technology

[0002] Traditional lidar modules include a processing unit that can process the acquired raw lidar signals to output processed data such as point cloud data.

[0003] When LiDAR modules are used in vehicle scenarios, they can transmit processed data to the vehicle for application. However, the processing unit within a LiDAR module has relatively weak performance, and processing the raw radar signal introduces a certain time delay, resulting in inaccurate data acquired by the vehicle. Utility Model Content

[0004] To overcome the problems existing in the related technologies, this disclosure provides an in-vehicle lidar system and vehicle that can solve the above problems.

[0005] According to a first aspect of the present disclosure, a vehicle-mounted lidar system is provided. The system includes a signal processing module and a lidar module mounted on a vehicle. An electrical connection exists between a first interface of the lidar module and a second interface of the signal processing module. The lidar module is used to transmit acquired raw radar signals to the signal processing module through the electrical connection. The signal processing module is used to process the received raw radar signals.

[0006] According to a second aspect of the present disclosure, a vehicle is provided, the vehicle being equipped with an onboard lidar system as described in the first aspect.

[0007] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0008] The vehicle-mounted LiDAR system disclosed herein includes a signal processing module mounted on the vehicle. An electrical connection exists between the first interface of the LiDAR module and the second interface of the signal processing module. The LiDAR module transmits the acquired raw radar signal to the signal processing module via this electrical connection, and the signal processing module processes the received raw radar signal. Because the signal processing module is mounted on the vehicle, its performance is stronger than that of traditional processing units mounted within LiDAR systems, resulting in higher processing efficiency and shorter processing time for raw radar signals. Furthermore, since the acquired raw radar signal is processed by the vehicle's signal processing module, the LiDAR module can directly transmit the raw radar signal, eliminating the need for a dedicated processing unit within the LiDAR module. This reduces costs and lowers the local computing power requirements of the LiDAR module.

[0009] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0010] The accompanying drawings, which are incorporated in and form part of this disclosure, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0011] Figure 1 This disclosure is a schematic diagram of the structure of a vehicle-mounted lidar system according to a related technology.

[0012] Figure 2 This is a schematic diagram of the structure of a vehicle-mounted lidar system according to an exemplary embodiment of the present disclosure.

[0013] Figure 3 This is a schematic flowchart illustrating a method for processing lidar signals according to an exemplary embodiment of the present disclosure.

[0014] Figure 4 This is a block diagram illustrating an apparatus for a vehicle-mounted lidar according to an exemplary embodiment of the present disclosure.

[0015] Figure 5 This is a schematic block diagram illustrating an apparatus for a vehicle-mounted lidar according to an exemplary embodiment of the present disclosure. Detailed Implementation

[0016] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0017] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0018] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0019] Figure 1 This is a structural schematic diagram of a vehicle-mounted lidar system based on relevant technologies.

[0020] like Figure 1 As shown, in related technologies, a lidar system may include a lidar module 100, which includes a transmitting unit 101, a receiving unit 102, and a processing unit 103.

[0021] The transmitting unit 101 can transmit radar signals under control. When the radar signal encounters an obstacle, it will bounce back and be received by the receiving unit 102, thus forming the original radar signal. The original radar signal is transmitted to the processing unit 103, which processes the original radar signal. This processing may include, but is not limited to, filtering and point cloud processing. Finally, the processing result is used as the output of the lidar module.

[0022] In some application scenarios, the LiDAR module 100 can be mounted on a vehicle. The LiDAR module 100 can output the processed data to the vehicle 110, and the vehicle 110 can realize some driving functions (such as autonomous driving, reversing camera, etc.) based on the acquired LiDAR module (sensor) data.

[0023] However, the processing unit 103 in the lidar module 100 has weak computing power, and processing a large number of raw radar signals will take a long time. In addition, the processing unit 103 further increases the cost of the lidar module 100.

[0024] To address the aforementioned technical issues, this disclosure proposes an in-vehicle lidar system.

[0025] Figure 2 This is a schematic diagram illustrating the structure of an in-vehicle lidar system according to an embodiment of the present disclosure. This in-vehicle lidar system can be mounted on a vehicle and used to provide sensor data to the vehicle.

[0026] like Figure 2As shown, the vehicle-mounted LiDAR system includes a signal processing module 210 and a LiDAR module 220 mounted on the vehicle. There is an electrical connection between the first interface 221 of the LiDAR module 220 and the second interface 211 of the signal processing module 210. The LiDAR module 220 is used to send the acquired raw radar signal to the signal processing module 210 through the electrical connection. The signal processing module 210 is used to process the received raw radar signal.

[0027] Unlike the aforementioned related technologies, the lidar module 220 proposed in this disclosure does not include a processing unit. The lidar module 220 can directly send the collected raw radar signal to the signal processing module 210 mounted on the vehicle via an electrical connection, and the signal processing module 210 mounted on the vehicle processes the raw radar signal.

[0028] Based on the vehicle-mounted LiDAR system proposed in this disclosure, the LiDAR module 220 may not include a processing unit, such as an FPGA (Field-Programmable Gate Array), a SOC (System on Chip), or a CPLD (Complex Programmable Logic Device).

[0029] Furthermore, since the lidar module 220 does not contain a processing unit and does not require processing or temporary storage of the original lidar signal, some storage devices in traditional lidar modules, such as DDR (Double Data Rate) memory, can be removed, in addition to the processing unit.

[0030] Therefore, in the vehicle-mounted LiDAR system proposed in this disclosure, the LiDAR module 220 has a relatively simple structure and low cost. The LiDAR module 220 only needs to send the acquired raw radar signal to the signal processing module 210 mounted on the vehicle via the first interface 221, where it is processed. Since the vehicle already has multiple processing modules, the signal processing module 210 in this disclosure can effectively be a reuse of a single processing module on the vehicle. Compared to the processing unit in a traditional LiDAR module 220, it has stronger computing power, better performance, and faster processing speed, thereby reducing processing latency and enabling the vehicle's processing module to obtain the processing results of the raw radar signal as quickly as possible.

[0031] In some embodiments, the lidar module 220 includes a receiving unit 223 and a transmitting unit 222. The transmitting unit 222 is used to transmit a first signal, and the receiving unit 223 is used to receive a second signal formed by the reflection of the first signal. The receiving unit 223 is also used to convert the second signal into an original radar signal and transmit it to the first interface 221.

[0032] The second signal received by the receiving unit 223 is usually not a digital signal, so the receiving unit 223 needs to convert the second signal into a digital signal, that is, the original radar signal, so that the original radar signal can be transmitted through an electrical connection.

[0033] In some embodiments, the emitting unit 222 may further include a light source driving device, a light source, and an emitting optical path.

[0034] The light source driving device is used to control the light source to emit light. The light emitted by the light source can be emitted from the lidar module based on the emission optical path and bounced back after encountering an obstacle.

[0035] In some embodiments, the receiving unit 223 may further include a receiving device and a receiving optical path.

[0036] The second signal (e.g., light) that is bounced back can be received by a receiving device through the receiving optical path, and the receiving device can convert the received second signal into the original radar signal.

[0037] In some embodiments, the receiving device may include a receiving chip, such as SPAD (Single Photon Avalanche Diode), SiPM (Silicon Photomultiplier), APD (Avalanche Photodiode), etc.

[0038] In some embodiments, there is an electrical connection between the first interface 221 and the second interface 211.

[0039] Electrical connection methods may include, but are not limited to, cable connection, contact connection, and socket plug connection.

[0040] Compared to Ethernet chips and Ethernet interfaces, using electrical connections simplifies the interface and increases transmission bandwidth. Since the processing unit is removed from the lidar module 220 of this disclosure, a large amount of raw radar signals needs to be transmitted. Ethernet and Ethernet interfaces cannot guarantee the speed and stability of transmitting this large amount of raw radar signals; therefore, this disclosure uses electrical connections for transmission.

[0041] Electrical connection ensures that the large amount of raw radar signals collected by lidar module 220 can be transmitted quickly and stably to signal processing module 210, which then processes the raw radar signals, thereby ensuring processing efficiency and reducing latency.

[0042] In some embodiments, the signal processing module 210 includes the vehicle's domain controller.

[0043] In some embodiments, the signal processing module 210 may also include general computing devices in the vehicle, such as ECU (Electronic Control Unit).

[0044] This disclosure does not restrict the hardware selection of the signal processing module 210. In a vehicle, any device with sufficient computing power to meet the signal processing requirements can be used as the signal processing module 210.

[0045] In some embodiments, the electrical connection includes a power connection for supplying power to the lidar module and a communication connection for transmitting the raw radar signal.

[0046] The power supply for the lidar module 220 can be provided directly by the hardware corresponding to the signal processing module 210, or it can be provided via a power over cable (POC). Therefore, there is no need to provide an additional power supply to the lidar module 220 in this disclosure, which simplifies the power supply structure of the lidar module 220 and further reduces costs.

[0047] The lidar module 220 can communicate with the signal processing module 210 via an electrical connection to transmit raw radar signals. In related technologies, establishing a communication connection between the lidar module and the vehicle requires a complex interactive process (e.g., establishing communication through a handshake). However, in the solution disclosed herein, after acquiring the raw radar signal, the lidar module 220 can directly transmit the raw radar signal to the signal processing module 210 via an electrical connection, thereby simplifying the communication process between the lidar module and the vehicle's processing module and improving system robustness.

[0048] In some embodiments, the electrical connection between the lidar and the processing module includes at least one of the following: coaxial cable, twisted pair cable.

[0049] Coaxial cable and twisted pair are two common types of cables that can be used for signal transmission.

[0050] In addition to the cable connection as described in this embodiment, the electrical connection can also be a contact connection, for example, the lidar module 220 includes a plug, while the signal processing module 210 includes a socket.

[0051] In some embodiments, the raw radar signal is transmitted to the signal processing module according to a standard protocol.

[0052] The transmitted raw radar signal conforms to the standard MIPI (Mobile Industry Processor Interface) protocol, enabling the raw radar signal to be transmitted based on the first interface, the second interface, and the electrical connection.

[0053] In some embodiments, the first interface includes a serial interface and the electrical connection includes a serial connection; and / or, the first interface includes a parallel interface and the electrical connection includes a parallel connection.

[0054] For example, the first interface includes a serial interface, the first interface 221 can be a serializer, and the corresponding second interface 211 can be a deserializer.

[0055] The serializer can convert the raw radar signal into serial data, which is then transmitted to the deserializer in the signal processing module 210 via an electrical connection. After conversion to serial data, the raw radar signal can be transmitted at high speed. Serial data has less loss and attenuation during high-speed transmission, and it can reduce the number of pins and wiring complexity, thereby improving data transmission efficiency and system reliability.

[0056] After receiving the data transmitted by the lidar module 220, the signal processing module 210 can first deserialize the data using a deserializer to reacquire the original radar signal, and then the processing module 210 processes the original radar signal.

[0057] In some embodiments, the first interface may also be a parallel interface, and the electrical connection includes a parallel connection.

[0058] The first interface can also be a parallel interface, which converts the raw radar signal collected by the lidar module 220 into parallel data and then sends it to the signal processing module 210.

[0059] In some embodiments, the lidar module 220 and the signal processing module 210 communicate via an electrical connection.

[0060] The lidar module 220 disclosed herein communicates via electrical connection, thus eliminating the need for an Ethernet chip and Ethernet interface, as well as synchronization methods such as GPTP (Generalized Precision Time Protocol) or PTP (Precision Time Protocol).

[0061] In some embodiments, the signal processing module 210 is further configured to: send a frame synchronization signal to the lidar module 220 so that the lidar module 220 performs clock alignment.

[0062] The processing module 210 can send a frame synchronization signal to the lidar module 220. The frame synchronization signal can be used for clock synchronization. The processing module 210 can also instruct the lidar module 220 to transmit and collect radar signals through the frame synchronization signal.

[0063] Compared to the traditional synchronization method of lidar modules, the frame synchronization signal sent by the signal processing module 210 can achieve synchronization alignment more simply, conveniently and quickly, and is conducive to improving the synchronization accuracy of lidar module 220 with other sensors (such as image acquisition modules).

[0064] In some embodiments, the signal processing module processes the received raw radar signal, including at least one of the following: filtering the radar signal; and performing point cloud processing on the radar signal.

[0065] The filtering process includes noise filtering, which can remove noise signals from the original radar signal; the signal processing module 210 can also perform point cloud processing on the original radar signal to generate corresponding point cloud data. Based on the point cloud data, information such as distance and azimuth can be further determined.

[0066] In some embodiments, the processing of the original radar signal by the signal processing module 210 may further include data pre-fusion.

[0067] Data fusion can combine data from different sensors. For example, it can combine the raw radar signal output from the lidar module with the image signal output from the image acquisition module, thereby improving the accuracy and robustness of the sensor system on the vehicle.

[0068] In some embodiments, the vehicle-mounted LiDAR system may employ at least one of the following operating modes: histogram mode, echo mode, and range mode.

[0069] Based on the signal processing module 210, specific processing methods can be applied to the acquired raw radar signals to achieve specific working modes, such as histogram mode, echo mode, and range mode.

[0070] In some embodiments, the lidar module 220 includes a transmitting unit 222, which includes a light source driving device, a light source, and a transmitting optical path.

[0071] The light source driving device can consist of a control chip and GaN (gallium nitride). The control chip is used for timing control and / or channel selection. When the signal processing module 210 sends a frame synchronization signal, the control chip can control the light source to emit light based on the frame synchronization signal.

[0072] In some embodiments, the lidar module 220 can scan in a single direction or in two directions.

[0073] The lidar module 220 can support one-dimensional and two-dimensional scanning methods.

[0074] When the lidar module 220 scans in a single direction (one dimension), it can be a fixed angular range, such as the horizontal or vertical direction. The lidar module 220 can acquire distance or reflection intensity data along a line in that direction. The original radar signal can be a set of points.

[0075] When the lidar module 220 scans in two directions (two dimensions), such as horizontal and vertical directions, the lidar module 220 can acquire distance or reflection intensity data in a plane, and the original radar signal can be a point cloud.

[0076] In some embodiments, the lidar module 220 includes, but is not limited to: mechanical lidar, MEMS scanning lidar (Micro-Electro-Mechanical Systems LiDAR), rotating mirror scanning lidar, and FLASH lidar.

[0077] It may also include long-range and short-range blind spot filling radars, and this disclosure does not limit the type of lidar module 220.

[0078] Corresponding to the embodiments of the vehicle-mounted lidar system proposed in this disclosure, this disclosure also provides embodiments of corresponding lidar signal processing methods.

[0079] Figure 3 This is a schematic flowchart illustrating a method for processing lidar signals according to an embodiment of the present disclosure. This lidar signal processing method is applied to the signal processing module 210 of the vehicle-mounted lidar system described in any of the above embodiments.

[0080] like Figure 3 As shown, the processing method for lidar signals includes:

[0081] In step S301, the original radar signal is received;

[0082] In step S302, the original radar signal is processed.

[0083] The signal processing module 210 can receive the raw radar signal sent by the lidar module 220 via electrical connection and process the raw radar signal.

[0084] The specific implementation process of the functions and roles of each step in the above method embodiments can be found in the implementation process of the corresponding functions in the above system, and will not be repeated here.

[0085] Embodiments of this disclosure also propose a vehicle equipped with an onboard lidar system as described in any of the foregoing embodiments.

[0086] Corresponding to the embodiments of the lidar signal processing method of this disclosure, this disclosure also provides embodiments of a corresponding lidar signal processing apparatus.

[0087] Please see Figure 4 , Figure 4 This is a block diagram of a lidar signal processing apparatus according to one embodiment of this disclosure. Figure 4 As shown, the laser radar signal processing device includes:

[0088] The receiving unit 410 is configured to receive the original radar signal;

[0089] The processing unit 420 is configured to process the raw radar signal.

[0090] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0091] Embodiments of this disclosure also provide an electronic device, including: a processor and a memory; the memory for storing a computer program; and the processor for executing a vehicle-mounted LiDAR system as described in any of the above embodiments by calling the computer program.

[0092] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the vehicle-mounted lidar system as described in any of the foregoing embodiments.

[0093] Embodiments of this disclosure also provide a computer program product, including a computer program that, when executed by a processor, implements the methods described in any of the foregoing embodiments.

[0094] Figure 5 This is a schematic block diagram illustrating a device 500 for an automotive LiDAR according to embodiments of the present disclosure. For example, device 500 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0095] Reference Figure 5 The device 500 may include one or more of the following components: processing component 502, memory 504, power supply component 506, multimedia component 508, audio component 510, input / output (I / O) interface 512, sensor component 514, and communication component 516.

[0096] Processing component 502 typically controls the overall operation of device 500, including operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 502 may include one or more processors 520 to execute instructions to complete all or part of the steps of the aforementioned lidar signal processing method. Furthermore, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0097] Memory 504 is configured to store various types of data to support the operation of device 500. Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, etc. Memory 504 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0098] Power supply component 506 provides power to various components of device 500. Power supply component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 500.

[0099] Multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 508 includes a front-facing camera and / or a rear-facing camera. When the device 500 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0100] Audio component 510 is configured to output and / or input audio signals. For example, audio component 510 includes a microphone (MIC) configured to receive external audio signals when device 500 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 504 or transmitted via communication component 516. In some embodiments, audio component 510 also includes a speaker for outputting audio signals.

[0101] I / O interface 512 provides an interface between processing component 502 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0102] Sensor assembly 514 includes one or more sensors for providing status assessments of various aspects of device 500. For example, sensor assembly 514 may detect the on / off state of device 500, the relative positioning of components such as the display and keypad of device 500, changes in position of device 500 or a component of device 500, the presence or absence of user contact with device 500, orientation or acceleration / deceleration of device 500, and temperature changes of device 500. Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 514 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0103] Communication component 516 is configured to facilitate wired or wireless communication between device 500 and other devices. Device 500 can access wireless networks based on communication standards, such as WiFi, 2G, 3G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 516 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 516 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0104] In an exemplary embodiment, the device 500 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described laser radar signal processing method.

[0105] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 504 including instructions, which can be executed by the processor 520 of the device 500 to complete the above-described laser radar signal processing method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0106] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0107] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0108] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0109] The methods and apparatus provided in the embodiments of this disclosure have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this disclosure. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A vehicle-mounted laser radar system, characterized by comprising: The system includes a vehicle-mounted signal processing module and a lidar module. An electrical connection exists between a first interface of the lidar module and a second interface of the signal processing module. The lidar module is used to send the acquired raw radar signal to the signal processing module through the electrical connection; The signal processing module is used to process the received raw radar signal.

2. The system according to claim 1, characterized in that, The signal processing module includes the vehicle's domain controller.

3. The system according to claim 1, characterized in that, The electrical connection includes a power connection for supplying power to the lidar module and a communication connection for transmitting the raw radar signal.

4. The system according to claim 1, characterized in that, The raw radar signal is sent to the signal processing module according to a standard protocol.

5. The system according to claim 1, characterized in that, The first interface includes a serial interface, and the electrical connection includes a serial connection; and / or, the first interface includes a parallel interface, and the electrical connection includes a parallel connection.

6. The system according to claim 1, characterized in that, The lidar module includes a receiving unit and a transmitting unit. The transmitting unit is used to transmit a first signal, and the receiving unit is used to receive a second signal formed by the reflection of the first signal. The receiving unit is also used for: The second signal is converted into the original radar signal and transmitted to the first interface.

7. The system according to claim 1, characterized in that, The signal processing module is also used for: A frame synchronization signal is sent to the lidar module to enable clock alignment of the lidar module.

8. The system according to claim 1, characterized in that, The signal processing module processes the received raw radar signal, including at least one of the following: The radar signal is filtered. The radar signal is processed into a point cloud.

9. The system according to any one of claims 1-8, characterized in that, The electrical connection between the lidar and the processing module includes at least one of the following: coaxial cable, twisted pair cable.

10. A vehicle, characterized in that, The vehicle is equipped with an onboard lidar system as described in any one of claims 1-9.

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