Radar assembly, laser radar, measuring device and vehicle

Abstract

Provided in the present disclosure are a radar assembly, a laser radar, a measuring device and a vehicle. The radar assembly comprises: an optical deflection element, which is arranged in a transmitting light path of the laser radar, is directly or indirectly connected to the laser radar, and is configured to refract the original transmitting beam of the laser radar, wherein after the refraction by the optical deflection element, at least part of the original transmitting beam deviates in a preset direction to obtain a target transmitting beam, the preset direction comprising a direction that is upward and parallel to the vertical field of view of the laser radar.

Description

Radar components, lidar, measuring devices and vehicles

[0001] The present disclosure claims priority to the Chinese patent application entitled “RADAR COMPONENTS, LIDAR, MEASURING DEVICES AND VEHICLES” filed on August 25, 2023, with application number 202311083961.9, and the Chinese patent application entitled “RADAR COMPONENTS, LIDAR, MEASURING DEVICES AND VEHICLES” filed on August 25, 2023, with application number 202322305066.9, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] The present disclosure relates to the field of optical element processing, and in particular to a radar component, a laser radar, a measuring device, and a vehicle. Background Art

[0003] LiDAR can be applied to vehicles, assisting them in achieving high-precision positioning, object recognition, and target tracking. For vehicles, LiDAR can also assist in lane maintenance, emergency braking, and parking during driving.

[0004] The vehicle can be a car. For example, in Figure 1A, the lidar 110 can be mounted on the roof of the vehicle 120, close to the windshield. For vehicles equipped with only one lidar, a roof-mounted placement maximizes the radar's functionality. However, there may be an angle α between the lidar's viewing window and the windshield, as shown in Figure 1A, which can adversely affect the vehicle's streamlined appearance. For another example, in Figure 1B, the lidar 110 can be mounted inside the windshield 10. Placing the lidar behind the windshield offers many advantages, such as not affecting the vehicle's streamlined appearance and ease of cleanliness. Referring to Figures 1B and 1C, the area between the lidar 110 and the windshield 10 is referred to as the keep-out zone (KOZ). The size of the KOZ is affected by factors such as the lidar 110's field of view (FOV) and the tilt angle of the windshield 10. A large KOZ can affect the interior layout and aesthetics, and even impede the driver's line of sight. Therefore, reducing the KOZ is a key concern when placing a lidar inside a vehicle.

[0005] Summary of the Invention

[0006] The present disclosure provides a radar assembly, a laser radar, a measuring device, and a vehicle, which can solve the problems existing in the related technologies.

[0007] In a first aspect, the present disclosure provides a radar component, which includes: an optical deflection element, which is arranged on the outgoing light path of the laser radar and is directly or indirectly connected to the above-mentioned laser radar, and is configured to deflect the original outgoing light beam of the above-mentioned laser radar; wherein, at least part of the above-mentioned original outgoing light beam is offset in a preset direction after being deflected by the above-mentioned optical deflection element to obtain a target outgoing light beam; the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward.

[0008] In some implementations, the laser radar and the optical deflection element are disposed inside the vehicle, and the optical deflection element is disposed between the laser radar and the windshield of the vehicle.

[0009] In some implementations, if the upper side of the optical deflection element is tilted toward the laser radar, the inclination angle of the optical deflection element satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; if the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the lowermost original outgoing light beam in the vertical field of view of the laser radar is vertically incident on the optical deflection element, and the lower limit of the second angle range is 0; wherein, the inclination angle of the optical deflection element is the angle between the optical deflection element and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0010] In some implementations, the tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

[0011] In some implementations, the optical deflection element is disposed in a cylindrical space surrounded by a light-extinction material, wherein one end of the cylindrical space is connected to the window of the laser radar.

[0012] In some implementations, the laser radar and the optical deflection element are disposed on top of a vehicle, and at least a portion of the original outgoing light beam includes the lowest original outgoing light beam in the vertical field of view of the laser radar.

[0013] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are parallel; wherein the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

[0014] In some implementations, when the incident surface and the exit surface of the optical deflection element are both curved surfaces, the convex surface of the curved surface faces the laser radar.

[0015] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are not parallel.

[0016] In some implementations, the target angle of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

[0017] In the second aspect, the present disclosure provides a laser radar, which includes: a shell; a transceiver assembly, which is arranged inside the above-mentioned shell, and the above-mentioned transceiver assembly includes a transmitting unit and a transmitting lens, and the above-mentioned transmitting unit emits a first output light beam through the above-mentioned transmitting lens; and an optical deflection element, which is connected to the above-mentioned shell and is configured to fold the above-mentioned first output light beam, and at least part of the above-mentioned first output light beam is offset in a preset direction to obtain a second output light beam after being folded by the above-mentioned optical deflection element, and the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward; wherein, the above-mentioned transceiver assembly also includes a receiving unit and a receiving lens, and the echo light beam formed by the reflection of the above-mentioned second output light beam reaches the above-mentioned receiving unit via the above-mentioned optical deflection element and the above-mentioned receiving lens.

[0018] In some implementations, the optical deflection element is configured as a window of the laser radar.

[0019] In some implementations, the laser radar further includes a window, and the optical deflection element is disposed inside the window, or the optical deflection element is disposed outside the window.

[0020] In some implementations, the laser radar is disposed inside a vehicle, and the second outgoing light beam passes through a windshield of the vehicle and then exits the vehicle.

[0021] In some implementations, if the upper side of the optical deflection element is tilted toward the emitting lens, the inclination angle of the optical deflection element satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; if the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the first outgoing light beam at the bottom in the vertical field of view of the laser radar is vertically incident on the optical deflection element, and the lower limit of the second angle range is 0; wherein, the inclination angle of the optical deflection element is the angle between the optical deflection element and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0022] In some implementations, the tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

[0023] In some implementations, the lidar is disposed on top of a vehicle.

[0024] In some implementations, at least a portion of the first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar.

[0025] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are parallel; wherein the incident surface and the exit surface are both planes, or the incident surface and the exit surface are both curved surfaces.

[0026] In some implementations, when both the incident surface and the exit surface are curved surfaces, the convex surfaces of the curved surfaces face the transceiver assembly.

[0027] In some implementations, the incident surface of the optical deflection element and the exit surface of the optical deflection element are both plane and non-parallel.

[0028] In some implementations, the target angle of the optical deflection element is negatively correlated with the maximum incident angle of the first outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

[0029] In some implementations, the emitting lens is further configured to adjust the first outgoing light beam so that the second outgoing light beam after being deflected by the optical deflection element is a collimated light beam.

[0030] In a third aspect, the present disclosure provides a measuring device, which includes: a laser radar, configured to emit an original outgoing light beam; and a radar component provided by any implementation method in the first aspect, which is directly or indirectly connected to the laser radar and configured to fold the original outgoing light beam of the laser radar, at least part of the original outgoing light beam is offset in a preset direction after passing through the radar component to obtain a target outgoing light beam, the target outgoing light beam reaches the target object and is reflected by the target object to form an echo light beam, the radar component is further configured to fold the echo light beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; the laser radar is also configured to receive the echo light beam folded by the radar component.

[0031] In a fourth aspect, the present disclosure provides a vehicle, characterized in that the vehicle includes: a main body; and the laser radar provided by any one of the implementation methods in the second aspect, installed on the main body; or, the measuring device provided in the third aspect, installed on the main body.

[0032] In a fifth aspect, the present disclosure provides a radar component, which includes: an optical deflection element, which is arranged on the outgoing light path of the laser radar and connected to the above-mentioned laser radar, and is configured to deflect the original outgoing light beam of the above-mentioned laser radar; wherein, at least one beam of the above-mentioned original outgoing light beam is offset in a preset direction and forms a target outgoing light beam after being deflected by the above-mentioned optical deflection element; the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward.

[0033] In some implementations, the laser radar and the optical deflector are disposed inside a vehicle, and the optical deflector is disposed between the laser radar and a windshield of the vehicle.

[0034] In some implementations, if the upper side of the optical deflector is tilted toward the laser radar, the inclination angle of the optical deflector satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; if the upper side of the optical deflector is tilted toward the windshield, the inclination angle of the optical deflector satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflector when the lowermost original outgoing light beam in the vertical field of view of the laser radar is vertically incident on the optical deflector, and the lower limit of the second angle range is 0; wherein, the inclination angle of the optical deflector is the angle between the optical deflector and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0035] In some implementations, the tilt angle of the optical deflector is adjustable within the first angle range and the second angle range.

[0036] In some implementations, the optical deflector is disposed in a cylindrical space surrounded by a matte material, wherein one end of the cylindrical space is connected to the window of the laser radar.

[0037] In some implementations, the laser radar and the optical deflector are disposed on top of a vehicle, and the at least one original outgoing light beam includes the lowest original outgoing light beam in the vertical field of view of the laser radar.

[0038] In some implementations, the incident surface of the optical deflector and the exit surface of the optical deflector are parallel; wherein the incident surface and the exit surface are planes, or the incident surface and the exit surface are curved surfaces.

[0039] In some implementations, the incident surface and the exit surface of the optical deflector are curved surfaces, and the convex surface of the curved surface faces the laser radar.

[0040] In some implementations, the incident surface of the optical deflector and the exit surface of the optical deflector are not parallel.

[0041] In some implementations, the target angle of the optical deflector is negatively correlated with the maximum incident angle of the original outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflector and the exit surface of the optical deflector.

[0042] In the sixth aspect, the present disclosure provides a laser radar, comprising: a shell; a transceiver assembly, arranged inside the above-mentioned shell, the above-mentioned transceiver assembly comprising a transmitter and a transmitting lens, the above-mentioned transmitter emits a first output light beam through the above-mentioned transmitting lens; and an optical deflection element, connected to the above-mentioned shell, configured to fold the above-mentioned first output light beam, at least part of the above-mentioned first output light beam is offset in a preset direction to obtain a second output light beam after being folded by the above-mentioned optical deflection element, and the above-mentioned preset direction includes a direction parallel to the vertical field of view of the above-mentioned laser radar and facing upward; wherein, the above-mentioned transceiver assembly also includes a receiver and a receiving lens, and the echo light beam formed by the reflection of the above-mentioned second output light beam reaches the above-mentioned receiver via the above-mentioned optical deflection element and the above-mentioned receiving lens.

[0043] In some implementations, the optical deflector is configured as a window of the laser radar.

[0044] In some implementations, the laser radar further includes a window, and the optical deflector is disposed on the inner side of the window, or the optical deflector is disposed on the outer side of the window.

[0045] In some implementations, the laser radar is disposed inside a vehicle, and the second outgoing light beam passes through a windshield of the vehicle and then exits the vehicle.

[0046] In some implementations, if the upper side of the optical deflector is tilted toward the emitting lens, the inclination angle of the optical deflector satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; if the upper side of the optical deflector is tilted toward the windshield, the inclination angle of the optical deflector satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflector when the first outgoing light beam at the bottom in the vertical field of view of the laser radar is vertically incident on the optical deflector, and the lower limit of the second angle range is 0; wherein, the inclination angle of the optical deflector is the angle between the optical deflector and the vertical plane, and the inclination angle of the windshield is the angle between the windshield and the vertical plane.

[0047] In some implementations, the tilt angle of the optical deflector is adjustable within the first angle range and the second angle range.

[0048] In some implementations, the lidar is disposed on top of a vehicle.

[0049] In some implementations, the at least one first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar.

[0050] In some implementations, the incident surface of the optical deflector and the exit surface of the optical deflector are parallel; wherein the incident surface and the exit surface are planes, or the incident surface and the exit surface are curved surfaces.

[0051] In some implementations, when the incident surface and the exit surface are curved surfaces, the convex surfaces of the curved surfaces face the transceiver assembly.

[0052] In some implementations, the incident surface of the optical deflector and the exit surface of the optical deflector are plane and non-parallel.

[0053] In some implementations, the target angle of the optical deflector is negatively correlated with the maximum incident angle of the first outgoing light beam; wherein the target angle is the angle between the incident surface of the optical deflector and the exit surface of the optical deflector.

[0054] In some implementations, the emitting lens is further configured to adjust the first outgoing light beam so that the second outgoing light beam after being deflected by the optical deflection element is a collimated light beam.

[0055] In the seventh aspect, the present disclosure provides a measuring device including: a laser radar, configured to emit an original outgoing light beam; and a radar component provided by any one of the implementation methods in the fifth aspect, connected to the laser radar, and configured to fold the original outgoing light beam of the laser radar, at least part of the original outgoing light beam is offset in a preset direction after passing through the radar component to obtain a target outgoing light beam, the target outgoing light beam reaches the target object and is reflected by the target object to form an echo light beam, the radar component is further configured to fold the echo light beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; the laser radar is also configured to receive the echo light beam folded by the radar component.

[0056] In an eighth aspect, the present disclosure provides a vehicle comprising: a main body; and the laser radar provided by any one of the implementation methods in the sixth aspect, installed on the main body; or, the measuring device provided in the seventh aspect, installed on the main body.

[0057] Radar assemblies, laser radars, measuring devices, and vehicles consistent with some embodiments of the present disclosure have at least the following beneficial effects:

[0058] Taking the aforementioned radar assembly as an example, this radar assembly is disposed in the outgoing optical path of a laser radar and is directly or indirectly connected to the laser radar, configured to deflect the laser radar's original outgoing beam. Specifically, after being deflected by the optical deflection element, at least a portion of the original outgoing beam is offset in a predetermined direction to obtain a target outgoing beam, wherein the predetermined direction includes a direction parallel to the vertical field of view of the laser radar and directed upward. Thus, the radar assembly provided by the present disclosure is capable of elevating at least a portion of the laser radar's outgoing beam in the predetermined direction. Thus, in the case shown in FIG1A , since the laser radar's outgoing beam can be lifted upward, the laser radar can be moved backward a certain distance relative to its original position, thereby mitigating the impact of the laser radar on the vehicle's streamlined shape in the case shown in FIG1A . In the case shown in FIG1B , since the laser radar's outgoing beam can be lifted upward, the KOZ area can be reduced, and the projected area of ​​the laser radar's FOV on the windshield is also reduced, thereby reducing the impact on the driver's field of view and related interior layout.

[0059] Other features of the radar assembly, lidar, measurement device, and vehicle provided herein are partially outlined in the following description. The following figures and examples will be readily apparent to those skilled in the art based on the description. The inventive aspects of the radar assembly, lidar, measurement device, and vehicle provided herein can be fully explained through practice or use of the methods, apparatus, and combinations provided in the following detailed examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] To more clearly illustrate the technical solutions of the present disclosure, the following provides an introduction to the drawings used to describe the embodiments. Obviously, the following drawings are only some embodiments of the present disclosure. It should be noted that other drawings can be obtained based on these drawings without inventive effort.

[0061] FIG1A shows a scene in which a laser radar is arranged on the top of a vehicle in the related art;

[0062] FIG1B shows a scene in which a laser radar is arranged inside a windshield in the related art;

[0063] FIG1C shows a cross section of the scene shown in FIG1B ;

[0064] FIG2A illustrates an example approach to reducing the LiDAR FOV consistent with some embodiments of the present disclosure;

[0065] FIG2B shows the change in the area of ​​the projected region and the change in KOZ after reducing the FOV according to the example method shown in FIG2A , consistent with some embodiments of the present disclosure;

[0066] FIG3 illustrates an example structure of a radar assembly consistent with some embodiments of the present disclosure;

[0067] FIG4A illustrates an example in-vehicle usage scenario of a radar assembly consistent with some embodiments of the present disclosure;

[0068] FIG4B illustrates an example scenario of a vehicle roof usage of a radar assembly consistent with some embodiments of the present disclosure;

[0069] FIG5A illustrates an example shape of a radar assembly consistent with some embodiments of the present disclosure;

[0070] FIG5B illustrates another example shape of a radar assembly consistent with some embodiments of the present disclosure;

[0071] FIG6 illustrates an example adjustment range of a tilt angle of an optical deflecting element consistent with some embodiments of the present disclosure;

[0072] FIG7A illustrates an example in-vehicle usage scenario where a radar assembly is in an extreme position, consistent with some embodiments of the present disclosure;

[0073] FIG7B illustrates an example in-vehicle usage scenario where a radar assembly exceeds a limit position, consistent with some embodiments of the present disclosure;

[0074] FIG8 illustrates another example in-vehicle usage scenario of a radar assembly consistent with some embodiments of the present disclosure;

[0075] FIG9 illustrates another example vehicle roof usage scenario of a radar assembly consistent with some embodiments of the present disclosure;

[0076] FIG10 illustrates an example usage scenario of a radar assembly consistent with some embodiments of the present disclosure;

[0077] FIG11 illustrates example refraction angles using prisms consistent with some embodiments of the present disclosure;

[0078] FIG12A illustrates an example beam aperture using parallel plates consistent with some embodiments of the present disclosure;

[0079] FIG12B illustrates an example beam aperture using a prism, consistent with some embodiments of the present disclosure;

[0080] FIG13 illustrates an example structure of a laser radar consistent with some embodiments of the present disclosure;

[0081] FIG14 illustrates an example operating principle of a laser radar consistent with some embodiments of the present disclosure;

[0082] FIG15 illustrates another example operating principle of a laser radar consistent with some embodiments of the present disclosure;

[0083] FIG16 illustrates an example structure of a measurement device consistent with some embodiments of the present disclosure;

[0084] FIG17 illustrates an example operating principle of a measurement device consistent with some embodiments of the present disclosure;

[0085] FIG18 illustrates an example structure of a vehicle consistent with some embodiments of the present disclosure; and

[0086] FIG. 19 illustrates an example configuration of a vehicle consistent with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0087] The following description provides example application scenarios and requirements of the present disclosure, with the purpose of enabling those skilled in the art to make and use the contents of the present disclosure. The general principles defined herein may be applied to other embodiments and applications without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments shown.

[0088] The terms used in this disclosure are intended to describe example embodiments only and are not intended to be limiting. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a," "an," and "the" may also include the plural forms. When used in this disclosure, the terms "include," "comprise," and "contain" mean that the associated features, steps, operations, elements, or components are present, but do not preclude the presence of any number of other features, steps, operations, elements, components, or assemblies, or that other features, steps, operations, elements, components, or assemblies may be added to the system or method.

[0089] In the present disclosure, the terms "or" and "and / or" describe the association relationship between related objects and represent a non-exclusive inclusion. For example, "A and / or B" and "A or B" may include: only "A" exists, only "B" exists, and "A" and "B" exist at the same time, where "A" and "B" can be singular or plural. For another example, "A, B and / or C" and "A, B or C" may include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" exist at the same time, "A" and "C" exist at the same time, "B" and "C" exist at the same time, and "A", "B" and "C" exist at the same time, where "A", "B" and "C" can be singular or plural. In addition, the symbol " / " in the present disclosure indicates that there is an "or" relationship between the related objects before and after the symbol. In the present disclosure, the term "at least one A or B" has the same meaning as the above-mentioned "A or B". The term "at least one A, B or C" has the same meaning as the above-mentioned "A, B or C".

[0090] With the following description in mind, these and other features of the present disclosure, as well as the operation and function of the associated elements of the structure, and the economical assembly and manufacture of the components, can be significantly improved. Reference is made to the accompanying drawings, all of which form a part of this disclosure. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present disclosure. It should also be understood that the drawings are not drawn to scale.

[0091] The flowcharts used in this disclosure illustrate the operations of a system implemented according to some embodiments of the present disclosure. It should be clearly understood that the operations of the flowcharts may not be implemented in sequence. Instead, the operations may be implemented in reverse order or simultaneously. In addition, one or more additional operations may be added to the flowcharts. One or more operations may be removed from the flowcharts.

[0092] FIG1A shows a scene in the related art where a laser radar is arranged on top of a vehicle. In FIG1A , there is an angle α between the viewing window of the laser radar 110 and the windshield of the vehicle 120. This may have an adverse effect on the streamline of the vehicle body. FIG1B shows a scene in the related art where a laser radar is arranged on the inside of a windshield. FIG1C shows a cross-section of the scene shown in FIG1B . In FIG1B , the range corresponding to the FOV of the laser radar 110 in the projection area of ​​the windshield 10 may be the interface between the FOV of the laser radar 110 and the windshield 10. This interface may be a partial area of ​​the windshield. Consistent with some embodiments of the present disclosure, the FOV of the laser radar 110 is located in the area of ​​the windshield 10 close to the cockpit side, which is denoted as KOZ.

[0093] Taking Figures 1B and 1C as examples, factors influencing the KOZ may include the LiDAR's FOV size and the windshield's tilt angle. If the windshield is already defined, the KOZ can be reduced by adjusting the LiDAR's FOV size. For example, in Figure 1B, the projection area is roughly trapezoidal, so the lower-outgoing beam has a greater impact on the projected area than the upper-outgoing beam. In this case, the lower-outgoing beam has a greater impact on the volume of the KOZ. In certain embodiments, the LiDAR's outgoing beam can be blocked to reduce its FOV.

[0094] FIG2A illustrates an example method for reducing the FOV of a laser radar consistent with some embodiments of the present disclosure. FIG2B illustrates the change in the area of ​​the projection area and the change in KOZ after reducing the FOV according to the example method shown in FIG2A consistent with some embodiments of the present disclosure. As shown in FIG2A , by blocking the outgoing light beam of the laser radar, its field of view angle can be changed from FOV to FOV'. In FIG2B , the field of view angle of the laser radar changes from FOV to FOV'. The height of the trapezoid corresponding to the projection area changes from h to h'. The area of ​​the projection area is also reduced from S to S'. In this case, the KOZ is reduced. The KOZ can be compressed by adopting the solution shown in FIG2A , but the FOV of the laser radar needs to be reduced, thereby affecting the detection range of the laser radar.

[0095] Figure 3 shows an example structural diagram of a radar assembly consistent with some embodiments of the present disclosure. In Figure 3, the radar assembly includes an optical deflection element 30. For example, the optical deflection element 30 can be made of glass, plastic, or other materials. The optical deflection element 30 is positioned in the outgoing light path of the laser radar 110 and operates in conjunction with the laser radar 110. In some embodiments, the optical deflection element 30 can deflect at least one of the laser radar's original outgoing beams, offsetting it in a predetermined direction to produce a target outgoing beam. In some embodiments, the predetermined direction can include a direction parallel to the laser radar's vertical field of view and pointing upward. The original outgoing beam can include the beam exiting the laser radar. In some embodiments, when the laser radar's original outgoing beam enters the optical deflection element 30, the optical deflection element 30 can deflect the original outgoing beam upward through refraction. In this case, the beam is deflected upward within the optical deflection element. This can increase the overall field of view (FOV) of the beam. Since the windshield 10 can be tilted, this upward FOV increase can reduce the KOZ.

[0096] For example, in FIG3 , if the optical deflection element 30 is not provided, the ray where the original outgoing light beam T at the bottom in the vertical field of view of the laser radar 110 is located is L2. In the case where the optical deflection element 30 as shown in FIG3 is provided, the ray where the target outgoing light beam obtained by the original outgoing light beam T after being deflected by the optical deflection element 30 is located is L1. In some embodiments, the optical deflection element 30 causes the original outgoing light beam T of the laser radar 110 to be deflected in a direction parallel to the vertical field of view of the laser radar and toward the top. By deflecting at least part of the original outgoing light beam of the laser radar 110 (for example, including the original outgoing light beam T at the bottom in the vertical field of view of the laser radar 110), the FOV of the laser radar 110 can be raised as a whole. In this way, the KOZ of the laser radar can be reduced without affecting the detection range of the laser radar.

[0097] Figure 4A illustrates an example in-vehicle usage scenario for a radar assembly consistent with some embodiments of the present disclosure. In Figure 4A , for example, a laser radar 110 and an optical deflection element 30 are positioned inside a vehicle, with the optical deflection element 30 positioned between the laser radar 110 and the vehicle's windshield 10. In some embodiments, the vehicle may include a car, an aircraft, a vessel, or the like. For example, in some embodiments, the vehicle may be a vehicle. In some embodiments, the optical deflection element 30 may be directly connected to the laser radar 110 (e.g., fixedly or detachably connected). In some embodiments, the optical deflection element 30 may be integrated with the viewport of the laser radar 110. In this case, if the laser radar 110 is fixed inside the vehicle, the optical deflection element 30 may also be fixed. In some embodiments, the optical deflection element 30 may be indirectly connected to the laser radar. For example, the laser radar 110 may be fixed inside the vehicle, and the optical deflection element 30 may be integrated with the windshield. Compared to not having the optical deflection element 30, the field of view of the laser radar 110 may be increased, and the KOZ may be reduced. In this way, the area of ​​the projection area of ​​the laser radar FOV on the windshield 10 will be reduced.

[0098] In some embodiments, the laser radar 110 and optical deflection element 30 can be installed inside the vehicle. A tube made of matte material can be placed between the laser radar 110 and the windshield. The optical deflection element 30 can be placed within this tube. This allows the matte material to surround the outer perimeter of the KOZ, thereby reducing radar ghosting and other phenomena.

[0099] Figure 4B shows an example scenario of a rooftop use of a radar assembly consistent with some embodiments of the present disclosure. In Figure 4B, illustratively, the laser radar 110 and the optical deflection element 30 are arranged on the top of the vehicle. The optical deflection element 30 is arranged in front of the laser radar 110. In some embodiments, the optical deflection element 30 can be directly connected to the laser radar 110. In this case, the laser radar 110 can be fixed to the top of the vehicle, and the optical deflection element 30 is also fixed. In some embodiments, the optical deflection element 30 can also be indirectly connected to the laser radar 110. For example, the laser radar 110 and the optical deflection element 30 can be fixed to the top of the vehicle respectively. Compared with the case where the optical deflection element 30 is not provided, the field of view angle of the laser radar 110 can be raised. In this case, the laser radar can be retracted in the direction of the vehicle's retreat, and the above-mentioned optical deflection element 30 can be provided at the retracted position. Because the optical deflection element 30 raises the FOV of the laser radar 110, when the laser radar 110 is retracted toward the rear of the vehicle, its FOV (including the light beam located in the lower center of the FOV) is not blocked by the vehicle's structural components. This allows for the placement of exterior components that better conform to the vehicle's streamlined shape in front of the laser radar 110, thereby minimizing the impact of the laser radar's placement on the vehicle's streamlined shape without affecting the laser radar's detection range.

[0100] Figure 5A shows an example shape of a radar assembly consistent with some embodiments of the present disclosure. In Figure 5A, the incident surface and the exit surface of the optical deflection element are parallel to each other. In some embodiments, the incident surface and the exit surface of the optical deflection element can be planes (such as the optical deflection element 30a shown in Figure 5A). In some embodiments, the incident surface and the exit surface of the optical deflection element are parallel to each other, and the incident surface and the exit surface are both curved surfaces. For example, in Figure 5A, the incident surface and the exit surface of the optical deflection element 30b are cylindrical surfaces parallel to each other. In some embodiments, the incident surface and the exit surface of the optical deflection element 30b can be spherical surfaces parallel to each other. It should be noted that the incident surface and the exit surface of the optical deflection element 30 can also be other types of parallel curved surfaces. In Figure 5A, illustratively, the optical deflection element 30a or the optical deflection element 30b is arranged on the exit light path of the laser radar 110. In some embodiments, the optical deflection element 30b can be convex facing the laser radar 110. In some embodiments, the optical deflection element 30b may be concave toward the lidar 110.

[0101] When the incident and exit surfaces of the optical deflection element are parallel (referred to as a "parallel plate configuration"), the laser radar's original outgoing beam is deflected upward due to refraction after entering the parallel plate. Upon exiting the optical deflection element, the beam is deflected downward due to refraction, resulting in the target outgoing beam. This upward deflection of the beam within the optical deflection element allows the optical deflection element to raise the laser radar's overall field of view (FOV) upward, thereby reducing the KOZ. Because the incident and exit surfaces are parallel, the target outgoing beam can be parallel to the original outgoing beam. In this case, the laser radar's FOV angular range before passing through the optical deflection element can be equal to the FOV angular range of the target outgoing beam after passing through the optical deflection element. In this way, while maintaining the refractive index of the optical deflection element, the laser radar's FOV size (e.g., receiving aperture), angular resolution (e.g., angular resolution size or uniformity), and divergence angle can remain unchanged. The optical deflection element can have minimal impact on the laser radar's range-finding performance.

[0102] Figure 5B shows another example shape of a radar assembly consistent with some embodiments of the present disclosure. In some embodiments, the incident surface and the exit surface of the optical deflection element may not be parallel to each other, including the following situations. For example, the exit surface and the incident surface may be one plane and the other curved surface, as shown in optical deflection elements 30c and 30d in Figure 5B. For another example, the exit surface and the incident surface may be two non-parallel curved surfaces, as shown in optical deflection elements 30e, 30f, 30g and 30h in Figure 5B. For another example, the exit surface and the incident surface are two non-parallel planes (which may be referred to as a "prism configuration"), as shown in optical deflection element 30i in Figure 5B. The types of optical deflection elements provided in the embodiments of the present disclosure are rich, which is conducive to improving the layout flexibility of lidar and radar assemblies.

[0103] Referring again to Figure 4A , illustratively, the laser radar 110 and the optical deflection element 30 (e.g., optical deflection element 30a in Figure 5A ) can both be positioned within the vehicle. The upper side of the optical deflection element 30 can be tilted toward the laser radar 110. When the upper side of the optical deflection element 30 is tilted toward the laser radar 110, to ensure a reduced KOZ, the tilt angle of the optical deflection element 30 can fall within a first angle range. Figure 6 illustrates an example adjustment range for the tilt angle of the optical deflection element consistent with some embodiments of the present disclosure. In some embodiments, referring to Figure 6 , the lower limit of the first angle range is 0, and the upper limit of the first angle range is the angle corresponding to the tilt angle of the vehicle's windshield 10. This is because when the tilt angle of the optical deflection element 30 is greater than the tilt angle of the windshield, the optical deflection element 30 is larger, requiring a larger space between the laser radar 110 and the windshield 10 to accommodate the optical deflection element 30, which is not conducive to reducing the KOZ. In some embodiments, the tilt angle of the optical deflection element can be the angle between the optical deflection element and a vertical plane. The tilt angle of the windshield can be the angle between the windshield and a vertical plane. In some embodiments, the windshield 10 may be curved. In this case, the tilt angle of the windshield can be the angle between a section of the windshield at the location of the KOZ and a vertical plane. When the upper side of the optical deflection element 30 is tilted toward the laser radar 110, the tilt angle of the optical deflection element 30 is adjustable within the first angle range, thereby increasing the flexibility of the radar assembly configuration.

[0104] When the upper side of the optical deflection element is tilted toward the laser radar and the refractive index of the optical deflection element remains unchanged, the tilt angle of the optical deflection element is positively correlated with the degree of elevation of the laser radar's original outgoing light beam. For example, the larger the value of the optical deflection element within the above-mentioned first angle range, the greater the degree of reduction of the KOZ. In addition to being related to the value of the optical deflection element within the above-mentioned first angle range, the size of the KOZ is also related to the thickness of the optical deflection element. When the refractive index of the optical deflection element remains unchanged, the thickness of the optical deflection element is positively correlated with the degree of elevation of the laser radar's original outgoing light beam. In some embodiments, the size of the KOZ can be adjusted by controlling the refractive index of the optical deflection element. The refractive index of the optical deflection element is also positively correlated with the degree of elevation of the laser radar's original outgoing light beam. Therefore, the size of the KOZ can be adjusted by adjusting at least one of the tilt angle, thickness, and refractive index of the optical deflection element.

[0105] In some embodiments, the thicker the optical deflection element, the greater the degree to which the FOV is lifted upward and the greater the degree to which the KOZ is reduced. Increasing the thickness of the optical deflection element may also lead to increased costs and an increase in the space occupied. For example, the thickness of an optical deflection element may be 3 mm. The refractive index of the optical deflection element can be the same or a variable refractive index in the thickness direction, which is not limited in the embodiments of the present disclosure.

[0106] FIG7A shows an example in-vehicle usage scenario in which a radar assembly consistent with some embodiments of the present disclosure is in an extreme position. In some embodiments, the laser radar 110 and the optical deflection element 30 can be arranged in the vehicle. The upper side of the optical deflection element 30 can be deflected toward the windshield 10. In FIG7 , the upper side of the optical deflection element 30 is deflected toward the windshield 10. In order to ensure that the detection range of the laser radar is not affected or is minimally affected, the tilt angle of the optical deflection element 30 can meet the second angle range. Referring again to FIG6 , illustratively, the lower limit of the second angle range is 0. The upper limit of the second angle range is the optical deflection element in the extreme position. Referring to FIG7A , the above-mentioned extreme position may refer to the tilt angle of the optical deflection element 30 when the original outgoing light beam Q at the bottom in the vertical field of view of the laser radar 110 is perpendicularly incident on the optical deflection element 30. In FIG7A , P is the normal at the incident point of the original outgoing light beam Q. The original outgoing light beam Q and P coincide. It can be understood that, when the upper side of the optical deflecting element 30 is tilted toward the windshield 10 , the tilt angle of the optical deflecting element 30 is adjustable within the second angle range, thereby increasing the flexibility of setting the radar assembly.

[0107] Figure 7B illustrates an example in-vehicle usage scenario in which a radar assembly, consistent with some embodiments of the present disclosure, is positioned beyond its limit. This figure depicts the scenario shown in Figure 7A , with the tilt angle of the optical deflection element 30 set to a value greater than the second angle range. Referring to Figure 7B , the original outgoing beam Q at the bottom of the vertical field of view of the laser radar 110 is deflected by the optical deflection element 30 to obtain the target outgoing beam, with the target outgoing beam located on ray L3. Without the optical deflection element 30, the original outgoing beam Q would be located on ray L4. In some embodiments, the optical deflection element 30 does not deflect the original outgoing beam Q in a direction parallel to the vertical field of view of the laser radar and directed upward, thus failing to increase the FOV. If the upper side of the optical deflection element 30 were also deflected toward the windshield 10, and its tilt angle were greater than the second angle range, the optical deflection element 30 might not be able to elevate the original outgoing beam, thereby failing to reduce the KOZ. It should be noted that, in the embodiments shown in FIG. 7A and FIG. 7B , the optical deflection element is not limited to 30 a , but may also be at least one of 30 b - 30 i .

[0108] In some embodiments, the shape of the optical deflector element can be tailored based on actual needs, based on its original shape, without affecting the LiDAR detection range. For example, referring to Figures 7A and 7B , there may be interference between the upper side of the optical deflector element 30 and the windshield. The optical deflector element 30 can be tailored based on the tilt angle of the windshield 10. This reduces the space occupied by the optical deflector element 30 without affecting the LiDAR detection range, thereby further reducing the KOZ. For another example, referring to Figure 4B , the smaller the angle between the optical deflector element 30 and the windshield, the less impact it has on the vehicle's streamlined shape. In this case, the optical deflector element 30 can be tailored based on the tilt angle of the windshield 10. This reduces the space occupied by the optical deflector element 30 without affecting the LiDAR detection range, thereby minimizing its impact on the vehicle's streamlined shape.

[0109] In some embodiments, when at least one of the incident surface or the exit surface in the optical deflection element is a cylindrical surface (e.g., it can be one of 30b-30h), the axis of the cylinder can be parallel to the horizontal field of view direction of the laser radar or the vertical field of view direction of the laser radar, and the present disclosure does not limit this.

[0110] It is understandable that in the two layouts of the optical deflection element 30b in Figure 5A (e.g., when the incident surface and the exit surface of the optical deflection element are both curved and parallel), if the layout angles are the same, the degree of lifting of the laser radar outgoing beam by the lower left layout is greater than the degree of lifting of the laser radar outgoing beam by the lower right layout. Figure 8 shows another example in-vehicle usage scenario of a radar assembly consistent with some embodiments of the present disclosure. For example, in the usage scenario shown in Figure 8, the convex surface of the optical deflection element faces the laser radar.

[0111] In the present disclosure, the optical deflection element can be arranged in a variety of ways, and the layout can be determined based on actual needs. For example, Figure 9 illustrates another example rooftop usage scenario for a radar assembly consistent with some embodiments of the present disclosure. In this scenario, in order for the optical deflection element to achieve the required elevation of the laser radar's outgoing beam, a 30c layout can be selected. This layout minimizes the impact on the vehicle's streamlined shape.

[0112] Figure 10 illustrates an example use scenario for a radar assembly consistent with some embodiments of the present disclosure. The use scenario illustrated in Figure 10 employs an optical deflection element 30i or its cropped form 30i'. To ensure that the laser beam can be emitted after being refracted by the prism without undergoing total internal reflection, the target angle θ of the optical deflection element can be set to be negatively correlated with the maximum angle of incidence of the original outgoing beam of the laser radar 110. Figure 11 illustrates example refraction angles using a prism consistent with some embodiments of the present disclosure. For example, referring to Figure 11, the target angle θ can be the angle between the incident surface and the exit surface of the optical deflection element. In some embodiments, sinα1 / sin i1=n1, sinα2 / sin i2=1 / n2, where α1 represents the incident angle of the laser beam at the incident surface, i1 represents the exit angle of the laser beam at the incident surface, α2 represents the incident angle of the laser beam at the exit surface, i2 represents the exit angle of the laser beam at the exit surface, n1 represents the refractive index at the incident surface, and n2 represents the refractive index at the exit surface. In some embodiments, n1 and n2 can have the same value, indicating that the refractive index of the optical deflection element remains unchanged. For example, total internal reflection can occur at the interface where the laser beam passes from a denser medium (e.g., an optical deflection element) to a less dense medium (e.g., air). If it is necessary to ensure that the refractive angle i2 of the exit layer is less than 90 degrees, total internal reflection can be prevented by setting sin i2 = n2 × sin α2 < 1. Furthermore, since: sin i1 = (sin α1) / n1 (1) α2 = θ + i1 (2)

[0113] According to formula (1), n1 is a positive number and a constant, and the incident angle α1 at the incident surface is positively correlated with the refraction angle i1 at the incident surface. According to formula (2), the incident angle α2 at the exit surface is the sum of the refraction angle i1 at the incident surface and the target angle θ of the laser radar. Therefore, if n×sinα2<1 is maintained, the target angle θ of the laser radar decreases as the incident angle α1 at the incident surface increases. In order to ensure that all the original outgoing light beams of the laser radar can be emitted after passing through the optical deflection element, it is necessary to ensure that the original outgoing light beam does not undergo total reflection at the maximum incident angle of the optical deflection element (e.g., the incident surface of the optical deflection element). In this case, the target angle θ of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam of the laser radar 110. In some embodiments, the incident surface and the exit surface of the optical deflection element can both be planes. The following relationship can be established among the aperture D1 of the original outgoing beam emitted by the laser radar, the aperture D2 of the beam during transmission in the optical deflection element, and the aperture D3 of the target outgoing beam emitted by the optical deflection element: D1 = [(cos α1) / (cos i1)] × D2 (3) D3 = [(cos i2) / (cos α2)] × D2 (4)

[0114] Wherein, aperture D1 represents the distance between the uppermost and lowermost beams in the original outgoing beam. Aperture D2 represents the distance between the uppermost and lowermost beams in the original outgoing beam. Aperture D3 represents the distance between the uppermost and lowermost beams in the target outgoing beam.

[0115] FIG12A shows an example beam aperture using a parallel plate in accordance with some embodiments of the present disclosure. In FIG12A , exemplarily, for a parallel plate configuration (e.g., parallel between the incident surface and the exit surface), since α1=i2, i1=α2, therefore, D1=D3. In this case, the light beam is deflected upward and transmitted inside the above-mentioned optical deflection element. The optical deflection element of the parallel plate configuration can raise the overall FOV beam of the laser radar upward, thereby achieving the purpose of reducing the KOZ. The angle of the target outgoing beam can remain unchanged compared to the original outgoing beam (e.g., the target outgoing beam is parallel to the original outgoing beam). In this way, when the refractive index of the optical deflection element remains unchanged, the FOV size (e.g., receiving aperture), angular resolution (e.g., size or uniformity), and divergence angle of the laser radar can be kept unchanged, thereby not affecting the ranging performance of the laser radar.

[0116] FIG12B shows an example beam aperture using a prism in accordance with some embodiments of the present disclosure. In FIG12B , for example, for a prism configuration (such as when the incident surface and the exit surface are not parallel), since α1≠i2, i1≠α2, therefore, D1≠D3. In this case, the light beam is deflected upward and transmitted inside the above-mentioned optical deflection element. The optical deflection element of the prism configuration can raise the overall FOV beam of the laser radar upward, thereby achieving the purpose of reducing the KOZ area. The angle of the target outgoing beam has changed compared to the original outgoing beam (such as, the target outgoing beam and the original outgoing beam are not parallel). In this way, even if the refractive index of the optical deflection element remains unchanged, the FOV size of the laser radar (such as the receiving aperture) will change. Since the angles of change between the original outgoing beams of the laser radar at different angles and their corresponding target outgoing beams are different, the angular resolution (such as size or uniformity) of the laser radar can change after passing through the optical deflection element, and the divergence angle can also change (such as γ in FIG11 or FIG12B).

[0117] In some embodiments, for optical deflection elements with light divergence properties (e.g., 30b, 30f, 30h in FIG5B ), the divergence angle of the target outgoing light beam after being deflected by the optical deflection element will be larger than that of the original outgoing light beam. In this case, the FOV of the laser radar will increase, resulting in a larger angular interval between two adjacent channels, thereby changing the angular resolution of the laser radar. In some embodiments, for optical deflection elements with light convergence properties (e.g., 30c, 30e, 30g in FIG5B ), the divergence angle of the target outgoing light beam after being deflected by the optical deflection element will be smaller than that of the original outgoing light beam, resulting in a reduction in the FOV of the laser radar, a reduction in the receiving aperture, and a change in the angular resolution (e.g., size or uniformity). This may reduce the ranging performance of the laser radar. To address the above issues, an adjustment element can be provided (e.g., provided before the original outgoing light beam enters the optical deflection element). The adjustment element can determine the adjustment it makes to the original outgoing light beam based on the light convergence performance or light divergence performance of the optical deflection element. For example, if the optical deflection element has light-converging properties, the adjustment element can be used to diverge the original outgoing light beam. If the optical deflection element has light-diverging properties, the adjustment element can be used to converge the original outgoing light beam. In this way, the impact of the optical deflection element on the performance of the lidar can be minimized.

[0118] FIG13 illustrates an example structure of a laser radar consistent with some embodiments of the present disclosure. The laser radar 130 of FIG13 is different from the laser radar 110 described above. The laser radar 130 of FIG13 includes a housing (not shown in FIG13 ), a transceiver assembly 130 -A, and an optical deflection element 130 -B.

[0119] In some embodiments, the transceiver assembly 130-A may be disposed within the housing. The transceiver assembly 130-A may include a transmitting unit A-1, a transmitting lens A-2, a receiving lens A-4, and a receiving unit A-3. For example, the transmitting unit A-1 emits a first outgoing light beam through the transmitting lens A-2. In some embodiments, the transmitting unit A-1 may be a laser, and the receiving unit A-3 may be a detector.

[0120] FIG14 illustrates an exemplary operating principle of a laser radar consistent with some embodiments of the present disclosure. In FIG14 , the optical deflection element 130-B is illustratively connected to the housing and can deflect the first outgoing light beam. After being deflected by the optical deflection element 130-B, at least one first outgoing light beam can be offset in a preset direction, resulting in a second outgoing light beam. The second outgoing light beam is reflected to form an echo beam. The echo beam is deflected by the optical deflection element 130-B. The deflected echo beam reaches the receiving unit A-3 via the receiving lens A-4. In some embodiments, the preset direction can include a direction parallel to the vertical field of view of the laser radar 130 and facing upward. The principle of lifting the first outgoing light beam by the optical deflection element 130-B is the same as the principle of lifting the original outgoing light beam by the optical deflection element 30. In some embodiments, the transmitting lens A-2 of the laser radar 130 can emit the first outgoing light beam. The first outgoing light beam can be incident on the optical deflection element 130-B. The optical deflection element 130-B can deflect at least one of the above-mentioned first outgoing light beams upward by refraction. The light beam can be deflected upward and transmitted inside the optical deflection element 130-B, so that the at least one first outgoing light beam can be lifted upward. For example, the at least one first outgoing light beam can include the first outgoing light beam at the bottom of the vertical field of view of the laser radar 130. In some embodiments, the at least one first outgoing light beam lifted upward by the laser radar 130 includes the first outgoing light beam located at the bottom of the vertical field of view of the laser radar 130. In this case, when the laser radar is placed on the inside of the vehicle windshield, the KOZ can be reduced. When the laser radar is placed on the top of the vehicle, it is beneficial to optimize the vehicle shape.

[0121] In some embodiments, an existing laser radar can be modified to include the optical deflection element 130-B. In some embodiments, the optical deflection element 130-B can serve as a viewing window for the laser radar 130. In some embodiments, the optical deflection element 130-B can be located inside the viewing window of the laser radar 130. In some embodiments, the optical deflection element 130-B can be located outside the viewing window of the laser radar 130. The optical deflection element 130-B can be located in multiple locations within the laser radar 130.

[0122] In some embodiments, the laser radar 130 shown in Figure 13 can be set inside a vehicle (such as a vehicle). In some embodiments, at least one first outgoing light beam emitted by the transmitting lens A-2 can be deflected by the above-mentioned optical deflection element 130-A, and offset in a direction parallel to the vertical field of view of the above-mentioned laser radar 130 and toward the upper side to obtain a second outgoing light beam. The above-mentioned second outgoing light beam passes through the windshield of the vehicle and then exits the vehicle. Compared with a laser radar that is not provided with an optical deflection element 130-B, the laser radar 130 can raise the field of view angle FOV and reduce the KOZ. In this way, the area of ​​the laser radar's FOV projected on the windshield 10 will also be reduced.

[0123] In some embodiments, the laser radar 130 can be arranged inside a vehicle (such as a vehicle). If the upper side of the optical deflection element 130-B is biased toward the transmitting lens A-2 in the laser radar 130, the inclination angle of the optical deflection element can satisfy the first angle range. For example, the upper limit of the first angle range can be the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range can be 0. If the upper side of the optical deflection element 130-B is biased toward the windshield of the vehicle, the inclination angle of the optical deflection element 130-B can satisfy the second angle range. The upper limit of the second angle range can be the angle corresponding to the inclination angle of the optical deflection element when the first outgoing light beam at the bottom in the vertical field of view of the laser radar is vertically incident on the optical deflection element 130-B, and the lower limit of the second angle range can be 0.

[0124] In some embodiments, the laser radar 130 shown in Figure 13 can also be installed on the roof of the vehicle. In some embodiments, at least one first outgoing light beam emitted by the transmitting lens A-2 can be deflected by the optical deflection element 130-A, resulting in a second outgoing light beam that is parallel to the vertical field of view of the laser radar 130 and directed upward, thereby generating a second outgoing light beam. Compared to the case where the optical deflection element 30 is not installed, the field of view of the laser radar 110 can be increased. In this case, the laser radar can be retracted toward the rear of the vehicle, and the optical deflection element 30 can be installed at this retracted position. Because the optical deflection element 30 can increase the field of view of the laser radar 130, when the laser radar 130 is retracted toward the rear of the vehicle, its field of view (e.g., the light beam located in the lower center of the field of view) will not be obstructed by the vehicle's structural components. In this way, an exterior component that better conforms to the vehicle's streamlined shape can be installed in front of the laser radar 130, thereby reducing the impact of the laser radar on the vehicle's streamlined shape without affecting the laser radar's detection range.

[0125] In the embodiments of the laser radar 130 consistent with some embodiments of the present disclosure, the shape of the optical deflection element 130-B and the usage scenarios of optical deflection elements of different shapes are also described in detail in the aforementioned embodiments of the radar component and will not be repeated here.

[0126] In the laser radar 130 consistent with some embodiments of the present disclosure, if the optical deflection element 130-B adopts a structure similar to a concave lens (such as 30b, 30f, and 30h in Figure 5B), the optical deflection element may have a light diverging property. In this case, compared with the first outgoing light beam, the FOV of the second outgoing light beam will increase, resulting in a larger angular interval between two adjacent channels, thereby changing the angular resolution of the laser radar. If the optical deflection element 130-B adopts a structure similar to a convex lens (such as 30c, 30e, and 30g in Figure 5B), the optical deflection element may have a light converging property. In this case, compared with the first outgoing light beam, the FOV of the laser radar will decrease, the receiving aperture will decrease, and the angular resolution (such as size or uniformity) will change. In some embodiments, the exit surface and the incident surface of the optical deflection element 130-B may not be parallel (such as Figure 12B), which may cause the divergence angle of the laser radar to change. In this case, the transmitting lens A-2 of the laser radar 130 may be provided with an adjustment function.

[0127] Figure 15 illustrates another exemplary operating principle of a laser radar consistent with some embodiments of the present disclosure. In some embodiments, as shown in Figure 15 , the transmitting lens A-2 can be configured to adjust the first outgoing light beam so that the second outgoing light beam, after being deflected by the optical deflection element 130-B, is a collimated light beam. In some embodiments, the optical deflection element 130-B has light-converging properties. The transmitting lens A-2 can adjust the divergence of the first outgoing light beam on a collimated basis to ensure that the second outgoing light beam exiting the laser radar is a collimated light beam.

[0128] It should be noted that the optical deflection element 130-B included in the laser radar 130 provided in this embodiment has the same or similar functional principles, performance, and usage scenarios as the optical deflection element 30 described in the above-mentioned radar assembly embodiment. The two embodiments share the same exemplary technical features, and the technical solutions provided by the two embodiments are unified. Figure 16 illustrates an example structure of a measurement device consistent with some embodiments of the present disclosure. In Figure 16, the measurement device 140 illustratively includes a laser radar 140-A and a radar assembly 140-B. In some embodiments, the radar assembly 140-B may be the radar assembly described in conjunction with Figures 3 to 12. The laser radar 140-A may be the laser radar described in conjunction with Figures 3 to 12. In some embodiments, the radar assembly 140-B may be directly or indirectly connected to the laser radar 140-A. For example, the radar assembly 140-B may be detachably or fixedly connected to one side of the laser radar 140-A. In some embodiments, the radar assembly 140-B and the laser radar 140-A may be fixedly or detachably connected to the vehicle.

[0129] FIG17 illustrates an exemplary operating principle of a measurement device consistent with some embodiments of the present disclosure. Referring to FIG17 , illustratively, during operation of the measurement device, the laser radar 140-A emits an original outgoing beam. The radar assembly 140-B deflects the original outgoing beam of the laser radar 140-A. After passing through the radar assembly 140-B, at least one of the original outgoing beams is deflected in a preset direction to produce a target outgoing beam. The target outgoing beam reaches the target object 170. In some embodiments, the preset direction may include a direction parallel to the vertical field of view of the laser radar 140-A and pointing upward. In some embodiments, an echo beam formed by reflection of the target outgoing beam is deflected by the radar assembly 140-B. The deflected echo beam is received by the laser radar 140-A. In this manner, the measurement device can measure the distance to the target object 170 based on the original outgoing beam and the deflected echo beam.

[0130] Figure 18 shows an example structure of a vehicle consistent with some embodiments of the present disclosure. In Figure 18, illustratively, the vehicle 180 provided in this embodiment includes a main body (not shown in Figure 18) and a laser radar 130. In some embodiments, the laser radar 130 can be the laser radar described in conjunction with Figures 13 to 15. For example, the above-mentioned vehicle may include a vehicle, an airplane, or a ship. In some embodiments, the above-mentioned vehicle may be a vehicle. For example, the laser radar 130 can be fixedly or detachably mounted on the roof or behind the windshield inside the vehicle. Similar embodiments have been described in detail in conjunction with Figures 3 to 12 and will not be repeated here.

[0131] Figure 19 shows an example structure of a vehicle consistent with some embodiments of the present disclosure. In Figure 19, illustratively, the vehicle 190 provided in this embodiment includes a main body (not shown in Figure 19) and a measuring device 140. In some embodiments, the measuring device 140 can be the measuring device described in conjunction with Figures 16 and 17. For example, the above-mentioned vehicle may include a vehicle, an airplane, or a ship. In some embodiments, the above-mentioned vehicle may be a vehicle. For example, the measuring device 140 can be fixedly or detachably mounted on the roof or the rear side of the windshield inside the vehicle. Similar embodiments have been described in detail in conjunction with Figures 3 to 12 and will not be repeated here.

[0132] Consistent with some embodiments of the present disclosure, the present disclosure provides radar components, laser radars, measuring devices and vehicles consistent with some embodiments of the present disclosure, which have at least the following beneficial effects. Taking the above-mentioned radar component as an example, the radar component can be arranged on the outgoing light path of the laser radar and directly or indirectly connected to the laser radar, and is used to deflect the original outgoing light beam of the above-mentioned laser radar. In some embodiments, at least part of the above-mentioned original outgoing light beam can be offset in a preset direction after being deflected by the above-mentioned optical deflection element to obtain a target outgoing light beam. For example, the above-mentioned preset direction may include a direction parallel to the vertical field of view of the laser radar and facing upward. The radar component provided by the present disclosure can lift at least part of the outgoing light beam of the laser radar in the above-mentioned preset direction. Compared with the situation shown in Figure 1A, since the outgoing light beam of the laser radar can be lifted upward, the laser radar can move a certain distance backward compared to its original position, thereby alleviating the impact of the laser radar on the streamline of the vehicle body in the situation shown in Figure 1A. Compared with the situation shown in Figure 1B, since the outgoing beam of the laser radar can be raised upward, the projection area of ​​KOZ and the laser radar FOV on the windshield can be reduced, thereby reducing the impact on the driving field of view and the layout of interior components.

[0133] In some cases, the actions or steps described in this disclosure may be performed in a different order than those in the examples and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific example order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0134] The embodiments described in this disclosure may be presented by way of example only and are not restrictive. It should be noted that this disclosure encompasses various reasonable changes, improvements, and modifications to the embodiments. These changes, improvements, and modifications are intended to be proposed by this disclosure and are within the spirit and scope of the exemplary embodiments of this disclosure. Other modified embodiments are also within the scope of this disclosure, and alternative configurations may be adopted based on the embodiments in this disclosure to implement the embodiments in this disclosure.

[0135] In addition, certain terms in this disclosure have been used to describe embodiments of the present disclosure. For example, "one embodiment," "an embodiment," and / or "some embodiments" mean that the example features, structures, or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present disclosure. Therefore, it can be emphasized and should be understood that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various parts of this disclosure do not necessarily refer to the same embodiment. In addition, the example features, structures, or characteristics may be appropriately combined in one or more embodiments of the present disclosure.

[0136] It should be understood that in the foregoing description of the embodiments of the present disclosure, in order to facilitate understanding of a feature, the present disclosure combines various features in a single embodiment, figure, or description thereof. However, this does not mean that the combination of these features is required. It is entirely possible for the present disclosure to mark out some of these combinations of features and understand them as separate embodiments. The embodiments of the present disclosure can be understood as the integration of multiple sub-embodiments. This also applies when the content of each sub-embodiment is less than all the features of a single aforementioned disclosed embodiment.

Claims

1. A radar component, characterized in that: The radar assembly comprises: An optical deflection element is disposed on an outgoing light path of the laser radar and is directly or indirectly connected to the laser radar, and is configured to deflect an original outgoing light beam of the laser radar; Wherein, at least part of the original outgoing light beam is deflected in a preset direction after being deflected by the optical deflection element to obtain a target outgoing light beam; The preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward.

2. The radar assembly according to claim 1, characterized in that The laser radar and the optical deflection element are arranged inside a vehicle, and the optical deflection element is arranged between the laser radar and a windshield of the vehicle.

3. The radar assembly according to claim 2, characterized in that If the upper side of the optical deflection element is tilted toward the laser radar, the inclination angle of the optical deflection element satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; If the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the lowermost original outgoing light beam in the vertical field of view of the laser radar vertically enters the optical deflection element, and the lower limit of the second angle range is 0; The inclination angle of the optical deflection element is the angle between the optical deflection element and a vertical plane, and the inclination angle of the windshield is the angle between the windshield and a vertical plane.

4. The radar assembly according to claim 3, characterized in that: The tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

5. The radar assembly according to any one of claims 2 to 4, characterized in that: The optical deflection element is arranged in a cylindrical space surrounded by extinction material, wherein one end of the cylindrical space is connected to the window of the laser radar.

6. The radar assembly according to claim 1, characterized in that in, The laser radar and the optical deflection element are arranged on the top of a vehicle, and the at least part of the original outgoing light beam includes the lowermost original outgoing light beam in the vertical field of view of the laser radar.

7. The radar assembly according to any one of claims 1 to 6, characterized in that: The incident surface of the optical deflection element is parallel to the exit surface of the optical deflection element; The incident surface and the exit surface are planes, or the incident surface and the exit surface are curved surfaces.

8. The radar assembly according to claim 7, characterized in that When the incident surface and the exit surface of the optical deflection element are curved surfaces, the convex surface of the curved surface faces the laser radar.

9. The radar assembly according to any one of claims 1 to 6, characterized in that: The incident surface of the optical deflection element and the exit surface of the optical deflection element are not parallel.

10. The radar assembly according to claim 9, characterized in that The target angle of the optical deflection element is negatively correlated with the maximum incident angle of the original outgoing light beam; The target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

11. A laser radar, characterized in that: The laser radar comprises: case; a transceiver assembly, disposed inside the housing, the transceiver assembly comprising a transmitting unit and a transmitting lens, the transmitting unit transmitting a first output light beam through the transmitting lens; and an optical deflection element connected to the housing and configured to deflect the first outgoing light beam, wherein at least a portion of the first outgoing light beam is deflected in a preset direction to obtain a second outgoing light beam after being deflected by the optical deflection element, and the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; The transceiver assembly further includes a receiving unit and a receiving lens, and an echo light beam formed by reflection of the second outgoing light beam reaches the receiving unit via the optical deflection element and the receiving lens.

12. The laser radar according to claim 11, characterized in that: The optical deflection element is configured as a viewing window of the laser radar.

13. The laser radar according to claim 11, characterized in that: The laser radar also includes a window, and the optical deflection element is arranged on the inner side of the window, or the optical deflection element is arranged on the outer side of the window.

14. The laser radar according to any one of claims 11 to 13, characterized in that: The laser radar is arranged inside a vehicle, and the second outgoing light beam passes through a windshield of the vehicle and then exits the vehicle.

15. The laser radar according to claim 14, characterized in that: If the upper side of the optical deflection element is inclined toward the emitting lens, the inclination angle of the optical deflection element satisfies a first angle range, the upper limit of the first angle range is the angle corresponding to the inclination angle of the windshield, and the lower limit of the first angle range is 0; If the upper side of the optical deflection element is tilted toward the windshield, the inclination angle of the optical deflection element satisfies a second angle range, the upper limit of the second angle range is the angle corresponding to the inclination angle of the optical deflection element when the first outgoing light beam at the bottom in the vertical field of view of the laser radar vertically enters the optical deflection element, and the lower limit of the second angle range is 0; The inclination angle of the optical deflection element is the angle between the optical deflection element and a vertical plane, and the inclination angle of the windshield is the angle between the windshield and a vertical plane.

16. The laser radar according to claim 15, characterized in that: The tilt angle of the optical deflection element is adjustable within the first angle range and the second angle range.

17. The laser radar according to any one of claims 11 to 13, characterized in that: The laser radar is arranged on the top of the vehicle.

18. The laser radar according to any one of claims 11 to 17, characterized in that: At least part of the first outgoing light beam includes the first outgoing light beam at the bottom in the vertical field of view of the laser radar.

19. The laser radar according to any one of claims 11 to 18, characterized in that: The incident surface of the optical deflection element is parallel to the exit surface of the optical deflection element; The incident surface and the exit surface are planes, or the incident surface and the exit surface are curved surfaces.

20. The laser radar according to claim 19, characterized in that: When the incident surface and the exit surface are curved surfaces, the convex surface of the curved surface faces the transceiver assembly.

21. The laser radar according to any one of claims 11 to 18, characterized in that: The incident surface of the optical deflection element and the exit surface of the optical deflection element are planes and are not parallel.

22. The laser radar according to claim 21, characterized in that: The target angle of the optical deflection element is negatively correlated with the maximum incident angle of the first outgoing light beam; The target angle is the angle between the incident surface of the optical deflection element and the exit surface of the optical deflection element.

23. The laser radar according to any one of claims 11 to 22, characterized in that: The emitting lens is further configured to adjust the first outgoing light beam so that the second outgoing light beam after being deflected by the optical deflection element is a collimated light beam.

24. A measuring device, characterized in that: include: A laser radar configured to emit a raw outgoing beam; as well as The radar assembly according to any one of claims 1 to 10 is directly or indirectly connected to the laser radar and is configured to fold an original outgoing beam of the laser radar, wherein at least part of the original outgoing beam is offset in a preset direction after passing through the radar assembly to obtain a target outgoing beam, and the target outgoing beam reaches a target object and is reflected by the target object to form an echo beam, and the radar assembly is further configured to fold the echo beam, wherein the preset direction includes a direction parallel to the vertical field of view of the laser radar and facing upward; The laser radar is also configured to receive the echo light beam after being deflected by the radar component.

25. A means of transport, characterized in that: The transportation means include: the subject; and The laser radar described in any one of claims 11 to 23 is installed on the main body; or the measuring device described in claim 24 is installed on the main body.

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