Transmission system and related apparatus

Abstract

A transmission system and a related apparatus, which are applied to the technical field of LiDARs. The transmission system comprises: an optical transmitting module, a first drive module and a second drive module; a first end of the optical transmitting module is separately connected to a first end of the first drive module and a first end of the second drive module; the first drive module is used for generating a first pulse signal, and the second drive module is used for generating a second pulse signal, the first pulse signal being different from the second pulse signal; and a third pulse signal synthesized by the first pulse signal and the second pulse signal is used for driving the optical transmitting module to transmit a first light beam. The transmission system uses two drive modules to jointly drive the optical transmitting module to transmit light beams, and, on the basis of the synthesized pulse signal of two different pulse signals, drives the optical transmitting module to transmit the first light beam, so as to adjust the waveform of the first light beam, and reduce the degree of overlapping of falling edges of acquired histogram waveforms, thereby improving the accuracy of intensity estimation values, and improving the degree of discrimination of detected targets.

Description

Transmitting system and related apparatus

[0001] This application claims priority from the Chinese patent application No. 202410799807.X filed on June 19, 2024, and entitled "Transmitting system and related apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of laser radar, in particular to a transmitting system and related apparatus. BACKGROUND

[0003] With the development of information technology and computer vision, detection technology has developed rapidly, and various detection devices have brought great convenience to people's life and travel. Detection devices can be regarded as the "eyes" of the environment, including visual system sensors such as cameras and radar system sensors such as millimeter wave radars, laser radars and ultrasonic radars. Among them, laser radar (light detection and ranging, Lidar, or light detection and ranging device) has obvious advantages in detection range, ranging accuracy and reliability, and has the characteristics of nearly all-weather work. It is a key sensor in the perception field and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing and other fields.

[0004] In laser radar applications, a common pulse adjustment scheme is to adjust the pulse power, and pulses of different powers are used to meet the detection needs of different scenes. For example, two kinds of transmitting waveforms of large pulse width and small pulse width are used, where the large pulse width is used to obtain large power and improve the detection distance for detecting distant targets. The small pulse width is used to obtain small power for detecting nearby targets, and also can improve the distance resolution.

[0005] However, the laser radar based on a vertical-cavity surface-emitting laser (VCSEL) has a high degree of overlap of the falling edges of the collected histogram waveform, and the intensity estimation value is relatively jittery, resulting in a low degree of differentiation of the detected targets. SUMMARY

[0006] Embodiments of the present application provide a transmitting system and related apparatus, which can reduce the degree of overlap of the falling edges of the collected histogram waveform, improve the accuracy of the intensity estimation value, and improve the degree of differentiation of the detected targets.

[0007] In a first aspect, embodiments of the present application provide a transmitting system, comprising:

[0008] a light emitting module, a first driving module, and a second driving module.

[0009] The first end of the light emitting module is connected with the first end of the first driving module and the first end of the second driving module respectively; the second end of the light emitting module is connected with the power supply, and the second end of the first driving module and the second end of the second driving module are grounded; or the second end of the light emitting module is grounded, and the second end of the first driving module and the second end of the second driving module are connected with the power supply.

[0010] The first driving module is configured to generate a first pulse signal, and the second driving module is configured to generate a second pulse signal, and the first pulse signal is different from the second pulse signal.

[0011] The third pulse signal synthesized by the first pulse signal and the second pulse signal is configured to drive the light emitting module to emit the first light beam.

[0012] In the embodiment of the application, a transmitting system is provided, the first driving module in the transmitting system is configured to generate a first pulse signal, the second driving module in the transmitting system is configured to generate a second pulse signal, the first pulse signal is different from the second pulse signal, and a third pulse signal synthesized by the first pulse signal and the second pulse signal is configured to drive the light emitting module in the transmitting system to emit a first light beam. It can be understood that the first driving module and the second driving module jointly drive the light emitting module to emit a light beam.

[0013] At present, the falling edge overlap degree of the histogram waveform collected by the VCSEL-based laser radar is high, the intensity estimation value is relatively jittered, and the discrimination degree for the detected target is also low.

[0014] The transmitting system in the embodiment of the application can jointly drive the light emitting module to emit a light beam by two driving modules, the waveforms of the pulse signals emitted by the two driving modules are different, the light emitting module is driven to emit a first light beam based on a synthesized pulse signal of the pulse signals emitted by the two driving modules, the waveform adjustment of the first light beam can be realized, the falling edge overlap degree of the collected histogram waveform is reduced, the accuracy of the intensity estimation value is improved, and the discrimination degree of the detected target is improved.

[0015] In a possible implementation, the transmitting system further includes:

[0016] a first resistor;

[0017] The first resistor is arranged on the path of the light emitting module and the second driving module.

[0018] The resistance of the first resistor is adjustable.

[0019] In this embodiment of the application, the transmitting system further includes a first resistor, which is disposed in the path of the optical transmitting module and the second driving module. By adjusting the resistance value of the first resistor, the current magnitude of the loop in which the optical transmitting module and the second driving module are located can be adjusted, thereby adjusting the waveform height of the second pulse signal generated by the second driving module, and further adjusting the waveform height of the synthesized third pulse signal, thereby realizing the adjustment of the waveform height of the first beam, reducing the degree of overlap of the falling edge of the acquired histogram waveform, improving the accuracy of the intensity estimation value, and improving the discrimination of the detected target.

[0020] Optionally, the first resistor can also be placed in the path between the optical emitting module and the first driving module. By adjusting the resistance value of the first resistor, the current in the loop where the optical emitting module and the first driving module are located can be adjusted, thereby adjusting the waveform height of the first pulse signal generated by the first driving module, and further adjusting the waveform height of the synthesized third pulse signal, thereby achieving the adjustment of the waveform height of the first beam.

[0021] In one possible implementation, the first pulse signal includes a first main pulse signal and a first sub-pulse signal, wherein the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.

[0022] In this application, a possible specific implementation of the first pulse signal is provided. The first pulse signal consists of a first main pulse signal and a first sub-pulse signal, wherein the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal. With this designed first pulse signal, better detection performance can be achieved, thereby improving the detection performance of the transmitting system.

[0023] Optionally, the first main pulse signal is adjacent to the first sub-pulse signal, or the first main pulse signal partially overlaps with the first sub-pulse signal.

[0024] It is understandable that the adjacency of the first main pulse signal and the first sub-pulse signal can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a certain interval, or it can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a connection relationship.

[0025] In the above design, different connection relationships (such as adjacent or partially overlapping) between the first main pulse signal and the first sub-pulse signal can form different first pulse signals. This makes it convenient to flexibly select the matching first pulse signal to drive the optical emitting module to emit a beam (or to perform detection) in different application scenarios, thereby obtaining a better detection effect.

[0026] Optionally, the first main pulse signal has a different shape than the first sub-pulse signal.

[0027] In the above design, by making the first main pulse signal and the first sub-pulse signal have different shapes, the characteristics of the first pulse signal can be utilized to obtain a better detection effect.

[0028] Optionally, the first main pulse signal precedes the first sub-pulse signal.

[0029] In the above design, the different positional relationships between the first main pulse signal and the first sub-pulse signal can form different first pulse signals. This allows for flexible selection of the matching first pulse signal to drive the optical emission module to emit a beam in different application scenarios, thereby achieving better detection results.

[0030] In one possible implementation, the second pulse signal includes a second main pulse signal and a second sub-pulse signal, wherein the amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal;

[0031] The amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.

[0032] In this application, a possible specific implementation of the second pulse signal is provided. The second pulse signal consists of a second main pulse signal and a second sub-pulse signal. The amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal, and the amplitude of the second main pulse signal is smaller than the amplitude of the first main pulse signal. The amplitude of the second sub-pulse signal is larger than the amplitude of the first sub-pulse signal. The second pulse signal in this design differs from the main pulse signal and the sub-pulse signal of the first pulse signal. Based on the different second and first pulse signals, a waveform-adjusted third pulse signal can be synthesized. Based on the synthesized third pulse signal, the optical emission module is driven to emit a first beam, thereby achieving waveform adjustment of the first beam.

[0033] Optionally, the second main pulse signal is adjacent to the second sub-pulse signal, or the second main pulse signal partially overlaps with the second sub-pulse signal.

[0034] Optionally, the second main pulse signal has a different shape than the second sub-pulse signal.

[0035] Optionally, the second main pulse signal precedes the second sub-pulse signal.

[0036] In one possible implementation, the third pulse signal includes a third main pulse signal and a third sub-pulse signal, wherein the amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal;

[0037] The amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.

[0038] In this application, a possible specific implementation of the third pulse signal is provided. The third pulse signal consists of a third main pulse signal and a third sub-pulse signal. The amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal, and the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal. The amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal. By combining the different second and first pulse signals, a waveform-adjusted third pulse signal can be synthesized. The waveform of this third pulse signal combines the waveform characteristics of the first and second pulse signals. Based on this synthesized third pulse signal, the optical emission module is driven to emit a first beam, which can achieve waveform adjustment of the first beam, reduce the overlapping of the falling edges of the acquired histogram waveform, improve the accuracy of the intensity estimation, and improve the distinguishability of the detected target.

[0039] Optionally, the third main pulse signal is adjacent to the third sub-pulse signal, or the third main pulse signal partially overlaps with the third sub-pulse signal.

[0040] Optionally, the third main pulse signal has a different shape than the third sub-pulse signal.

[0041] Optionally, the third main pulse signal precedes the third sub-pulse signal.

[0042] In one possible implementation, the first drive module and the second drive module are two separate drivers;

[0043] Alternatively, the first driver module and the second driver module may be two driver channels in an integrated driver.

[0044] Alternatively, the first driving module includes a driver, and the second driving module includes a second resistor and a first capacitor;

[0045] Alternatively, the first driving module may include a second resistor and a first capacitor, and the second driving module may include a driver.

[0046] In this application, possible specific implementations of the first driving module and the second driving module are provided. Specifically, the first driving module and the second driving module can be two separate drivers, or two driving channels in an integrated driver, or they can be composed of resistors and capacitors. This application does not limit the specific implementation. Optionally, the internal resistance of the first driving module and the second driving module can be the same or different. It is understood that the current generated by the first driving module and the second driving module can be the same or different. This application does not limit the specific implementation. Through the first driving module and the second driving module in this application, the parasitic inductance of the loop can be reduced, the driving capability can be improved, and different first pulse signals and second pulse signals can be generated to synthesize a waveform-adjusted third pulse signal, thereby realizing the waveform adjustment of the beam emitted by the optical emitting module.

[0047] In one possible implementation, the launching system further includes:

[0048] Controller;

[0049] The controller is used to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is also used to adjust the time delay between the first pulse signal and the second pulse signal.

[0050] In this embodiment, the transmitting system further includes a controller for adjusting the pulse width of the first pulse signal and / or the second pulse signal, thereby adjusting the pulse width of the synthesized third pulse signal to achieve waveform adjustment of the beam emitted by the optical transmitting module based on the synthesized third pulse signal. Alternatively, the controller can also be used to adjust the time delay between the first pulse signal and the second pulse signal, thereby adjusting the pulse width of the synthesized third pulse signal to achieve waveform adjustment of the beam emitted by the optical transmitting module based on the synthesized third pulse signal.

[0051] In one possible implementation, the first driving module and / or the second driving module comprises an N-type metal-oxide semiconductor or a P-type metal-oxide semiconductor.

[0052] In one possible implementation, the optical emitting module includes at least one of the following:

[0053] Edge emitting laser (EEL), vertical-cavity surface-emitting laser (VCSEL), photonic crystal surface-emitting laser (PCSEL), and horizontal cavity surface-emitting laser (HCSEL).

[0054] Secondly, embodiments of this application provide a chip that includes the transmission system described in the first aspect or any possible implementation of the first aspect.

[0055] Thirdly, embodiments of this application provide a radar or radar system that includes the transmitting system described in the first aspect or any possible implementation of the first aspect, or includes the chip described in the second aspect.

[0056] In one possible implementation, the radar includes, but is not limited to, lidar.

[0057] In one possible implementation, there may be a smart sensor that integrates multiple sensors. In the case that the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called a radar or radar system.

[0058] Fourthly, embodiments of this application provide a terminal device, which includes the transmitting system described in the first aspect or any possible implementation of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect.

[0059] Fifthly, embodiments of this application provide a vehicle terminal, which includes the transmitting system described in the first aspect or any possible implementation of the first aspect, or includes the chip described in the second aspect, or includes the radar or radar system described in the third aspect, or includes the terminal device described in the fourth aspect. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1A is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0062] Figure 1B is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0063] Figure 2A is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0064] Figure 2B is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0065] Figure 3A is a waveform diagram of different energy echoes provided in an embodiment of this application;

[0066] Figure 3B is a waveform diagram of another different energy echo provided in an embodiment of this application;

[0067] Figure 4A is a waveform diagram of an emitted light pulse provided in an embodiment of this application;

[0068] Figure 4B is a waveform diagram of another emitted light pulse provided in an embodiment of this application;

[0069] Figure 5 is a schematic diagram of a launching system provided in an embodiment of this application;

[0070] Figure 6A is a schematic diagram of a first pulse signal provided in an embodiment of this application;

[0071] Figure 6B is a schematic diagram of a second pulse signal provided in an embodiment of this application;

[0072] Figure 6C is a schematic diagram of a third pulse signal provided in an embodiment of this application;

[0073] Figure 7 is a schematic diagram of another launching system provided in an embodiment of this application;

[0074] Figure 8 is a schematic diagram of another launching system provided in an embodiment of this application;

[0075] Figure 9A is a schematic diagram of a control signal provided in an embodiment of this application;

[0076] Figure 9B is a schematic diagram of a control signal provided in an embodiment of this application;

[0077] Figure 10A is a schematic diagram of another launching system provided in an embodiment of this application;

[0078] Figure 10B is a schematic diagram of another launching system provided in an embodiment of this application;

[0079] Figure 11A is a schematic diagram of another launching system provided in an embodiment of this application;

[0080] Figure 11B is a schematic diagram of another launching system provided in an embodiment of this application;

[0081] Figure 12A is a waveform diagram of different energy echoes provided in an embodiment of this application;

[0082] Figure 12B is a waveform diagram of another different energy echo provided in an embodiment of this application. Detailed Implementation

[0083] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0084] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0085] The term "embodiment" as used herein means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the various embodiments of this application are consistent and can be mutually referenced, and technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0086] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0087] As described in the background section, current VCSEL-based lidar systems exhibit high overlap of falling edges in their histogram waveforms, resulting in jittery intensity estimates and low target discrimination. This application provides a transmission system and related apparatus, relating to the field of lidar technology, which can reduce the overlap of falling edges in the acquired histogram waveforms, improve the accuracy of intensity estimates, and enhance target discrimination.

[0088] To more clearly describe the solution in this application, some possible application scenarios for lidar will be introduced below.

[0089] Please refer to Figures 1A and 1B, which are schematic diagrams of radar application scenarios provided in the embodiments of this application.

[0090] As shown in Figures 1A and 1B, this exemplary application scenario takes the installation of a lidar on a vehicle as an example.

[0091] The vehicle can be, for example, an autonomous vehicle, an intelligent vehicle, an electric vehicle, or a digital car. LiDAR can be deployed at various locations on the vehicle (see Figure 1B). For example, LiDAR can be deployed in any one or more of the four directions (front, rear, left, and right) to capture information about the vehicle's surrounding environment. Figure 1A shows an example of LiDAR deployed at the front of the vehicle. The LiDAR can sense the fan-shaped area indicated by the dashed box in Figure 1A; this fan-shaped area can be called the LiDAR's detection area (or field of view).

[0092] In one possible implementation, LiDAR can acquire the vehicle's latitude, longitude, speed, and orientation in real time or periodically, or the associated information (e.g., target distance, target speed, target attitude, or target grayscale image) of targets within a certain range (e.g., other surrounding vehicles). The LiDAR or vehicle can then determine its position and / or plan its path based on this associated information. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's future direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, it can be combined with the functions of an advanced driving assistance system (ADAS) to achieve assisted driving or autonomous driving. It should be understood that the principle of LiDAR detecting target association information is as follows: the LiDAR emits detection light in a certain direction; if a target exists within the LiDAR's detection area, the target can reflect the received detection light back to the LiDAR (the reflected detection light can be called an echo signal), and the LiDAR then determines the target's association information based on the echo signal.

[0093] It should be noted that the above application scenarios are merely examples. The lidar provided in this application (including the optical waveguide component provided in this application) can also be applied to a variety of other possible scenarios, and is not limited to the scenarios exemplified above. For example, the lidar can also be installed on a drone as an airborne radar. Another example is that the lidar can be installed on a roadside unit (RSU) as a roadside traffic lidar, enabling intelligent vehicle-road cooperative communication. Yet another example is that the lidar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. These are just a few examples. It should be understood that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0094] Based on the above, the above application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security detection, remote interaction, surveying and mapping, or artificial intelligence.

[0095] The following section, using Figures 2A and 2B as examples, introduces some relevant concepts of lidar.

[0096] LiDAR, also known as optical radar, is short for light detection and ranging system. It can also be called Laser Radar or LADAR (laser detection and ranging).

[0097] LiDAR (Light Detection and Ranging) uses light as its detection medium. It utilizes the emission and reception of laser light to detect targets, such as for ranging, velocity measurement, or azimuth measurement. LiDAR can measure target distance based on the laser's time-of-flight (TOF), which is the time difference between transmission and reception. Alternatively, it can measure target distance based on the phase difference between the emitted and received echo signals of the same laser. The greatest advantage of LiDAR lies in its ability to create clear three-dimensional (3D) images of targets using Doppler imaging technology. LiDAR collects information such as the 3D coordinates, reflectivity, and texture of numerous dense points on the target surface through laser emission and reception. Based on this information, it obtains a 3D model of the target, builds a 3D point cloud map, and creates an environmental map to achieve environmental perception. Compared to traditional passive imaging technologies such as visible light and infrared, lidar imaging technology overturns the traditional two-dimensional projection imaging mode. It can collect the depth information of the target surface, obtain relatively complete spatial information of the target, and reconstruct the three-dimensional surface of the target through data processing to obtain a three-dimensional graphic that better reflects the geometric shape of the target. At the same time, it can also obtain rich feature information such as the reflectivity of the target surface and the speed of movement, providing sufficient information support for data processing such as target detection, identification, and tracking, and reducing the difficulty of algorithms.

[0098] Please refer to Figure 2A, which is a schematic diagram of the architecture of a radar provided in an embodiment of this application.

[0099] As shown in Figure 2A, the lidar mainly includes a laser emitting part (or system) 100, a laser receiving part (or system) 200, and a signal processing part (or system) 300.

[0100] The laser emitting section 100 includes an excitation source (or laser driver), a laser, and an emitting optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), which is then emitted outward through the emitting optical system. The laser receiving section 200 includes a receiving optical system and a detector. When the laser beam emitted from the lidar encounters a target object, it interacts with the object to form a reflected / scattered echo beam. This echo beam is collected by the receiving optical system and received by the detector, which converts the optical signal into an electrical signal. The electrical signal is then processed by an analog front-end and transmitted to the signal processing section 300. The signal processing section 300 processes the received signal to obtain information such as the target object's distance, velocity, and azimuth. Furthermore, it can acquire information such as the target's surface morphology and physical properties to build an object model. The detector is typically a photodetector, which converts the received light signal into an electrical signal. This electrical signal is usually an analog signal, while the signal processing unit 300 is typically used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the signal processing unit 300. Furthermore, the electrical signal can be amplified, and the amplified electrical signal is converted back to a digital signal by the ADC before being provided to the signal processing unit 300. The signal processing unit 300 includes signal processing circuitry for processing the digital signal to obtain information such as the target object's distance, velocity, and azimuth angle, and further constructs an object model. The lidar also includes control circuitry, such as a control unit for controlling the excitation source and a control unit for controlling the scanning drive circuit. These two control units can be integrated together or set up independently. Furthermore, the signal processing circuitry and the control circuitry can also be integrated together or set up independently.

[0101] In another implementation, the laser emitting section 100 may also include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller, which, under the control of the laser modulator, controls the direction and number of lines of the emitted laser beam. The laser beam emitted from the beam controller is emitted outward through the emitting optical system.

[0102] In addition, the lidar may also include a scanning section (or system) 400. The laser beam emitted by the laser is scanned across a plane by the scanning section 400 to generate real-time planar image information. The scanning section 400 mainly includes a scanning mechanism and a scanning drive circuit. The scanning drive circuit drives the scanning mechanism to operate, and the laser beam, under the action of the scanning mechanism, transforms from a "line" to a "plane".

[0103] Taking the mechanical rotation scanning method as an example, please refer to Figure 2B. Figure 2B is a schematic diagram of the radar architecture provided in an embodiment of this application.

[0104] As shown in Figure 2B, the scanning drive circuit drives the scanning mechanism to rotate at a stable speed. After the laser beam enters the optical element of the emitting optical system, the scanning mechanism drives the optical element to rotate, achieving dense scanning of the laser beam on the target plane to generate planar image information. Here, the scanning mechanism is, for example, a motor, and the scanning drive circuit is a motor driver. The rotation of the motor drives the optical element in the emitting optical system to rotate, so that the laser beam incident on the optical element is reflected by the optical element, quickly and accurately realizing the change from laser "line scanning" to "area scanning".

[0105] The histogram waveforms acquired by different lidar architectures are different. For details, please refer to Figures 3A to 4B. Figures 3A and 3B are schematic diagrams of waveforms of several different energy echoes provided in the embodiments of this application, and Figures 4A and 4B are schematic diagrams of waveforms of several emitted light pulses provided in the embodiments of this application.

[0106] Figure 3A shows the histogram sampling of a single photon avalanche diode (SPAD) based on VCSEL. The horizontal axis represents the flight time of the light pulse, and the vertical axis represents the intensity value of the received light pulse. Different curves represent the intensities corresponding to different energy echoes.

[0107] Figure 3B shows the histogram sampling of SPAD based on EEL. The horizontal axis represents the flight time of the optical pulse, and the vertical axis represents the intensity value of the received optical pulse. Different curves represent the intensity corresponding to different energy echoes.

[0108] As can be seen from the waveforms shown in region 1 of Figure 3A and region 2 of Figure 3B, compared with EEL-based lidar, the falling edge overlap of the histogram waveform acquired by VCSEL-based lidar is more severe under strong energy echo, resulting in more jitter in its intensity estimate and lower discrimination for the detected target.

[0109] As shown in Figure 4A, waveform 1 in Figure 4A is a histogram sample of the emitted light pulse waveform based on VCSEL, and waveform 2 in Figure 4A is a histogram sample of the emitted light pulse waveform based on EEL. The horizontal axis represents the flight time of the light pulse, and the vertical axis represents the intensity value of the emitted light pulse.

[0110] Figure 4B shows a magnified view of the histogram sampling in Figure 4A, specifically a magnified view of the waveform during the period from 15.0s to 32.5s. The horizontal axis represents the flight time of the light pulse, and the vertical axis represents the intensity value of the emitted light pulse.

[0111] As can be seen from waveforms 1 and 2 shown in the elliptical region in Figure 4B, compared with the VCSEL-based lidar, the trailing edge of the emitted light pulse waveform of the EEL-based lidar is relatively high, that is, the intensity value is larger, which leads to a difference in the degree of overlap of the falling edges of the histogram waveforms acquired by the two.

[0112] As can be seen from the waveform diagrams shown in Figures 3A to 4B above, the falling edges of the histogram waveforms acquired by the VCSEL-based lidar overlap significantly, and the intensity estimates are quite jittery, resulting in low discrimination for the detected targets.

[0113] In view of this, this application provides a transmission system and related apparatus, relating to the field of lidar technology. The system uses two driving modules to jointly drive an optical emission module to emit a light beam, and the waveforms of the pulse signals emitted by the two driving modules are different. The optical emission module is driven to emit a first light beam based on the synthesized pulse signal of the pulse signals emitted by the two driving modules. This can achieve waveform adjustment of the first light beam, reduce the overlap of the falling edges of the acquired histogram waveform, improve the accuracy of the intensity estimation, and improve the distinguishability of the detected target.

[0114] The launch system and related devices provided in this application will now be described in conjunction with the accompanying drawings.

[0115] Please refer to Figure 5, which is a schematic diagram of the structure of a launch system provided in an embodiment of this application.

[0116] As shown in Figure 5, the launch system includes:

[0117] First driving module 501, second driving module 502, and light emitting module 503.

[0118] The above modules have the following connection relationship:

[0119] The first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is connected to the positive terminal of the power supply. The second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.

[0120] Alternatively, the above modules can also be connected in the following way:

[0121] The first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is grounded. The second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are connected to the positive terminal of the power supply.

[0122] It is understandable that the first drive module 501 and the second drive module 502 are connected in parallel.

[0123] It is understood that the embodiments of this application do not limit the two possible connection relationships (connection relationship one and connection relationship two) mentioned above. For the sake of convenience and brevity, the following description will take connection relationship one (i.e. the connection relationship shown in Figure 5) as an example.

[0124] Optionally, the first driving module 501 and / or the second driving module 502 may include an N-channel metal oxide semiconductor (NMOS) or a P-channel metal oxide semiconductor (PMOS) to adapt to different driving schemes. This application embodiment does not limit this.

[0125] Optionally, the optical emitting module 503 includes at least one of the following: an edge emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), a photonic crystal surface-emitting laser (PCSEL), or a horizontal cavity surface-emitting laser (HCSEL). This application embodiment does not limit this.

[0126] The first driving module 501 is used to generate a first pulse signal, and the second driving module 502 is used to generate a second pulse signal. The first pulse signal and the second pulse signal are different.

[0127] Furthermore, the third pulse signal synthesized from the first pulse signal and the second pulse signal is used to drive the light emitting module 503 to emit the first beam. It can be understood that the first driving module 501 and the second driving module 502 jointly drive the light emitting module 503 to emit the beam.

[0128] Currently, the falling edges of the histogram waveforms acquired by VCSEL-based lidar have a high degree of overlap, and the intensity estimates are quite jittery, resulting in low discrimination of the detected targets.

[0129] In the transmission system of this application embodiment, the light emission module 503 is driven by two driving modules (first driving module 501 and second driving module 502) to emit a light beam. The pulse signals (first pulse signal and second pulse signal) emitted by the two driving modules have different waveforms. The light emission module 503 is driven to emit a first light beam based on the synthesized pulse signal of the pulse signals emitted by the two driving modules. This can achieve waveform adjustment of the first light beam, reduce the overlap of the falling edge of the acquired histogram waveform, improve the accuracy of the intensity estimate, and improve the distinguishability of the detected target.

[0130] In one possible embodiment, the first pulse signal includes a first main pulse signal and a first sub-pulse signal.

[0131] The amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.

[0132] For details, please refer to Figure 6A, which is a schematic diagram of a first pulse signal provided in an embodiment of this application.

[0133] As shown in Figure 6A, the horizontal axis represents the flight time of the pulse signal, the vertical axis represents the amplitude of the pulse signal, and the curve represents the first pulse signal. The first pulse signal includes a first main pulse signal and a first sub-pulse signal. The amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.

[0134] The first pulse signal of this design can achieve better detection results, thereby improving the detection performance of the transmission system.

[0135] Optionally, the first main pulse signal is adjacent to the first sub-pulse signal, or the first main pulse signal partially overlaps with the first sub-pulse signal. This application embodiment does not impose any restrictions on this.

[0136] It is understandable that the adjacency of the first main pulse signal and the first sub-pulse signal can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a certain interval, or it can mean that the first main pulse signal and the first sub-pulse signal are adjacent with a connection relationship.

[0137] In the above design, different connection relationships (such as adjacent or partially overlapping) between the first main pulse signal and the first sub-pulse signal can form different first pulse signals. This makes it convenient to flexibly select the matching first pulse signal to drive the optical emitting module to emit a beam (or to perform detection) in different application scenarios, thereby obtaining a better detection effect.

[0138] Optionally, the first main pulse signal has a different shape than the first sub-pulse signal.

[0139] In the above design, by making the first main pulse signal and the first sub-pulse signal have different shapes, the characteristics of the first pulse signal can be utilized to obtain a better detection effect.

[0140] Optionally, the first main pulse signal precedes the first sub-pulse signal.

[0141] In the above design, the different positional relationships between the first main pulse signal and the first sub-pulse signal can form different first pulse signals. This allows for flexible selection of the matching first pulse signal to drive the optical emission module to emit a beam in different application scenarios, thereby achieving better detection results.

[0142] In one possible embodiment, the second pulse signal includes a second main pulse signal and a second sub-pulse signal.

[0143] Among them, the amplitude of the second sub-pulse signal is less than the amplitude of the second main pulse signal, the amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.

[0144] For details, please refer to Figure 6B, which is a schematic diagram of a second pulse signal provided in an embodiment of this application.

[0145] As shown in Figure 6B, the horizontal axis represents the flight time of the pulse signal, the vertical axis represents the amplitude of the pulse signal, and the curve represents the second pulse signal. The second pulse signal includes a second main pulse signal and a second sub-pulse signal. The amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal. Furthermore, the amplitude of the second main pulse signal is smaller than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.

[0146] The second pulse signal of this design is different from the main pulse signal and sub-pulse signal of the first pulse signal. Based on the different second pulse signal and first pulse signal, a waveform-adjusted third pulse signal can be synthesized. Based on the synthesized third pulse signal, the optical emission module is driven to emit the first beam, which can realize the waveform adjustment of the first beam.

[0147] Optionally, the second main pulse signal is adjacent to the second sub-pulse signal, or the second main pulse signal partially overlaps with the second sub-pulse signal. This application embodiment does not impose any restrictions on this.

[0148] It is understandable that the second main pulse signal and the second sub-pulse signal being adjacent can mean that the second main pulse signal and the second sub-pulse signal are adjacent with a certain interval, or it can mean that the second main pulse signal and the second sub-pulse signal are adjacent with a connection relationship.

[0149] In the above design, different connection relationships (such as adjacent or partially overlapping) between the second main pulse signal and the second sub-pulse signal can form different second pulse signals. This allows for flexible selection of the matching second pulse signal to drive the optical emission module to emit a beam (or to perform detection) in different application scenarios, thereby achieving better detection results.

[0150] Optionally, the second main pulse signal has a different shape than the second sub-pulse signal.

[0151] In the above design, by making the second main pulse signal and the second sub-pulse signal have different shapes, the characteristics of the second pulse signal can be utilized to obtain a better detection effect.

[0152] Optionally, the second main pulse signal precedes the second sub-pulse signal.

[0153] In the above design, the different positional relationships between the second main pulse signal and the second sub-pulse signal can form different second pulse signals. This allows for flexible selection of the matching second pulse signal to drive the optical emission module to emit a beam in different application scenarios, thereby achieving better detection results.

[0154] In one possible embodiment, the third pulse signal includes a third main pulse signal and a third sub-pulse signal.

[0155] Among them, the amplitude of the third sub-pulse signal is less than the amplitude of the third main pulse signal, the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.

[0156] For details, please refer to Figure 6C, which is a schematic diagram of a third pulse signal provided in an embodiment of this application.

[0157] As shown in Figure 6C, the horizontal axis represents the flight time of the pulse signal, the vertical axis represents the amplitude of the pulse signal, and the solid curve represents the third pulse signal. The third pulse signal includes a third main pulse signal and a third sub-pulse signal. The amplitude of the third sub-pulse signal is less than the amplitude of the third main pulse signal. Furthermore, the amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.

[0158] By combining the different second pulse signals and the first pulse signal, a waveform-adjusted third pulse signal can be synthesized. The waveform of the third pulse signal combines the waveform characteristics of the first pulse signal and the second pulse signal. Based on the synthesized third pulse signal, the optical emission module is driven to emit the first beam, which can realize the waveform adjustment of the first beam, reduce the overlapping of the falling edges of the acquired histogram waveform, improve the accuracy of the intensity estimation, and improve the discrimination of the detected target.

[0159] Optionally, the third main pulse signal is adjacent to the third sub-pulse signal, or the third main pulse signal partially overlaps with the third sub-pulse signal. This application embodiment does not impose any restrictions on this.

[0160] It is understandable that the adjacency of the third main pulse signal and the third sub-pulse signal can mean that the third main pulse signal and the third sub-pulse signal are adjacent with a certain interval, or it can mean that the third main pulse signal and the third sub-pulse signal are adjacent with a connection relationship.

[0161] In the above design, different connection relationships (such as adjacent or partially overlapping) between the third main pulse signal and the third sub-pulse signal can form different third pulse signals. This makes it convenient to flexibly select the matching third pulse signal to drive the optical emission module to emit a beam (or to perform detection) in different application scenarios, thereby obtaining a better detection effect.

[0162] Optionally, the third main pulse signal has a different shape than the third sub-pulse signal.

[0163] In the above design, by making the third main pulse signal and the third sub-pulse signal have different shapes, the characteristics of the third pulse signal can be utilized to obtain a better detection effect.

[0164] Optionally, the third main pulse signal precedes the third sub-pulse signal.

[0165] In the above design, the different positional relationships between the third main pulse signal and the third sub-pulse signal can form different third pulse signals. This allows for flexible selection of the matching third pulse signal to drive the optical emission module to emit a beam in different application scenarios, thereby achieving better detection results.

[0166] In one possible embodiment, the above-described transmitting system may further include a first resistor.

[0167] The first resistor is disposed in the path between the light emitting module 503 and the second driving module 502, and the first resistor is adjustable.

[0168] For details, please refer to Figure 7, which is a schematic diagram of another launching system provided in the embodiment of this application.

[0169] As shown in Figure 7, the transmission system also includes a first resistor R1, which is disposed in the path of the optical emitting module 503 and the second driving module 502. By adjusting the resistance value of the first resistor R1, the current in the loop where the optical emitting module 503 and the second driving module 502 are located can be adjusted, thereby adjusting the waveform height of the second pulse signal generated by the second driving module 502, and further adjusting the waveform height of the synthesized third pulse signal (i.e., the tail height, the tail height of the synthesized third pulse signal), thereby realizing the adjustment of the waveform height of the first beam, reducing the overlap of the falling edge of the acquired histogram waveform, improving the accuracy of the intensity estimation value, and improving the discrimination of the detected target.

[0170] Optionally, the first resistor R1 can also be set in the path between the light emitting module 503 and the first driving module 501. By adjusting the resistance value of the first resistor R1, the current in the loop where the light emitting module 503 and the first driving module 501 are located can be adjusted, thereby adjusting the waveform height of the first pulse signal generated by the first driving module 501, and then adjusting the waveform height of the synthesized third pulse signal (i.e., the tail height, the tail height of the synthesized third pulse signal), thereby realizing the adjustment of the waveform height of the first beam.

[0171] In one possible embodiment, the above-described launching system may further include a controller.

[0172] The controller is used to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is also used to adjust the time delay between the first pulse signal and the second pulse signal.

[0173] For details, please refer to Figure 8, which is a schematic diagram of another launching system provided in the embodiments of this application.

[0174] As shown in Figure 8, the transmitting system also includes a controller 504, which is used to adjust the pulse width of the first pulse signal and / or the second pulse signal, thereby adjusting the pulse width of the synthesized third pulse signal and realizing waveform adjustment of the beam emitted by the optical transmitting module 503 based on the synthesized third pulse signal.

[0175] Optionally, refer to Figure 9A, which is a schematic diagram of a control signal provided in an embodiment of this application.

[0176] As shown in Figure 9A, the controller 504 controls the first drive module 501 to emit a first pulse signal through control signal 1, and controls the second drive module 502 to emit a second pulse signal through control signal 2. The controller 504 adjusts the pulse width of the first pulse signal and / or the second pulse signal by adjusting control signal 1 and control signal 2, thereby adjusting the pulse width of the synthesized third pulse signal and the pulse width of the third sub-pulse signal (i.e., the trailing pulse width, the trailing length of the synthesized third pulse signal).

[0177] Alternatively, the controller 504 can also be used to adjust the time delay between the first pulse signal and the second pulse signal, thereby adjusting the pulse width of the synthesized third pulse signal and realizing waveform adjustment of the beam emitted by the optical emission module 503 based on the synthesized third pulse signal.

[0178] Alternatively, refer to Figure 9B, which is a schematic diagram of another control signal provided in an embodiment of this application.

[0179] As shown in Figure 9B, the controller 504 controls the first drive module 501 to emit a first pulse signal through control signal a, and controls the second drive module 502 to emit a second pulse signal through control signal b. The controller 504 adjusts the time delay between the first pulse signal and / or the second pulse signal by adjusting control signal 1 and control signal 2, thereby adjusting the pulse width of the synthesized third pulse signal and adjusting the pulse width of the third sub-pulse signal (i.e., the trailing pulse width, the trailing length of the synthesized third pulse signal).

[0180] It is understood that Figures 9A and 9B are merely two possible implementations of the control signals and should not be used to limit the embodiments of this application. Any new control methods obtained by reasonable modifications of the two control signals are within the scope of protection of this application.

[0181] Optionally, an amplifier may be provided between the controller 504 and the first drive module 501 and / or the second drive module 502 to amplify the electrical signal, giving it greater energy and higher power for transmission in the circuit or for driving a load.

[0182] In one possible embodiment, the structure of the first driving module 501 and the second driving module 502 described above can be as follows:

[0183] Scenario 1:

[0184] The first drive module 501 and the second drive module 502 are two separate drivers.

[0185] For details, please refer to Figures 10A and 10B, which are schematic diagrams of the structure of the launch system provided in the embodiments of this application.

[0186] As shown in Figure 10A, the first driving module 501 and the second driving module 502 are two separate drivers, specifically NMOS drivers.

[0187] In this case, the first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is connected to the positive terminal of the power supply. The second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.

[0188] As shown in Figure 10B, the first driving module 501 and the second driving module 502 are two separate drivers, specifically PMOS drivers.

[0189] In this second scenario, the first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is grounded, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are connected to the positive terminal of the power supply.

[0190] Scenario 2:

[0191] The first drive module 501 and the second drive module 502 are two drive channels in an integrated driver.

[0192] Similar to Figures 10A and 10B above, please refer to the descriptions of Figures 10A and 10B above for details, which will not be repeated here.

[0193] Scenario 3:

[0194] The first drive module 501 includes a driver, and the second drive module 502 includes a second resistor and a first capacitor.

[0195] For details, please refer to Figures 11A and 11B, which are schematic diagrams of the structure of the launch system provided in the embodiments of this application.

[0196] As shown in Figure 11A, the first driving module 501 includes a driver, specifically an NMOS driver, and the second driving module 502 includes a second resistor R2 and a first capacitor C1.

[0197] In this third scenario, the first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is connected to the positive terminal of the power supply, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are grounded.

[0198] As shown in Figure 11B, the first driving module 501 includes a driver, specifically a PMOS driver, and the second driving module 502 includes a second resistor R2 and a first capacitor C1.

[0199] In this third scenario, the first end 5031 of the optical emitting module 503 is connected to the first end 5011 of the first driving module 501 and the first end 5021 of the second driving module 502, respectively. The second end 5032 of the optical emitting module 503 is grounded, and the second end 5012 of the first driving module 501 and the second end 5022 of the second driving module 502 are connected to the positive terminal of the power supply.

[0200] Understandably, the driving end of the transmitting system uses a MOS driver and an R / C device connected in parallel to generate a modulated electrical pulse signal, which drives the laser to generate an optical pulse signal, thereby performing waveform modulation. The R / C device may include a second resistor R2 and a first capacitor C1 (R2 and C1 are connected in series). The parameters of R2 and C1 are adjustable. By adjusting the parameters of R2 and C1, the loop current is adjusted, thereby adjusting the height of the optical pulse waveform, i.e., the tail height of the synthesized optical pulse waveform.

[0201] Scenario 4:

[0202] The first driving module 501 includes a second resistor and a first capacitor, and the second driving module 502 includes a driver.

[0203] Similar to Figures 11A and 11B above, please refer to the descriptions of Figures 11A and 11B above for details, which will not be repeated here.

[0204] It is understood that the first driving module 501 and the second driving module 502 can be two separate drivers, or two driving channels in an integrated driver, or they can be composed of resistors and capacitors. This application embodiment does not limit this.

[0205] Optionally, the internal resistance of the first driving module 501 and the second driving module 502 may be the same or different. It is understood that the current generated by the first driving module 501 and the second driving module 502 may be the same or different, and this application embodiment does not limit this.

[0206] Through the first driving module 501 and the second driving module 502 in the embodiments of this application, the parasitic inductance of the loop can be reduced, the driving capability can be improved, and different first pulse signals and second pulse signals can be generated to synthesize a waveform-adjusted third pulse signal, thereby realizing the waveform adjustment of the beam emitted by the light emitting module 503.

[0207] Please refer to Figures 12A and 12B, which are waveform diagrams of different energy echoes provided in the embodiments of this application.

[0208] Figure 12A shows histogram sampling of echo intensities of different energy levels when there is no optical pulse waveform modulation. The horizontal axis represents the flight time of the optical pulse, and the vertical axis represents the intensity value of the optical pulse.

[0209] As shown in Figure 12B, this is a histogram sampling of different energy echo intensities when the optical pulse waveform is modulated by the transmission system provided in this application. The horizontal axis represents the flight time of the optical pulse, and the vertical axis represents the intensity value of the optical pulse.

[0210] As can be seen from the waveforms shown in region 1 of Figure 12A and region 2 of Figure 12B, compared with no light pulse waveform modulation, the falling edge overlap of the histogram waveform acquired under light pulse waveform modulation based on the emission system provided in this application is lower under strong energy echo. That is, the falling edge overlap of the acquired histogram waveform can be reduced, the accuracy of the intensity estimate can be improved, and the discrimination of the detected target can be improved.

[0211] This application provides a chip that includes the transmission system provided in this application.

[0212] This application provides a radar or radar system, which includes the transmitting system provided in this application or the chip described above.

[0213] In one possible implementation, the radar includes, but is not limited to, lidar.

[0214] In one possible implementation, there may be a smart sensor that integrates multiple sensors. In the case that the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called a radar or radar system.

[0215] This application also provides a terminal device, which includes the transmitting system, chip, radar, or radar system provided in this application. For example, the terminal device can be a means of transportation, such as a car, truck, aircraft, drone, slow-moving vehicle, spacecraft, or ship, or any other possible vehicle used in any scenario. It can also be any device capable of carrying a detection device, such as surveying equipment. One or more transmitting systems, chips, radars, or radar systems provided in this application are deployed on the terminal device.

[0216] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A launching system, characterized in that, include: Optical emission module, first driver module, second driver module; Wherein, the first end of the optical emitting module is connected to the first end of the first driving module and the first end of the second driving module respectively; the second end of the optical emitting module is connected to the power supply, and the second ends of the first driving module and the second driving module are grounded; or, the second end of the optical emitting module is grounded, and the second ends of the first driving module and the second driving module are connected to the power supply. The first driving module is used to generate a first pulse signal, and the second driving module is used to generate a second pulse signal, wherein the first pulse signal is different from the second pulse signal; The third pulse signal, synthesized from the first pulse signal and the second pulse signal, is used to drive the optical emitting module to emit the first beam.

2. The launching system according to claim 1, characterized in that, The launch system also includes: First resistor; The first resistor is disposed in the path between the optical emitting module and the second driving module; The resistance value of the first resistor is adjustable.

3. The launching system according to claim 1 or 2, characterized in that, The first pulse signal includes a first main pulse signal and a first sub-pulse signal, wherein the amplitude of the first sub-pulse signal is smaller than the amplitude of the first main pulse signal.

4. The launching system according to claim 3, characterized in that, The second pulse signal includes a second main pulse signal and a second sub-pulse signal, wherein the amplitude of the second sub-pulse signal is smaller than the amplitude of the second main pulse signal; The amplitude of the second main pulse signal is less than the amplitude of the first main pulse signal, and the amplitude of the second sub-pulse signal is greater than the amplitude of the first sub-pulse signal.

5. The launching system according to claim 4, characterized in that, The third pulse signal includes a third main pulse signal and a third sub-pulse signal, wherein the amplitude of the third sub-pulse signal is smaller than the amplitude of the third main pulse signal; The amplitude of the third main pulse signal is greater than or equal to the amplitude of the first main pulse signal, and the amplitude of the third sub-pulse signal is greater than or equal to the amplitude of the second sub-pulse signal.

6. The launching system according to any one of claims 1 to 5, characterized in that, The first driving module and the second driving module are two separate drivers; Alternatively, the first driver module and the second driver module may be two driver channels in an integrated driver. Alternatively, the first driving module includes a driver, and the second driving module includes a second resistor and a first capacitor; Alternatively, the first driving module may include a second resistor and a first capacitor, and the second driving module may include a driver.

7. The launching system according to any one of claims 1 to 6, characterized in that, The launch system also includes: Controller; The controller is used to adjust the pulse width of the first pulse signal and / or the second pulse signal, or the controller is also used to adjust the time delay between the first pulse signal and the second pulse signal.

8. The launching system according to any one of claims 1 to 7, characterized in that, The first driving module and / or the second driving module include an N-type metal-oxide semiconductor or a P-type metal-oxide semiconductor.

9. The launching system according to any one of claims 1 to 8, characterized in that, The optical emitting module includes at least one of the following: Edge-emitting laser (EEL), vertical-cavity surface-emitting laser (VCSEL), photonic crystal surface-emitting laser (PCSEL), and horizontal-cavity surface-emitting laser (HCSEL).

10. A chip, characterized in that, The chip includes the transmission system according to any one of claims 1 to 9.

11. A radar, characterized in that, The radar includes the transmitting system according to any one of claims 1 to 9, or the chip according to claim 10.

12. A terminal device, characterized in that, The terminal device includes the transmitting system according to any one of claims 1 to 9, or the chip according to claim 10, or the radar according to claim 11.

13. A vehicle end, characterized in that, The vehicle end includes the transmission system according to any one of claims 1 to 9, or the chip according to claim 10, or the radar according to claim 11, or the terminal device according to claim 12.

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