Transmitting system and related chip, and radar, terminal device and vehicle

Abstract

A transmitting system (50, 80) and a related apparatus, which are applied to the technical field of LiDARs. The transmitting system (50, 80) comprises a first boost circuit (502), a first control unit (501), a first drive unit (503), and at least one multi-channel multiplexer (MUX), wherein a first MUX (504) from among the at least one MUX comprises a plurality of first switches (504a), each of which is correspondingly connected to at least one first laser circuit (505), the first laser circuit (505) comprising a first laser (505a) and a first energy storage unit (505b); the first boost circuit (502) is connected to the first laser (505a) and the first energy storage unit (505b) by means of the first switch (504a); the first drive unit (503) is connected to the first laser (505a), and the first control unit (501) is connected to the first boost circuit (502) and the first switch (504a); and the first control unit (501) is used for controlling the first boost circuit (502) to output a first voltage at a first moment, and controlling the first switch (504a) to turn on or turn off, the turning-on moment of the first switch (504a) being not later than the first moment. The transmitting system (50, 80) can reduce inconsistencies in optical pulse width and transmitting power that are output by laser channels, thereby improving the detection performance.

Description

Transmission system and related chips, radar, terminal equipment and vehicle-mounted devices

[0001] This application claims priority to Chinese patent application filed on December 2, 2024, with application number 202422944945.0 and entitled "Launch System and Related Chips, Radar, Terminal Equipment and Vehicle Terminal", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of lidar technology, and in particular to a transmitting system and related devices that can be applied to the transportation industry. Background Technology

[0003] With the development of information technology and computer vision, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be regarded as the "eyes" of the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, lidar (light detection and ranging) has significant advantages in detection range, ranging accuracy, and reliability, and has the characteristic of near-all-weather operation. It is a key sensor in the field of perception and plays an important role in fields such as intelligent driving, intelligent transportation, surveying and mapping, and intelligent manufacturing.

[0004] Currently, in 1D or 2D solid-state lidar, the inconsistency of the discharge loop inductance between different laser channels leads to significant differences in the output pulse width and emission power of each laser channel, thus affecting the detection performance of the lidar.

[0005] Therefore, a solution is urgently needed to reduce the consistency difference in output pulse width and emission power between different laser channels and improve the detection performance of lidar. Summary of the Invention

[0006] This application provides a transmitting system and related devices that can reduce the consistency differences in output pulse width and transmission power between various laser channels, thereby improving the detection performance of lidar.

[0007] In a first aspect, embodiments of this application provide a transmitting system, which includes a first boost circuit, a first control unit, a first driving unit, and at least one multichannel multiplexer (MUX); the first MUX includes a plurality of first switches, each first switch being connected to at least one first laser circuit; the first laser circuit includes:

[0008] First laser, first energy storage unit;

[0009] The first boost circuit is connected to the first laser and the first energy storage unit via the first switch. The first laser and the first energy storage unit are connected in parallel. The first drive unit is connected to the first laser. One end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the first switch.

[0010] The first control unit is used to control the first boost circuit to output a first voltage at a first moment, and to control the first switch to be turned on or off, wherein the first switch is turned on no later than the first moment.

[0011] This application provides a transmitting system including a first boost circuit, a first control unit, a first driving unit, and at least one multiplexer (MUX). The first MUX includes multiple first switches, each connected to at least one first laser circuit. Due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors among the laser circuits in the transmitting system, the emission power consistency of each laser circuit varies significantly. To reduce this variation, the voltage supplied to each laser circuit needs to be differentiated to ensure consistent emission power. The transmitting system in this application equips the first laser circuit with a first control unit and a first boost circuit. The first control unit controls the first boost circuit to output a first voltage at a first moment and controls the first switches to turn on or off. The first switches turn on no later than the first moment, enabling the first voltage to charge the first energy storage unit in the first laser circuit, which then powers the first laser. By implementing the embodiments of this application, timing control of the timing of the first voltage output by the first boost circuit and the on and off of the first switch can be achieved to provide the first voltage required by the first laser circuit. This can minimize or even eliminate the difference in emission power consistency between the first laser circuit and other laser circuits, thereby improving the consistency of output pulse width and emission power among various laser channels and enhancing the detection performance of the lidar.

[0012] Optionally, the aforementioned first voltage is related to the relative positions of the first laser circuit and the first driving unit. Generally, the closer the first driving unit is to the laser circuit, the greater the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the first driving unit more consistent, the closer the first laser circuit and the first driving unit are, the smaller the voltage output by the first boost circuit. Similarly, the farther the first driving unit is from the laser circuit, the smaller the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the first driving unit more consistent, the farther the first laser circuit and the first driving unit are, the greater the voltage output by the first boost circuit. The first boost circuit outputs the first voltage to charge the first energy storage unit in the first laser circuit. The first energy storage unit supplies power to the first laser in the first laser circuit, thereby minimizing or even eliminating the differences in the consistency of the emission power of each laser circuit caused by the positional differences between the first driving unit and each laser circuit. By utilizing the embodiments of this application, based on the relative positional relationship between the laser circuit and the first driving unit, the first boost circuit outputs a corresponding voltage to the laser circuit, which can reduce the consistency difference in the output pulse width and emission power between each laser channel and improve the detection performance of the lidar.

[0013] In one possible implementation, the first boost circuit includes:

[0014] First power supply, first inductor, first diode, first boost switch;

[0015] The first power supply is connected to the first inductor, the first inductor is connected to the first terminal of the first diode and the first terminal of the first boost switch, the second terminal of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second terminal of the first boost switch is connected to the first control unit, and the third terminal of the first boost switch is grounded.

[0016] The first control unit is used to control the first boost switch to be turned on during a first time period before the first moment, and to control the first boost switch to be turned off at the first moment.

[0017] In this embodiment, a possible specific circuit structure design for a first boost circuit is provided. A first control unit controls the first boost switch to be turned on during a first time period before a first instant, and controls the first boost switch to be turned off at the first instant, allowing the first power supply to continuously charge the first inductor during the first time period. Correspondingly, the first inductor continuously stores energy during the first time period and outputs a first voltage at the first instant. Combined with controlling the first switch to be turned on no later than the first instant, the first voltage can be provided to charge the first energy storage unit in the first laser circuit. The first energy storage unit then supplies power to the first laser in the first laser circuit. Through this embodiment, timing control of the turn-on and turn-off of the first boost switch and the first switch can provide the required first voltage to the first laser circuit, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit and other laser circuits. This improves the consistency of the output pulse width and emission power among the various laser channels, enhancing the detection performance of the lidar.

[0018] Optionally, the duration of the first time period is related to the relative positions of the first laser circuit and the first driving unit. Generally, the closer the first driving unit is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the first driving unit more consistent, if the distance between the first laser circuit and the first driving unit is closer, the voltage output by the first boost circuit should be smaller, and the duration for which the first boost switch is turned on in the first time period before the first moment should be shorter. Similarly, the farther the first driving unit is from the laser circuit, the smaller the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the first driving unit more consistent, if the distance between the first laser circuit and the first driving unit is greater, the voltage output by the first boost circuit should be larger, and the duration for which the first boost switch is turned on in the first time period before the first moment should be longer. Optionally, there is a corresponding relationship between the duration of the first boost switch being turned on and the voltage value stored in the first inductor. The longer the first time period, the more energy the first inductor in the first boost circuit stores. The duration of the first boost switch's conduction during the first time period allows the first inductor to store a first voltage. By controlling the first boost switch to conduct during the first time period before the first moment and controlling it to deactivate at the first moment, the first inductor can provide a first voltage at the first moment to charge the first energy storage unit in the first laser circuit. The first energy storage unit then powers the first laser in the first laser circuit, thereby minimizing or even eliminating the differences in the emission power consistency of each laser circuit caused by the positional differences between the first driving unit and each laser circuit.

[0019] In one possible implementation, at least one MUX includes a second MUX in addition to the first MUX. The second MUX includes a plurality of second switches, each second switch being connected to at least one second laser circuit. The second laser circuit includes:

[0020] Second laser, second energy storage unit;

[0021] The first boost circuit is connected to the second laser and the second energy storage unit through the second switch. The second laser and the second energy storage unit are connected in parallel. The first drive unit is connected to the second laser. One end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the second switch.

[0022] The first control unit is used to control the first boost circuit to output a second voltage at a second time, and to control the second switch to be turned on or off. The second voltage is different from the first voltage, and the second switch is turned on no later than the second time.

[0023] In this embodiment, the second MUX in the at least one MUX mentioned above includes multiple second switches, each second switch corresponding to at least one second laser circuit. Due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors among the laser circuits in the emission system, the emission power consistency of each laser circuit varies considerably. To reduce the consistency difference in emission power among the laser circuits, the voltage value supplied to each laser circuit also needs to be designed differently to make the emission power of each laser circuit more consistent. In the emission system of this application embodiment, the second laser circuit is equipped with a first control unit and a first boost circuit. The first control unit is used to control the first boost circuit to output a second voltage at a second time, and to control the conduction or disconnection of the second switch. The conduction time of the second switch is no later than the second time, which can realize the provision of the second voltage to charge the second energy storage unit in the second laser circuit, and the second energy storage unit to power the second laser in the second laser circuit. By controlling the timing of the second voltage output from the first boost circuit and the on / off state of the second switch through the embodiments of this application, the required second voltage can be provided to the second laser circuit. This minimizes or even eliminates the difference in emission power consistency between the second laser circuit and other laser circuits, thereby improving the consistency of the output pulse width and emission power among the various laser channels and enhancing the detection performance of the lidar. Furthermore, since the second voltage differs from the first voltage, different voltages can be supplied to different laser channels, thereby adjusting the emission power of different laser channels and making the output pulse width and emission power of each laser channel more consistent, further improving the detection performance of the lidar.

[0024] Optionally, the second voltage can be the same as the first voltage, and this application embodiment does not impose any limitation on this. Optionally, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors between the first and second laser circuits, the emission power of the first and second laser circuits is consistent. Therefore, the voltage values ​​supplying power to the first and second laser circuits do not need to be designed differently. Thus, the first voltage supplying power to the first laser circuit and the second voltage supplying power to the second laser circuit can be the same.

[0025] In one possible implementation, the first boost circuit includes:

[0026] First power supply, first inductor, first diode, first boost switch;

[0027] The first power supply is connected to the first inductor, the first inductor is connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the second laser and the second energy storage unit through the second switch, and the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded.

[0028] The first control unit is used to control the first boost switch to be turned on during a second time period before the second time moment, and to control the first boost switch to be turned off at the second time moment. The duration of the second time period is different from the duration of the first time period, which is the time period during which the first boost switch is turned on before the first time moment.

[0029] In this embodiment, a possible specific circuit structure design for a first boost circuit is provided. A first control unit controls the first boost switch to be turned on during a second time period before the second time point, and controls the first boost switch to be turned off at the second time point. This allows the first power supply to continuously charge the first inductor during the second time period. Correspondingly, the first inductor continuously stores energy during the second time period and outputs a second voltage at the second time point. Combined with controlling the second switch to be turned on no later than the second time point, this provides the second voltage to charge the second energy storage unit in the second laser circuit. The second energy storage unit then powers the second laser in the second laser circuit. Through this embodiment, timing control of the on / off states of the first boost switch and the second switch allows for the provision of the required second voltage to the second laser circuit. This minimizes or even eliminates the difference in emission power consistency between the second laser circuit and other laser circuits, thereby improving the consistency of output pulse width and emission power among the various laser channels and enhancing the detection performance of the lidar. Furthermore, the duration of the second time period is different from that of the first time period, and the corresponding output second voltage is different from the first voltage. This allows for different voltages to be supplied to different laser channels, thereby adjusting the emission power of different laser channels. This makes the output pulse width and emission power of each laser channel more consistent, improving the detection performance of the lidar.

[0030] Optionally, the duration of the second time period can be the same as the duration of the first time period, and this embodiment of the application does not impose any restrictions on this. Optionally, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors between the first and second laser circuits, the emission power of the first and second laser circuits is consistent. Therefore, the voltage values ​​supplied to the first and second laser circuits do not need to be designed differently. Thus, the duration of the second time period can be the same as the duration of the first time period, making the first voltage supplied to the first laser circuit and the second voltage supplied to the second laser circuit the same.

[0031] In one possible implementation, the difference between the emission power of the first laser and the emission power of the second laser is less than a first threshold.

[0032] In this embodiment, a possible specific implementation of the consistency of the emission power of the first laser and the second laser is provided. Specifically, the difference between the emission power of the first laser and the emission power of the second laser is less than a first threshold. The first threshold is not a fixed value and can be adjusted according to different application scenarios. This application embodiment does not limit this.

[0033] Optionally, the difference between the emission power of the first laser and the emission power of the second laser can be zero. This can be understood as follows: ideally, the emission power of the first laser and the emission power of the second laser should be almost identical, which maximizes the detection performance of the lidar.

[0034] In one possible implementation, the driving unit in the transmitting system includes a driver, which is disposed at the beginning or end of the laser array in the transmitting system along a first direction.

[0035] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array. The voltage of each energy storage unit in the laser array increases or decreases along the first direction.

[0036] In this embodiment, a possible specific implementation of the driver arrangement is provided. Specifically, when the driving unit includes a driver, the driver can be disposed at the beginning or end of the laser array in the emission system along a first direction, which is beneficial for the driver's heat dissipation. Generally, the closer the driver is to the laser circuit, the greater the emission power of the laser circuit. It is understood that in this case, the emission power of multiple lasers in the laser array increases or decreases along the first direction. In order to make the emission power of multiple lasers in the laser array tend to be consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will correspondingly decrease or increase along the first direction to reduce the consistency difference in the pulse width and emission power output of each laser, thereby achieving consistency in the emission power of multiple lasers.

[0037] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0038] In one possible implementation, the driving unit in the transmitting system includes a driver, which is disposed in the middle of the laser array in the transmitting system along a first direction.

[0039] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0040] In this embodiment, a possible specific implementation of the driver arrangement is provided. Specifically, when the driving unit includes a driver, the driver can be positioned in the middle of the laser array in the emission system along a first direction. In this case, the overall difference in emission power among the multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of emission power among the multiple lasers in the laser array from the perspective of positional layout. Generally, the closer the driver is to the laser circuit, the greater the emission power of the laser circuit. It can be understood that in this case, the emission power of the multiple lasers in the laser array is symmetrically arranged along the first direction with a pattern of larger power in the middle and smaller power at both ends. In order to make the emission power of the multiple lasers in the laser array tend to be consistent, the voltage of the multiple energy storage units that power the multiple lasers in the laser array will be symmetrically arranged along the first direction with a pattern of smaller voltage in the middle and larger power at both ends, so as to reduce the consistency difference in the pulse width and emission power output of each laser and achieve the consistency of emission power of multiple lasers.

[0041] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0042] In one possible implementation, the driving unit in the transmitting system includes at least two drivers, which are respectively disposed at both ends of the laser array in the transmitting system along a first direction;

[0043] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0044] In this embodiment, a possible specific implementation of the driver arrangement is provided. Specifically, when the driving unit includes at least two drivers, these at least two drivers can be respectively arranged at both ends of the laser array in the emission system along a first direction, which is beneficial for driver heat dissipation. At this time, the overall difference in emission power among the multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of emission power among the multiple lasers in the laser array from the perspective of positional layout. Generally, the closer the driver is to the laser circuit, the greater the emission power of the laser circuit. It can be understood that in this case, the emission power of the multiple lasers in the laser array is symmetrically arranged along the first direction with a smaller value in the middle and larger values ​​at both ends. In order to make the emission power of the multiple lasers in the laser array tend to be consistent, the voltage of the multiple energy storage units supplying power to the multiple lasers in the laser array will be correspondingly symmetrically arranged along the first direction with a larger value in the middle and smaller values ​​at both ends, thereby reducing the consistency difference in the pulse width and emission power output of each laser and achieving a tendency towards consistency in the emission power of the multiple lasers.

[0045] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0046] In one possible implementation, at least two drives are arranged in a mirrored configuration.

[0047] In this embodiment, a possible specific implementation of the driver arrangement is provided, specifically, at least two drivers in the launch system are arranged in a mirror image, which is beneficial to optimize the wiring design between various modules in the launch system and improve space utilization.

[0048] In one possible implementation, the laser circuitry in the emission system is mounted on a printed circuit board (PCB).

[0049] In this embodiment, the laser circuit in the above-described emission system is disposed on a printed circuit board (PCB). Furthermore, the laser circuit in the above-described emission system can be disposed on the front side or the back side of the PCB; this application does not impose any limitation on this.

[0050] In one possible implementation, the drive unit in the transmission system is located on the reverse side of the PCB.

[0051] In this embodiment, the drive unit in the above-mentioned launch system is located on the reverse side of the PCB, which is beneficial to optimize the routing design between various modules in the launch system and improve space utilization.

[0052] Secondly, embodiments of this application provide a transmitting system, which includes at least one third laser circuit, at least one fourth laser circuit, a second driving unit, a second control unit, a second boost circuit, a third boost circuit, and a second power supply.

[0053] The third laser circuit includes a third laser and a third energy storage unit, and the fourth laser circuit includes a fourth laser and a fourth energy storage unit.

[0054] The second power supply is connected to the second boost circuit and the third boost circuit respectively; the second boost circuit is connected to the third laser and the third energy storage unit respectively, and the third laser and the third energy storage unit are connected in parallel; the third boost circuit is connected to the fourth laser and the fourth energy storage unit respectively, and the fourth laser and the fourth energy storage unit are connected in parallel; the second drive unit is connected to the third laser and the fourth laser respectively; and the second control unit is connected to the second boost circuit and the third boost circuit respectively.

[0055] The second control unit is used to control the second boost circuit to output a third voltage and to control the third boost circuit to output a fourth voltage, the third voltage being different from the fourth voltage.

[0056] This application provides a transmitting system including a second boost circuit, a third boost circuit, a second control unit, a second drive unit, a second power supply, at least one third laser circuit, and at least one fourth laser circuit. Due to differences in location, model, heat generation and / or heat dissipation, manufacturing processes, and other factors among the laser circuits in the transmitting system, the emission power of each laser circuit varies considerably. To reduce this variation in emission power, the voltage supplied to each laser circuit needs to be differentiated accordingly to ensure a more consistent emission power. In this application embodiment, the transmitting system equips the third laser circuit with a second control unit and a second boost circuit. The second control unit controls the second boost circuit to output a third voltage and a fourth voltage. This enables the third voltage to charge the third energy storage unit in the third laser circuit, which then powers the third laser, and the fourth voltage to charge the fourth energy storage unit in the fourth laser circuit, which then powers the fourth laser. Furthermore, the third voltage differs from the fourth voltage, allowing for different voltages to be supplied to different laser channels. This enables the adjustment of the emission power of different laser channels, making the output pulse width and emission power of each laser channel more consistent and improving the detection performance of the lidar.

[0057] Optionally, the third voltage is related to the relative position of the third laser circuit and the second driving unit, and the fourth voltage is related to the relative position of the fourth laser circuit and the second driving unit. Generally, the closer the second driving unit is to the laser circuit, the greater the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the second driving unit more consistent, the closer the third laser circuit is to the second driving unit, the smaller the voltage output by the second boost circuit. Similarly, the farther the second driving unit is from the laser circuit, the smaller the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the second driving unit more consistent, the farther the fourth laser circuit is to the second driving unit, the greater the voltage output by the third boost circuit. The second boost circuit outputs a third voltage to charge the third energy storage unit in the third laser circuit, which in turn powers the third laser in the third laser circuit. The third boost circuit also outputs a fourth voltage to charge the fourth energy storage unit in the fourth laser circuit, which in turn powers the fourth laser in the fourth laser circuit. This minimizes or even eliminates the differences in emission power consistency among the laser circuits caused by the positional differences between the second driving unit and each laser circuit. Through this embodiment, based on the relative positional relationship between the laser circuit and the second driving unit, the second boost circuit outputs a corresponding voltage to the third laser circuit, and the third boost circuit outputs a corresponding voltage to the fourth laser circuit. This reduces the consistency differences in pulse width and emission power between the laser channels, improving the detection performance of the lidar.

[0058] Optionally, the third voltage and the fourth voltage can also be the same, and this application embodiment does not limit this. Optionally, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors between the third and fourth laser circuits, their emission power is consistent. Therefore, the voltage values ​​supplying power to the third and fourth laser circuits do not need to be designed differently. Thus, the third voltage supplying power to the third laser circuit and the fourth voltage supplying power to the fourth laser circuit can be the same.

[0059] In one possible implementation, the second boost circuit includes a second inductor, a second diode, and a second boost switch, and the third boost circuit includes a third inductor, a third diode, and a third boost switch.

[0060] The second power supply is connected to the second inductor and the third inductor respectively; the second inductor is connected to the first terminal of the second diode and the first terminal of the second boost switch respectively, and the second terminal of the second diode is connected to the third laser and the third energy storage unit respectively; the third inductor is connected to the first terminal of the third diode and the first terminal of the third boost switch respectively, and the second terminal of the third diode is connected to the fourth laser and the fourth energy storage unit respectively; the second control unit is connected to the second terminal of the second boost switch and the second terminal of the third boost switch respectively; the third terminals of the second boost switch and the third terminal of the third boost switch are grounded.

[0061] The second control unit is used to control the second boost switch to be turned on during the third time period before the third time, and to control the second boost switch to be turned off during the third time; the second control unit is used to control the third boost switch to be turned on during the fourth time period before the fourth time, and to control the third boost switch to be turned off during the fourth time; the duration of the third time period is different from the duration of the fourth time period.

[0062] In this embodiment, a possible specific circuit structure design for a second boost circuit and a third boost circuit is provided. The second control unit is used to control the second boost switch to be turned on during a third time period before the third time point, and to control the second boost switch to be turned off during the third time point, allowing the second power supply to continuously charge the second inductor during the third time period. Correspondingly, the second inductor continuously stores energy during the third time period and outputs a third voltage at the third time point, which can provide a third voltage to charge the third energy storage unit in the third laser circuit, and the third energy storage unit supplies power to the third laser in the third laser circuit. The second control unit is also used to control the third boost switch to be turned on during a fourth time period before the fourth time point, and to control the third boost switch to be turned off during the fourth time point, allowing the second power supply to continuously charge the third inductor during the fourth time period. Correspondingly, the third inductor continuously stores energy during the fourth time period and outputs a fourth voltage at the fourth time point, which can provide a fourth voltage to charge the fourth energy storage unit in the fourth laser circuit, and the fourth energy storage unit supplies power to the fourth laser in the fourth laser circuit. Furthermore, the different durations of the third and fourth time periods result in different voltages being supplied to the third and fourth time periods. This allows for different voltages to be supplied to different laser channels, thereby adjusting the emission power of different laser channels. This makes the output pulse width and emission power of each laser channel more consistent, improving the detection performance of the lidar.

[0063] Optionally, the duration of the third time period is related to the relative positions of the third laser circuit and the second driving unit, and the duration of the fourth time period is related to the relative positions of the fourth laser circuit and the second driving unit. Generally, the closer the second driving unit is to the laser circuit, the greater the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the second driving unit more consistent, if the distance between the third laser circuit and the second driving unit is greater, the voltage output of the second boost circuit should be smaller, and the duration for which the second boost switch is turned on in the third time period before the third moment should be shorter. Similarly, the farther the second driving unit is from the laser circuit, the smaller the emission power of that laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the second driving unit more consistent, if the distance between the fourth laser circuit and the second driving unit is greater, the voltage output of the third boost circuit should be larger, and the duration for which the third boost switch is turned on in the fourth time period before the fourth moment should be longer. Optionally, there is a corresponding relationship between the conduction duration of the second boost switch and the voltage value stored in the second inductor. The longer the third time period, the more energy the second inductor stores in the second boost circuit. The duration of the second boost switch conduction in the third time period allows the second inductor to store a third voltage. By controlling the second boost switch to conduct during the third time period before the third moment and controlling the second boost switch to be turned off at the third moment, the second inductor can provide a third voltage at the third moment to charge the third energy storage unit in the third laser circuit. The third energy storage unit supplies power to the third laser in the third laser circuit, thereby minimizing or even eliminating the differences in the emission power consistency of each laser circuit caused by the positional differences between the second driving unit and each laser circuit.

[0064] Optionally, the duration of the third time period can be the same as the duration of the fourth time period, and this embodiment of the application does not impose any restrictions on this. Optionally, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors between the third and fourth laser circuits, their emission power is consistent. Therefore, the voltage values ​​supplied to the third and fourth laser circuits do not need to be designed differently. Thus, the duration of the third time period can be the same as the duration of the fourth time period, making the third voltage supplied to the third laser circuit and the fourth voltage supplied to the fourth laser circuit the same.

[0065] In one possible implementation, the difference between the emission power of the third laser and the emission power of the fourth laser is less than the second threshold.

[0066] In this embodiment, a possible specific implementation of the consistency of the emission power of the third laser and the fourth laser is provided. Specifically, the difference between the emission power of the third laser and the emission power of the fourth laser is less than a second threshold. This second threshold is not a fixed value and can be adjusted according to different application scenarios. This application embodiment does not limit this.

[0067] Optionally, the difference between the emission power of the third laser and the emission power of the fourth laser can be zero. This can be understood as follows: ideally, the emission power of the third laser and the emission power of the fourth laser tend to be completely identical, which maximizes the detection performance of the lidar.

[0068] In one possible implementation, the transmitting system further includes at least one fifth laser circuit, the position of which is symmetrical to that of the third laser circuit about the second driving unit; the fifth laser circuit includes a fifth laser and a fifth energy storage unit;

[0069] The fifth laser and the fifth energy storage unit are connected in parallel. One side of the fifth laser and the fifth energy storage unit is connected to the second boost circuit, and the other side of the fifth laser and the fifth energy storage unit is connected to the second drive unit.

[0070] In this embodiment, the transmitting system further includes at least one fifth laser circuit. The position of the fifth laser circuit is symmetrical to that of the third laser circuit with respect to the second driving unit. Due to the symmetry between the positions of the fifth and third laser circuits, the difference in their transmitting power is small, or even completely consistent. Therefore, the voltage values ​​supplying power to the fifth and third laser circuits do not need to be designed differently and can share the same second boost circuit, making their transmitting power tend to be consistent. Through this embodiment, hardware costs can be saved, the wiring design between various modules within the transmitting system can be optimized, and space utilization can be improved.

[0071] In one possible implementation, the driving unit in the transmitting system includes a driver, which is disposed at the beginning or end of the laser array in the transmitting system along a first direction.

[0072] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array. The voltage of each energy storage unit in the laser array increases or decreases along the first direction.

[0073] In one possible implementation, the driving unit in the transmitting system includes a driver, which is disposed in the middle of the laser array in the transmitting system along a first direction.

[0074] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0075] In one possible implementation, the driving unit in the transmitting system includes at least two drivers, which are respectively disposed at both ends of the laser array in the transmitting system along a first direction;

[0076] The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0077] In one possible implementation, at least two drives are arranged in a mirrored configuration.

[0078] In one possible implementation, the laser circuitry in the emission system is mounted on a printed circuit board (PCB).

[0079] In one possible implementation, the drive unit in the transmission system is located on the reverse side of the PCB.

[0080] Regarding the launch system described in the second aspect and any possible implementation, reference can be made to the description of the launch system corresponding to the first aspect and the corresponding implementation described above.

[0081] Regarding the technical effects of the second aspect and any possible implementation, please refer to the description of the technical effects corresponding to the first aspect and the corresponding implementation.

[0082] Thirdly, embodiments of this application provide a chip that includes the transmitting system described in the first aspect or any possible implementation of the first aspect, or includes the transmitting system described in the second aspect or any possible implementation of the second aspect.

[0083] Fourthly, embodiments of this application provide a radar that includes the transmitting system described in the first aspect or any possible implementation of the first aspect, or the transmitting system described in the second aspect or any possible implementation of the second aspect, or the chip described in the third aspect.

[0084] In one possible implementation, the radar includes, but is not limited to, lidar.

[0085] In one possible implementation, there may be a smart sensor that integrates multiple sensors. In the case where the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called radar.

[0086] Fifthly, 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 transmitting system described in the second aspect or any possible implementation of the second aspect, or includes the chip described in the third aspect, or includes the radar described in the fourth aspect.

[0087] Sixthly, 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 transmitting system described in the second aspect or any possible implementation of the second aspect, or includes the chip described in the third aspect, or includes the radar described in the fourth aspect, or includes the terminal device described in the fifth aspect.

[0088] Optionally, the vehicle end can be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, or any other possible means of transportation used in any possible scenario. This application embodiment does not limit this. Attached Figure Description

[0089] 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.

[0090] Figure 1A is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0091] Figure 1B is a schematic diagram of an application scenario of radar provided in an embodiment of this application;

[0092] Figure 2A is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0093] Figure 2B is a schematic diagram of the architecture of a radar provided in an embodiment of this application;

[0094] Figure 3 is a schematic diagram of a radar driving circuit provided in an embodiment of this application;

[0095] Figure 4 is a schematic diagram of the transmission power of a radar provided in an embodiment of this application;

[0096] Figure 5 is a schematic diagram of a launching system provided in an embodiment of this application;

[0097] Figure 6 is a schematic diagram of another launching system provided in an embodiment of this application;

[0098] Figure 7A is a schematic diagram of a driver layout provided in an embodiment of this application;

[0099] Figure 7B is a schematic diagram of another driver layout provided in an embodiment of this application;

[0100] Figure 7C is a schematic diagram of another driver layout provided in an embodiment of this application;

[0101] Figure 7D is a schematic diagram of another driver layout provided in an embodiment of this application;

[0102] Figure 8 is a schematic diagram of another launching system provided in an embodiment of this application;

[0103] Figure 9 is a schematic diagram of another launching system provided in an embodiment of this application;

[0104] Figure 10 is a schematic diagram of another launching system provided in an embodiment of this application. Detailed Implementation

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] As described in the background section, in currently designed 1D or 2D solid-state lidars, the inconsistency of the discharge loop inductance between each laser channel leads to significant differences in the output pulse width and emission power, thus affecting the lidar's detection performance. This application provides a transmission system and related apparatus, relating to the field of lidar technology, which can reduce the consistency differences in output pulse width and emission power between laser channels and improve the lidar's detection performance.

[0110] To more clearly describe the solution in this application, some possible application scenarios for lidar will be introduced below.

[0111] Please refer to Figures 1A and 1B, which are schematic diagrams of radar application scenarios provided in the embodiments of this application.

[0112] As shown in Figures 1A and 1B, this exemplary application scenario takes the installation of a lidar on a vehicle as an example.

[0113] 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).

[0114] 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.

[0115] 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.

[0116] 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 monitoring, remote interaction, surveying and mapping, or artificial intelligence.

[0117] The following section, using Figures 2A and 2B as examples, introduces some relevant concepts of lidar.

[0118] 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).

[0119] 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.

[0120] Please refer to Figure 2A, which is a schematic diagram of the architecture of a radar provided in an embodiment of this application.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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".

[0125] Taking the electronic scanning method as an example, please refer to Figure 2B. Figure 2B is a schematic diagram of the architecture of a radar provided in an embodiment of this application.

[0126] As shown in Figure 2B, this is a scanning method using an electrical scanning 1D laser array. This 1D laser array can also be called a 1D solid-state lidar. The laser structures in this 1D laser array include, but are not limited to, vertical cavity surface emitting lasers (VCSELs) and photonic crystal surface emitting lasers (PCSELs).

[0127] In 1D or 2D solid-state LiDAR, the common driving method is to select the laser emission path on the high-level side and drive the laser emission on the low-level side. This driving method has a low cost.

[0128] For details, please refer to Figure 3, which is a schematic diagram of a radar driving circuit provided in an embodiment of this application.

[0129] As shown in Figure 3, the driving circuit includes, but is not limited to: N lasers, N capacitors, N switches, two drivers, and a power supply. Here, N is an integer greater than or equal to 2. The power supply is connected to the N lasers and N capacitors respectively through the N switches. The N capacitors are connected in parallel with the N lasers in a one-to-one correspondence. The two drivers are respectively located at the beginning and end of the laser array composed of N lasers, and are connected to the lasers at the beginning and end, respectively. When the switches are closed, the power supply charges the N capacitors, and the N capacitors store a certain amount of charge. After the switches are opened, even without power supply charging, the N capacitors can still power the N lasers, which then emit laser light under the drive of the two drivers.

[0130] As can be seen from the driving circuit shown in Figure 3, each emission channel uses an independent capacitor, and to achieve better angular resolution, the number of independent laser channels is generally large. This results in a large number of capacitors being used, leading to a larger overall laser size and a larger laser emission loop inductance, thus affecting the detection performance of the lidar. Furthermore, due to differences in the physical location of components (e.g., drivers) in the driving circuit, the discharge loop inductance between different laser channels is not entirely consistent, further impacting the lidar's detection performance.

[0131] For details, please refer to Figure 4, which is a schematic diagram of the transmission power of a radar provided in an embodiment of this application.

[0132] As shown in Figure 4, the horizontal axis represents the channel number of the emitted laser, and the vertical axis represents the peak power corresponding to the emitted channel. Curve 1 and Curve 2 represent the peak power corresponding to each emitted channel under different drive circuit structure designs.

[0133] The peak powers represented by curves 1 and 2 exhibit an approximately symmetrical arrangement, with both ends being larger and the middle smaller. Generally, the closer the driver is to the laser, the greater the laser's emission power. Therefore, curves 1 and 2 can also represent the peak powers corresponding to each emission channel under the driving circuit structure design shown in Figure 3.

[0134] As can be seen from the emission power diagram shown in Figure 4 above, there are significant differences in the consistency of the full width at half maximum (FWHM) and peak power of the laser pulse width among the channels, which affects the performance of the lidar, such as target reflectivity estimation.

[0135] In view of this, this application provides a transmitting system and related devices, relating to the field of lidar technology, which can reduce the consistency difference in output pulse width and transmitting power between various laser channels and improve the detection performance of lidar.

[0136] This application provides a launching device, which includes at least one launching system, the launching system comprising:

[0137] It has at least one drive unit and multiple transmission channels.

[0138] The plurality of emission channels emit lasers under the drive of at least one driving unit. The distances between the plurality of emission channels and the at least one driving unit are not exactly the same, and the difference in emission power between any two emission channels is less than a preset threshold.

[0139] It is understood that the preset threshold is not a fixed value and can be adjusted according to different application scenarios. This application embodiment does not impose any restrictions on this.

[0140] Optionally, the difference in transmission power between any two transmission channels can be zero. In this case, the transmission power of the multiple transmission channels tends to be completely consistent, which maximizes the detection performance of the lidar.

[0141] Understandably, because the positions of the various transmission channels and drive units in the transmission system are not entirely the same, and the distance between the drive unit and each transmission channel directly affects the transmission power of each transmission channel—generally, the closer the drive unit is to the transmission channel, the greater the transmission power of that channel—this leads to significant differences in the consistency of transmission power across different transmission channels. Furthermore, other factors such as differences in the model of each transmission channel, differences in heat generation and / or heat dissipation, and differences in manufacturing processes can also cause significant differences in the consistency of transmission power across different transmission channels. To reduce the differences in the consistency of transmission power across different transmission channels, the voltage values ​​supplied to each transmission channel also need to be designed differently to make the transmission power of each transmission channel more consistent.

[0142] The transmitting device in this embodiment of the application, by designing the voltage values ​​for supplying power to each transmitting channel differently, can ensure that the difference in transmitting power between any two transmitting channels is less than a preset threshold. Therefore, the transmitting device in this embodiment of the application can reduce the consistency difference in output pulse width and transmitting power between laser channels, thereby improving the detection performance of the lidar.

[0143] The launch system and related devices provided in this application will now be described in conjunction with the accompanying drawings.

[0144] Please refer to Figure 5, which is a schematic diagram of the structure of a launch system provided in an embodiment of this application.

[0145] As shown in Figure 5, the transmitting system 50 includes, but is not limited to, a first control unit 501, a first boost circuit 502, a first driving unit 503, and at least one multiplexer (MUX). The first MUX (504) of the at least one MUX includes a plurality of first switches 504a, and each first switch 504a is connected to at least one first laser circuit 505.

[0146] The first laser circuit 505 includes, but is not limited to, a first laser 505a and a first energy storage unit 505b.

[0147] The first boost circuit 502 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a. The first laser 505a and the first energy storage unit 505b are connected in parallel. The first drive unit 503 is connected to the first laser 505a. One end of the first control unit 501 is connected to the first boost circuit 502, and the other end of the first control unit 501 is connected to the first switch 504a.

[0148] The first control unit 501 is used to control the first boost circuit 502 to output a first voltage at a first moment, and to control the first switch 504a to be turned on or off, wherein the first switch 504a is turned on no later than the first moment.

[0149] It is understood that Figure 5, as an example, only shows three MUXs, and in reality, there may be more or fewer (one or more) MUXs, which should not be construed as limiting the embodiments of this application.

[0150] Understandably, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors among the various laser circuits in the emission system 50, the emission power of each laser circuit varies considerably. To reduce the variation in emission power among the various laser circuits, the voltage values ​​supplied to each laser circuit also need to be designed differently to make the emission power of each laser circuit more consistent.

[0151] In this embodiment, the transmitting system 50 is equipped with a first control unit 501 and a first boost circuit 502 for the first laser circuit 505. The first control unit 501 is used to control the first boost circuit 502 to output a first voltage at a first moment, and to control the first switch 504a to be turned on or off. The first switch 504a is turned on no later than the first moment, which can realize the provision of the first voltage to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b to power the first laser 505a in the first laser circuit 505.

[0152] Through the embodiments of this application, timing control is performed on the timing of the first voltage output by the first boost circuit 502 and the on and off of the first switch 504a. This enables the first laser circuit 505 to be provided with the required first voltage, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit 505 and other laser circuits. This improves the consistency of the output pulse width and emission power among the various laser channels, and enhances the detection performance of the lidar.

[0153] Optionally, the first voltage is related to the relative position of the first laser circuit 505 and the first driving unit 503.

[0154] Generally, the closer the first driving unit 503 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the first driving unit 503 more consistent, the closer the first laser circuit 505 is to the first driving unit 503, the smaller the voltage output by the first boost circuit 502.

[0155] Similarly, the farther the first driving unit 503 is from the laser circuit, the lower the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the first driving unit 503 more consistent, the greater the distance between the first laser circuit 505 and the first driving unit 503, the greater the voltage output of the first boost circuit 502.

[0156] The first boost circuit 502 outputs a first voltage to charge the first energy storage unit 505b in the first laser circuit 505. The first energy storage unit 505b supplies power to the first laser 505a in the first laser circuit 505, thereby minimizing or even eliminating the difference in emission power consistency of each laser circuit caused by the positional difference between the first driving unit 503 and each laser circuit.

[0157] According to the embodiments of this application, based on the relative positional relationship between the laser circuit and the first driving unit 503, the first boost circuit 502 outputs a corresponding voltage to the laser circuit, which can reduce the consistency difference in the output pulse width and emission power between each laser channel and improve the detection performance of the lidar.

[0158] In one possible embodiment, the first boost circuit 502 described above includes, but is not limited to:

[0159] First power supply, first inductor, first diode, first boost switch.

[0160] For details, please refer to Figure 6, which is a schematic diagram of another launching system provided in an embodiment of this application.

[0161] As shown in Figure 6, the first boost circuit 502 includes, but is not limited to:

[0162] First power supply V1, first inductor L1, first diode D1, first boost switch Q1.

[0163] The first power supply V1 is connected to the first inductor L1. The first inductor L1 is connected to the first terminal of the first diode D1 and the first terminal of the first boost switch Q1. The second terminal of the first diode D1 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a. The second terminal of the first boost switch Q1 is connected to the first control unit 501. The third terminal of the first boost switch Q1 is grounded.

[0164] The first control unit 501 is used to control the first boost switch Q1 to be turned on during a first time period before the first moment, and to control the first boost switch Q1 to be turned off at the first moment.

[0165] Understandably, the first power supply V1 can continuously charge the first inductor L1 during the first time period. Correspondingly, the first inductor L1 continuously stores energy during the first time period and outputs a first voltage at the first moment. In conjunction with controlling the first switch 504a to turn on no later than the first moment, it can provide the first voltage to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b supplies power to the first laser 505a in the first laser circuit 505.

[0166] Through the embodiments of this application, timing control of the on and off states of the first boost switch Q1 and the first switch 504a can be implemented to provide the first voltage required by the first laser circuit 505, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit 505 and other laser circuits. This can improve the consistency of output pulse width and emission power among the various laser channels and enhance the detection performance of the lidar.

[0167] Optionally, the duration of the first time period is related to the relative positions of the first laser circuit 505 and the first driving unit 503.

[0168] Generally, the closer the first driving unit 503 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the first driving unit 503 more consistent, if the distance between the first laser circuit 505 and the first driving unit 503 is closer, the voltage output by the first boost circuit 502 should be smaller, and the duration for which the first boost switch Q1 is turned on in the first time period before the first moment should be shorter.

[0169] Similarly, the farther the first driving unit 503 is from the laser circuit, the lower the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the first driving unit 503 more consistent, the greater the distance between the first laser circuit 505 and the first driving unit 503, the greater the voltage output of the first boost circuit 502 should be, and the longer the first boost switch Q1 should be turned on in the first time period before the first moment should be.

[0170] Optionally, there is a corresponding relationship between the conduction duration of the first boost switch Q1 and the voltage value stored in the first inductor L1. The longer the first time period, the more energy the first inductor L1 in the first boost circuit 502 stores. The duration of the first time period when the first boost switch Q1 is turned on allows the first inductor L1 to store a first voltage.

[0171] By controlling the first boost switch Q1 to be turned on during a first time period before the first moment, and controlling the first boost switch Q1 to be turned off at the first moment, the first inductor L1 can provide a first voltage at the first moment to charge the first energy storage unit 505b in the first laser circuit 505. The first energy storage unit 505b supplies power to the first laser 505a in the first laser circuit 505, thereby minimizing or even eliminating the difference in the consistency of the emission power of each laser circuit caused by the positional difference between the first driving unit 503 and each laser circuit.

[0172] In one possible embodiment, the at least one MUX mentioned above includes a second MUX in addition to the first MUX, and the second MUX includes a plurality of second switches, each of which is connected to at least one second laser circuit.

[0173] For details, please refer to Figure 6. As shown in Figure 6, the second MUX (506) in the above-mentioned at least one MUX includes a plurality of second switches 506a, and each second switch 506a is connected to at least one second laser circuit 507.

[0174] The second laser circuit 507 includes, but is not limited to, a second laser 507a and a second energy storage unit 507b.

[0175] The first boost circuit 502 is connected to the second laser 507a and the second energy storage unit 507b through the second switch 506a. The second laser 507a and the second energy storage unit 507b are connected in parallel. The first drive unit 503 is connected to the second laser 507a. One end of the first control unit 501 is connected to the first boost circuit 502, and the other end of the first control unit 501 is connected to the second switch 506a.

[0176] The first control unit 501 is used to control the first boost circuit 502 to output a second voltage at a second time, and to control the second switch 506a to be turned on or off. The second voltage is different from the first voltage, and the second switch 506a is turned on at a time no later than the second time.

[0177] Understandably, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors among the various laser circuits in the emission system 50, the emission power of each laser circuit varies considerably. To reduce the variation in emission power among the various laser circuits, the voltage values ​​supplied to each laser circuit also need to be designed differently to make the emission power of each laser circuit more consistent.

[0178] In this embodiment, the transmitting system 50 is equipped with a first control unit 501 and a first boost circuit 502 for the second laser circuit 507. The first control unit 501 is used to control the first boost circuit 502 to output a second voltage at a second time, and to control the second switch 506a to be turned on or off. The second switch 506a is turned on no later than the second time, so that the second voltage can be provided to charge the second energy storage unit 507b in the second laser circuit 507, and the second energy storage unit 507b supplies power to the second laser 507a in the second laser circuit 507.

[0179] By timing the output of the second voltage from the first boost circuit 502 and the on / off state of the second switch 506a through the embodiments of this application, the required second voltage can be provided to the second laser circuit 507. This minimizes or even eliminates the difference in emission power consistency between the second laser circuit 507 and other laser circuits, thereby improving the consistency of the output pulse width and emission power among the laser channels and enhancing the detection performance of the lidar. Furthermore, since the second voltage differs from the first voltage, different voltages can be supplied to different laser channels, thereby adjusting the emission power of different laser channels and making the output pulse width and emission power of each laser channel more consistent, further improving the detection performance of the lidar.

[0180] Optionally, the second voltage can be the same as the first voltage, and this application embodiment does not limit this.

[0181] Optionally, due to differences in position, model, heat generation and / or heat dissipation, manufacturing process, and other factors, the emission power of the first laser circuit 505 and the second laser circuit 507 is consistent. Therefore, the voltage values ​​supplying power to the first laser circuit 505 and the second laser circuit 507 do not need to be designed differently. Thus, the first voltage supplying power to the first laser circuit 505 and the second voltage supplying power to the second laser circuit 507 can be the same.

[0182] In one possible embodiment, the first boost circuit 502 described above includes, but is not limited to:

[0183] First power supply, first inductor, first diode, first boost switch.

[0184] For details, please refer to Figure 6. As shown in Figure 6, the first boost circuit 502 includes, but is not limited to:

[0185] First power supply V1, first inductor L1, first diode D1, first boost switch Q1.

[0186] In this configuration, the first power supply V1 is connected to the first inductor L1, the first inductor L1 is connected to the first terminal of the first diode D1 and the first terminal of the first boost switch Q1, the second terminal of the first diode D1 is connected to the second laser 507a and the second energy storage unit 507b through the second switch 506a, the second terminal of the first diode D1 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a, the second terminal of the first boost switch Q1 is connected to the first control unit 501, and the third terminal of the first boost switch Q1 is grounded.

[0187] The first control unit 501 is used to control the first boost switch Q1 to be turned on during a second time period before the second time moment, and to control the first boost switch Q1 to be turned off at the second time moment. The duration of the second time period is different from the duration of the first time period. The first time period is the time period during which the first boost switch Q1 is turned on before the first time moment.

[0188] Understandably, the first power supply V1 continuously charges the first inductor L1 during the second time period. Correspondingly, the first inductor L1 continuously stores energy during the second time period and outputs a second voltage at the second moment. In conjunction with controlling the second switch 506a to turn on no later than the second moment, the second voltage can be provided to charge the second energy storage unit 507b in the second laser circuit 507. The second energy storage unit 507b then supplies power to the second laser 507a in the second laser circuit 507.

[0189] Through the embodiments of this application, timing control of the on / off states of the first boost switch Q1 and the second switch 506a can provide the required second voltage to the second laser circuit 507. This minimizes or even eliminates the difference in emission power consistency between the second laser circuit 507 and other laser circuits, thereby improving the consistency of output pulse width and emission power among the laser channels and enhancing the detection performance of the lidar. Furthermore, since the duration of the second time period differs from that of the first time period, the corresponding output second voltage differs from the first voltage. This allows for different voltages to be supplied to different laser channels, thereby adjusting the emission power of different laser channels and making the output pulse width and emission power of each laser channel more consistent, further improving the detection performance of the lidar.

[0190] Optionally, the duration of the second time period can be the same as the duration of the first time period, and this application embodiment does not impose any restrictions on this.

[0191] Optionally, due to differences in position, model, heat generation and / or heat dissipation, manufacturing process, and other factors, the emission power of the first laser circuit 505 and the second laser circuit 507 is consistent. Therefore, the voltage values ​​supplied to the first laser circuit 505 and the second laser circuit 507 do not need to be designed differently. Thus, the duration of the second time period can be the same as the duration of the first time period, so that the first voltage supplied to the first laser circuit 505 and the second voltage supplied to the second laser circuit 507 are the same.

[0192] In one possible embodiment, the difference between the emission power of the first laser 505a and the emission power of the second laser 507a is less than a first threshold.

[0193] It is understood that the first threshold is not a fixed value and can be adjusted according to different application scenarios. This application embodiment does not impose any restrictions on this.

[0194] Optionally, the difference between the emission power of the first laser 505a and the emission power of the second laser 507a can be 0.

[0195] Understandably, ideally, the emission power of the first laser 505a and the emission power of the second laser 507a should be completely consistent. Accordingly, curves 1 and 2 in Figure 4 above should be infinitely close to a straight horizontal line, which can maximize the detection performance of the lidar.

[0196] Optionally, the above-mentioned transmitting system 50 may also include more or fewer laser circuits and a MUX connected to the corresponding laser circuits. This application embodiment does not limit this.

[0197] It is understood that while Figures 5 and 6 show six laser circuits, the transmitting system 50 may actually include any number of laser circuits. This application does not limit this, nor should Figures 5 and 6 be used to limit the embodiments of this application.

[0198] It is understood that while Figures 5 and 6 above show a single driver, the transmitting system 50 may actually include only one driver, or it may include two or more drivers of any number. The location of the drivers is not limited, and the embodiments of this application do not impose any limitations on this, nor should Figures 5 and 6 be used to limit the embodiments of this application.

[0199] In one possible embodiment, the first driving unit 503 in the above-described launching system 50 may include one or more drivers, and the arrangement of the drivers may vary depending on the number of drivers included, as shown below:

[0200] Scenario 1:

[0201] The first driving unit 503 includes a driver, which is disposed at the beginning or end of the laser array in the transmitting system 50 along a first direction.

[0202] The laser array is composed of multiple laser circuits in the emission system 50, including multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array increases or decreases along the first direction.

[0203] For details, please refer to Figure 7A, which is a schematic diagram of a driver layout provided in an embodiment of this application.

[0204] As shown in Figure 7A, in this transmitting system 50, capacitors are used to power the laser. The capacitors are located on both sides of the laser and can be implemented with only one row of capacitors. The first driving unit 503 includes a driver, which is located at the beginning or end of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0205] Optionally, the laser circuit in the emitting system 50 can be mounted on a printed circuit board (PCB).

[0206] Optionally, the laser circuit in the transmitting system 50 can be located on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0207] Optionally, the capacitor in Figure 7A can be placed on the front or back of the PCB. For example, the Cap in the solid frame can be placed on the front of the PCB, and the Cap in the dashed frame can be placed on the back of the PCB.

[0208] Optionally, the driver can be located on the reverse side of the PCB, which helps to optimize the routing design between various modules within the transmitter system 50 and improve space utilization.

[0209] It is understandable that when the first driving unit 503 includes a driver, the driver can be disposed at the beginning or end of the laser array in the transmitting system 50 along the first direction, which is beneficial for the heat dissipation of the driver.

[0210] Understandably, in one scenario, the emission power of multiple lasers in a laser array increases or decreases along a first direction. In order to make the emission power of multiple lasers in the laser array more consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will decrease or increase accordingly along the first direction. This reduces the consistency difference in the pulse width and emission power output of each laser, thereby achieving consistency in the emission power of multiple lasers.

[0211] Optionally, when the emission power of multiple lasers in the laser array increases along the first direction, the voltage of multiple energy storage units that power the multiple lasers in the laser array should decrease accordingly along the first direction.

[0212] Optionally, when the emission power of multiple lasers in the laser array decreases along the first direction, the voltage of multiple energy storage units that power the multiple lasers in the laser array should increase accordingly along the first direction.

[0213] Optionally, the driver can also be positioned at other locations within the laser array of the transmitting system 50 along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the position of the driver to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0214] Scenario 2:

[0215] The first driving unit 503 includes a driver, which is disposed in the middle of the laser array in the transmitting system 50 along a first direction.

[0216] The laser array is composed of multiple laser circuits in the emission system 50, including multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0217] For details, please refer to Figure 7B, which is a schematic diagram of another driver layout provided in the embodiment of this application.

[0218] As shown in Figure 7B, in this transmitting system 50, capacitors are used to power the laser. The capacitors are located on both sides of the laser and can be implemented with only one row of capacitors. The first driving unit 503 includes a driver, which is located in the middle of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0219] Optionally, the laser circuit in the emitting system 50 can be mounted on a printed circuit board (PCB).

[0220] Optionally, the laser circuit in the transmitting system 50 can be located on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0221] Optionally, the capacitor in Figure 7B can be placed on the front or back of the PCB. For example, the Cap in the solid frame can be placed on the front of the PCB, and the Cap in the dashed frame can be placed on the back of the PCB.

[0222] Optionally, the driver can be located on the reverse side of the PCB, which helps to optimize the routing design between various modules within the transmitter system 50 and improve space utilization.

[0223] It is understood that when the first driving unit 503 includes a driver, the driver can be arranged in the middle of the laser array in the transmitting system 50 along the first direction. At this time, the overall difference in the emission power of the multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of the emission power of the multiple lasers in the laser array from the position layout.

[0224] Understandably, in scenario two, the emission power of multiple lasers in the laser array is symmetrically arranged along the first direction with a pattern of larger power in the middle and smaller power at both ends. In order to make the emission power of multiple lasers in the laser array more consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will be symmetrically arranged along the first direction with a pattern of smaller power in the middle and larger power at both ends. This reduces the difference in the consistency of the output pulse width and emission power of each laser, and makes the emission power of multiple lasers more consistent.

[0225] Optionally, the voltage of the energy storage unit in two or more laser circuits symmetrical about the driver should be kept consistent to ensure that the pulse width and emission power of the laser output in the two or more symmetrical laser circuits are consistent.

[0226] Optionally, the driver can also be positioned at other locations within the laser array of the transmitting system 50 along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the position of the driver to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0227] Scenario 3:

[0228] The first driving unit 503 includes at least two drivers, and the at least two drivers are respectively disposed at both ends of the laser array in the emission system 50 along the first direction.

[0229] The laser array is composed of multiple laser circuits in the emission system 50, including multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0230] For details, please refer to Figure 7C, which is a schematic diagram of another driver layout provided in the embodiments of this application.

[0231] As shown in Figure 7C, in this transmitting system 50, capacitors are used to power the laser. The capacitors are located on both sides of the laser and can be implemented with only one row of capacitors. The first driving unit 503 includes at least two drivers (503a and 503b), and the at least two drivers are arranged at both ends of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0232] Optionally, the laser circuit in the emitting system 50 can be mounted on a printed circuit board (PCB).

[0233] Optionally, the laser circuit in the transmitting system 50 can be located on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0234] Optionally, the capacitor in Figure 7C can be placed on the front or back of the PCB. For example, the Cap in the solid frame can be placed on the front of the PCB, and the Cap in the dashed frame can be placed on the back of the PCB.

[0235] Optionally, the driver can be located on the reverse side of the PCB, which helps to optimize the routing design between various modules within the transmitter system 50 and improve space utilization.

[0236] It is understandable that when the first driving unit 503 includes at least two drivers, these at least two drivers can be respectively disposed at both ends of the laser array in the emission system 50 along the first direction, which is beneficial for the heat dissipation of the drivers. Furthermore, at this time, the overall difference in emission power among the multiple lasers in the laser array is small; therefore, this arrangement can improve the consistency of emission power among the multiple lasers in the laser array from the perspective of positional layout.

[0237] Understandably, in scenario three, the emission power of multiple lasers in the laser array is symmetrically arranged along the first direction with a pattern of smaller power in the middle and larger power at both ends. In order to make the emission power of multiple lasers in the laser array more consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will be symmetrically arranged along the first direction with a pattern of larger power in the middle and smaller power at both ends. This will reduce the difference in the consistency of the pulse width and emission power output of each laser, and achieve the consistency of the emission power of multiple lasers.

[0238] Optionally, the voltage of the energy storage unit in two or more laser circuits symmetrical about the driver should be kept consistent to ensure that the pulse width and emission power of the laser output in the two or more symmetrical laser circuits are consistent.

[0239] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0240] Optionally, the mirrored arrangement of the above-mentioned at least two drivers can help optimize the wiring design between various modules within the launch system 50 and improve space utilization.

[0241] Scenario 4:

[0242] The first driving unit 503 includes at least two drivers, and the at least two drivers are disposed in the middle of the laser array in the emission system 50 along a first direction.

[0243] The laser array is composed of multiple laser circuits in the emission system 50, including multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

[0244] For details, please refer to Figure 7D, which is a schematic diagram of another driver layout provided in the embodiments of this application.

[0245] As shown in Figure 7D, in this emission system 50, capacitors are used to power the laser. The capacitors are located on both sides of the laser and can be implemented with only one row of capacitors. The first driving unit 503 includes at least two drivers, and the at least two drivers are arranged in the middle of the laser array in the emission system 50 along the arrangement direction of the laser array.

[0246] Optionally, the laser circuit in the emitting system 50 can be mounted on a printed circuit board (PCB).

[0247] Optionally, the laser circuit in the transmitting system 50 can be located on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0248] Optionally, the capacitor in Figure 7D can be placed on the front or back of the PCB. For example, the Cap in the solid frame can be placed on the front of the PCB, and the Cap in the dashed frame can be placed on the back of the PCB.

[0249] Optionally, the driver can be located on the reverse side of the PCB, which helps to optimize the routing design between various modules within the transmitter system 50 and improve space utilization.

[0250] It is understood that when the first driving unit 503 includes at least two drivers, the at least two drivers can be respectively arranged in the middle of the laser array in the transmitting system 50 along the first direction. At this time, the overall difference in the emission power of the multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of the emission power of the multiple lasers in the laser array from the position layout.

[0251] Understandably, in scenario four, the emission power of multiple lasers in the laser array is symmetrically arranged along the first direction with a pattern of larger power in the middle and smaller power at both ends. In order to make the emission power of multiple lasers in the laser array more consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will be symmetrically arranged along the first direction with a pattern of smaller power in the middle and larger power at both ends. This will reduce the consistency difference in the pulse width and emission power output of each laser, and achieve consistency in the emission power of multiple lasers.

[0252] Optionally, the voltage of the energy storage unit in two or more laser circuits symmetrical about the driver should be kept consistent to ensure that the pulse width and emission power of the laser output in the two or more symmetrical laser circuits are consistent.

[0253] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0254] Optionally, the mirrored arrangement of the above-mentioned at least two drivers can help optimize the wiring design between various modules within the launch system 50 and improve space utilization.

[0255] It should be understood that the above scenarios one to four are merely illustrative examples of the arrangement of one or more drivers included in the first driving unit 503, and should not be construed as limiting the embodiments of this application.

[0256] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-described situations one through four are all within the protection scope of the embodiments of this application.

[0257] In one possible embodiment, the laser circuit in the above-described emission system 50 is disposed on a printed circuit board (PCB).

[0258] Optionally, the laser circuit in the above-mentioned emission system 50 can be disposed on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0259] Optionally, the first drive unit 503 in the above-mentioned launch system 50 can be located on the reverse side of the PCB, which is beneficial to optimizing the wiring design between various modules in the launch system 50 and improving space utilization.

[0260] Please refer to Figure 8, which is a schematic diagram of another launching system provided in an embodiment of this application. It is understood that Figure 8 can be regarded as a structural variation or supplement to the launching system shown in Figures 5 and 6 above, and Figure 8 can also be regarded as an embodiment that can be executed independently. This application does not limit this embodiment.

[0261] As shown in Figure 8, the transmitting system 80 includes, but is not limited to, a second control unit 801, a second boost circuit 802, a third boost circuit 803, a second driving unit 804, at least one third laser circuit 805, at least one fourth laser circuit 806, and a second power supply V2.

[0262] The third laser circuit 805 includes a third laser 805a and a third energy storage unit 805b, and the fourth laser circuit 806 includes a fourth laser 806a and a fourth energy storage unit 806b.

[0263] The second power supply V2 is connected to the second boost circuit 802 and the third boost circuit 803 respectively; the second boost circuit 802 is connected to the third laser 805a and the third energy storage unit 805b respectively, and the third laser 805a and the third energy storage unit 805b are connected in parallel; the third boost circuit 803 is connected to the fourth laser 806a and the fourth energy storage unit 806b respectively, and the fourth laser 806a and the fourth energy storage unit 806b are connected in parallel; the second drive unit 804 is connected to the third laser 805a and the fourth laser 806a respectively; and the second control unit 801 is connected to the second boost circuit 802 and the third boost circuit 803 respectively.

[0264] The second control unit 801 is used to control the second boost circuit 802 to output a third voltage and to control the third boost circuit 803 to output a fourth voltage, wherein the third voltage and the fourth voltage are different.

[0265] Understandably, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors among the various laser circuits in the transmitting system 80, the emission power of each laser circuit varies considerably. To reduce the variation in emission power among the various laser circuits, the voltage values ​​supplied to each laser circuit also need to be designed differently to make the emission power of each laser circuit more consistent.

[0266] In this embodiment, the transmitting system 80 equips the third laser circuit 805 with a second control unit 801 and a second boost circuit 802. The second control unit 801 controls the second boost circuit 802 to output a third voltage and controls the third boost circuit 803 to output a fourth voltage. This allows the third voltage to charge the third energy storage unit 805b in the third laser circuit 805, which in turn powers the third laser 805a. It also allows the fourth voltage to charge the fourth energy storage unit 806b in the fourth laser circuit 806, which in turn powers the fourth laser 806a. Furthermore, the third and fourth voltages are different, allowing for different voltages to be supplied to different laser channels. This enables adjustments to the emission power of different laser channels, making the pulse width and emission power of the output light from each laser channel more consistent, thereby improving the detection performance of the lidar.

[0267] Optionally, the third voltage is related to the relative position of the third laser circuit 805 and the second driving unit 804, and the fourth voltage is related to the relative position of the fourth laser circuit 806 and the second driving unit 804.

[0268] Generally, the closer the second driving unit 804 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the second driving unit 804 more consistent, the closer the third laser circuit 805 is to the second driving unit 804, the smaller the voltage output by the second boost circuit 802 will be.

[0269] Similarly, the farther the second driving unit 804 is from the laser circuit, the lower the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the second driving unit 804 more consistent, the greater the distance between the fourth laser circuit 806 and the second driving unit 804, the greater the voltage output of the third boost circuit 803.

[0270] The second boost circuit 802 outputs a third voltage to charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies power to the third laser 805a in the third laser circuit 805; the third boost circuit 803 outputs a fourth voltage to charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies power to the fourth laser 806a in the fourth laser circuit 806, thereby minimizing or even eliminating the difference in the consistency of the emission power of each laser circuit caused by the positional difference between the second driving unit 804 and each laser circuit.

[0271] By means of the embodiments of this application, based on the relative positional relationship between the laser circuit and the second driving unit 804, the second boost circuit 802 outputs the corresponding voltage to the third laser circuit 805, and the third boost circuit 803 outputs the corresponding voltage to the fourth laser circuit 806, which can reduce the consistency difference in the output pulse width and emission power between each laser channel and improve the detection performance of the lidar.

[0272] Optionally, the third voltage and the fourth voltage can also be the same, and this application embodiment does not limit this.

[0273] Optionally, due to differences in location, model, heat generation and / or heat dissipation, manufacturing process, and other factors, the emission power of the third laser circuit 805 and the fourth laser circuit 806 is consistent. Therefore, the voltage values ​​supplying power to the third laser circuit 805 and the fourth laser circuit 806 do not need to be designed differently. Thus, the third voltage supplying power to the third laser circuit 805 and the fourth voltage supplying power to the fourth laser circuit 806 can be the same.

[0274] In one possible embodiment, the second boost circuit 802 includes, but is not limited to, a second inductor, a second diode, and a second boost switch, and the third boost circuit 803 includes, but is not limited to, a third inductor, a third diode, and a third boost switch.

[0275] For details, please refer to Figure 9, which is a schematic diagram of another launching system provided in the embodiment of this application.

[0276] As shown in Figure 9, the second boost circuit 802 includes, but is not limited to, the second inductor L2, the second diode D2, and the second boost switch Q2, and the third boost circuit 803 includes, but is not limited to, the third inductor L3, the third diode D3, and the third boost switch Q3.

[0277] The second power supply V2 is connected to the second inductor L2 and the third inductor L3. The second inductor L2 is connected to the first terminal of the second diode D2 and the first terminal of the second boost switch Q2. The second terminal of the second diode D2 is connected to the third laser 805a and the third energy storage unit 805b. The third inductor L3 is connected to the first terminal of the third diode D3 and the first terminal of the third boost switch Q3. The second terminal of the third diode D3 is connected to the fourth laser 806a and the fourth energy storage unit 806b. The second control unit 801 is connected to the second terminal of the second boost switch Q2 and the second terminal of the third boost switch Q3. The third terminals of the second boost switch Q2 and the third boost switch Q3 are grounded.

[0278] The second control unit 801 is used to control the second boost switch Q2 to be turned on during the third time period before the third time, and to control the second boost switch Q2 to be turned off during the third time; the second control unit 801 is used to control the third boost switch Q3 to be turned on during the fourth time period before the fourth time, and to control the third boost switch Q3 to be turned off during the fourth time; the duration of the third time period is different from the duration of the fourth time period.

[0279] Understandably, the second power supply V2 continuously charges the second inductor L2 during the third time period. Correspondingly, the second inductor L2 continuously stores energy during the third time period and outputs a third voltage at the third moment, which can provide the third voltage to charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies power to the third laser 805a in the third laser circuit 805.

[0280] Understandably, the second power supply V2 continuously charges the third inductor L3 during the fourth time period. Correspondingly, the third inductor L3 continuously stores energy during the fourth time period and outputs a fourth voltage at the fourth moment, which can provide the fourth voltage to charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies power to the fourth laser 806a in the fourth laser circuit 806.

[0281] Furthermore, the different durations of the third and fourth time periods result in different voltages being supplied to the third and fourth time periods. This allows for different voltages to be supplied to different laser channels, thereby adjusting the emission power of different laser channels. This makes the output pulse width and emission power of each laser channel more consistent, improving the detection performance of the lidar.

[0282] Optionally, the duration of the third time period is related to the relative position of the third laser circuit 805 and the second driving unit 804, and the duration of the fourth time period is related to the relative position of the fourth laser circuit 806 and the second driving unit 804.

[0283] Generally, the closer the second driving unit 804 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively farther away from the second driving unit 804 more consistent, if the third laser circuit 805 is closer to the second driving unit 804, the voltage output by the second boost circuit 802 should be smaller, and the duration for which the second boost switch Q2 is turned on in the third time period before the third moment should be shorter.

[0284] Similarly, the farther the second driving unit 804 is from the laser circuit, the lower the emission power of the laser circuit. Therefore, in order to make the emission power of other laser circuits that are relatively closer to the second driving unit 804 more consistent, the greater the distance between the fourth laser circuit 806 and the second driving unit 804, the greater the voltage output of the third boost circuit 803 should be, and the longer the duration for which the third boost switch Q3 is turned on in the fourth time period before the fourth moment should be.

[0285] Optionally, there is a corresponding relationship between the conduction duration of the second boost switch Q2 and the voltage value stored in the second inductor L2. The longer the third time period, the more energy the second inductor L2 in the second boost circuit 802 stores. The duration of the third time period when the second boost switch Q2 is on allows the second inductor L2 to store a third voltage. By controlling the second boost switch Q2 to be on during the third time period before the third moment, and by controlling the second boost switch Q2 to be off at the third moment, the second inductor L2 can provide a third voltage at the third moment to charge the third energy storage unit 805b in the third laser circuit 805. The third energy storage unit 805b then supplies power to the third laser 805a in the third laser circuit 805, thereby minimizing or even eliminating the differences in the emission power consistency of each laser circuit caused by the positional differences between the second driving unit 804 and each laser circuit.

[0286] Optionally, there is a corresponding relationship between the conduction duration of the third boost switch Q3 and the voltage value stored in the third inductor L3. The longer the fourth time period, the more energy is stored in the third inductor L3 in the third boost circuit 803. The longer the fourth time period is conducted by the third boost switch Q3, the more energy the third inductor L3 stores. By controlling the third boost switch Q3 to conduct during the fourth time period before the fourth moment, and by controlling the third boost switch Q3 to be turned off at the fourth moment, the third inductor L3 can provide the fourth voltage at the fourth moment to charge the fourth energy storage unit 806b in the fourth laser circuit 806. The fourth energy storage unit 806b supplies power to the fourth laser 806a in the fourth laser circuit 806, thereby minimizing or even eliminating the difference in the emission power consistency of each laser circuit caused by the positional difference between the second driving unit 804 and each laser circuit.

[0287] Optionally, the duration of the third time period can be the same as the duration of the fourth time period, and this application embodiment does not impose any restrictions on this.

[0288] Optionally, due to differences in position, model, heat generation and / or heat dissipation, manufacturing process, and other factors between the third laser circuit 805 and the fourth laser circuit 806, the emission power of the third laser circuit 805 and the fourth laser circuit 806 is consistent. Therefore, the voltage values ​​supplied to the third laser circuit 805 and the fourth laser circuit 806 do not need to be designed differently. Thus, the duration of the third time period and the duration of the fourth time period can be the same, so that the third voltage supplied to the third laser circuit 805 and the fourth voltage supplied to the fourth laser circuit 806 are the same.

[0289] In one possible embodiment, the difference between the emission power of the third laser 805a and the emission power of the fourth laser 806a is less than the second threshold.

[0290] It is understood that the second threshold is not a fixed value and can be adjusted according to different application scenarios. This application embodiment does not impose any restrictions on this.

[0291] Optionally, the difference between the emission power of the third laser 805a and the emission power of the fourth laser 806a can be 0.

[0292] Understandably, ideally, the emission power of the third laser 805a and the emission power of the fourth laser 806a should be completely consistent. Accordingly, curves 1 and 2 in Figure 4 above should be infinitely close to a straight horizontal line, which can maximize the detection performance of the lidar.

[0293] Optionally, the above-mentioned transmitting system 50 may also include more or fewer laser circuits and a MUX connected to the corresponding laser circuits. This application embodiment does not limit this.

[0294] It is understood that while Figures 8 and 9 show two laser circuits, the transmitting system 80 may actually include any number of laser circuits. This application does not limit this, nor should Figures 8 and 9 be used to limit the embodiments of this application.

[0295] It is understood that while Figures 8 and 9 above show a single driver, the transmitting system 80 may actually include only one driver, or it may include two or more drivers of any number. The location of the drivers is not limited, and the embodiments of this application do not impose any limitations on this, nor should Figures 8 and 9 be used to limit the embodiments of this application.

[0296] In one possible embodiment, the above-described emission system 80 may also include, but is not limited to, at least one fifth laser circuit.

[0297] For details, please refer to Figure 10, which is a schematic diagram of another launching system provided in the embodiments of this application. It is understood that Figure 10 can be regarded as a structural variation or supplement to the launching system shown in Figures 8 and 9 above, and Figure 10 can also be regarded as an embodiment that can be executed independently. The embodiments of this application do not limit this.

[0298] As shown in Figure 10, the transmitting system 80 may also include, but is not limited to, at least one fifth laser circuit 807.

[0299] The positions of the fifth laser circuit 807 and the third laser circuit 805 are symmetrical about the second driving unit 804.

[0300] The fifth laser circuit 807 includes, but is not limited to, the fifth laser 807a and the fifth energy storage unit 807b.

[0301] The fifth laser 807a and the fifth energy storage unit 807b are connected in parallel. One side of the fifth laser 807a and the fifth energy storage unit 807b is connected to the second boost circuit 802, and the other side of the fifth laser 807a and the fifth energy storage unit 807b is connected to the second drive unit 804.

[0302] It is understandable that, due to the symmetry between the positions of the fifth laser circuit 807 and the third laser circuit 805, the difference in emission power between the fifth laser circuit 807 and the third laser circuit 805 is small, or even completely identical. Therefore, the voltage values ​​supplying power to the fifth laser circuit 807 and the third laser circuit 805 do not need to be designed differently and can share the same second boost circuit 802, making the emission power of the fifth laser circuit 807 and the third laser circuit 805 tend to be consistent. Through the embodiments of this application, hardware costs can be saved, the wiring design between various modules in the transmission system can be optimized, and space utilization can be improved.

[0303] Alternatively, similarly, the transmitting system 80 may also include, but is not limited to, at least one sixth laser circuit 808.

[0304] The positions of the sixth laser circuit 808 and the fourth laser circuit 806 are symmetrical about the second driving unit 804.

[0305] The sixth laser circuit 808 includes, but is not limited to, the sixth laser 808a and the sixth energy storage unit 808b.

[0306] The sixth laser 808a and the sixth energy storage unit 808b are connected in parallel. One side of the sixth laser 808a and the sixth energy storage unit 808b is connected to the third boost circuit 803, and the other side of the sixth laser 808a and the sixth energy storage unit 808b is connected to the second drive unit 804.

[0307] It is understandable that, due to the symmetry between the positions of the sixth laser circuit 808 and the fourth laser circuit 806, the difference in emission power between the six laser circuit 808 and the fourth laser circuit 806 is small, or even completely identical. Therefore, the voltage values ​​supplying power to the sixth laser circuit 808 and the fourth laser circuit 806 do not need to be designed differently and can share the same third boost circuit 803, making the emission power of the sixth laser circuit 808 and the fourth laser circuit 806 tend to be consistent. Through the embodiments of this application, hardware costs can be saved, the wiring design between various modules in the transmission system can be optimized, and space utilization can be improved.

[0308] Optionally, the second drive unit 804 in the above-mentioned launch system 80 may include one or more drivers, and the arrangement of the drivers may vary depending on the number of drivers included. For details, please refer to the description of driver arrangement scenarios one to four shown in Figures 7A to 7D above, which will not be repeated here.

[0309] Optionally, the laser circuit in the aforementioned emission system 80 is mounted on a PCB.

[0310] Optionally, the laser circuit in the above-mentioned emission system 80 can be disposed on the front side of the PCB or on the back side of the PCB. This application embodiment does not limit this.

[0311] Optionally, the second drive unit 804 in the above-mentioned transmission system 80 can be located on the reverse side of the PCB, which is beneficial to optimizing the wiring design between various modules in the transmission system 80 and improving space utilization.

[0312] This application provides a chip that includes the transmission system provided in this application.

[0313] This application provides a radar, which includes the transmitting system provided in this application or the chip described above.

[0314] In one possible implementation, the radar includes, but is not limited to, lidar.

[0315] In one possible implementation, there may be a smart sensor that integrates multiple sensors. In the case where the smart sensor includes, but is not limited to, laser detection functions, the smart sensor may also be called radar.

[0316] This application also provides a terminal device, which includes the transmitting system, chip, or radar provided in this application. For example, the terminal device can be a transportation vehicle, such as a car, truck, aircraft, drone, slow-moving transport vehicle, spacecraft, or ship, or any other possible vehicle used in any scenario, or a surveying device or any other equipment capable of carrying a detection device. One or more transmitting systems, chips, or radars provided in this application are deployed on the terminal device.

[0317] 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 scope of the technology 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, The transmitting system includes a first boost circuit, a first control unit, a first drive unit, and at least one multichannel multiplexer (MUX); the first MUX includes a plurality of first switches, each of which is connected to at least one first laser circuit. The first laser circuit includes: First laser, first energy storage unit; The first boost circuit is connected to the first laser and the first energy storage unit through the first switch. The first laser and the first energy storage unit are connected in parallel. The first drive unit is connected to the first laser. One end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the first switch. The first control unit is used to control the first boost circuit to output a first voltage at a first moment, and to control the first switch to be turned on or off, wherein the first switch is turned on no later than the first moment.

2. The launching system according to claim 1, characterized in that, The first boost circuit includes: First power supply, first inductor, first diode, first boost switch; Wherein, the first power supply is connected to the first inductor, the first inductor is connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded; The first control unit is used to control the first boost switch to be turned on during a first time period before the first moment, and to control the first boost switch to be turned off at the first moment.

3. The launching system according to claim 1 or 2, characterized in that, The at least one MUX includes a second MUX in addition to the first MUX, and the second MUX includes a plurality of second switches, each of which is connected to at least one second laser circuit. The second laser circuit includes: Second laser, second energy storage unit; The first boost circuit is connected to the second laser and the second energy storage unit via the second switch. The second laser and the second energy storage unit are connected in parallel. The first drive unit is connected to the second laser. One end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the second switch. The first control unit is used to control the first boost circuit to output a second voltage at a second time, and to control the second switch to be turned on or off. The second voltage is different from the first voltage, and the second switch is turned on at a time no later than the second time.

4. The launching system according to claim 3, characterized in that, The first boost circuit includes: First power supply, first inductor, first diode, first boost switch; Wherein, the first power supply is connected to the first inductor, the first inductor is connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the second laser and the second energy storage unit through the second switch, and the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded; The first control unit is used to control the first boost switch to be turned on during a second time period before the second time moment, and to control the first boost switch to be turned off during the second time moment. The duration of the second time period is different from the duration of the first time period, which is the time period during which the first boost switch is turned on before the first time moment.

5. The launching system according to claim 4, characterized in that, The difference between the emission power of the first laser and the emission power of the second laser is less than a first threshold.

6. A launching system, characterized in that, The transmitting system includes at least one third laser circuit, at least one fourth laser circuit, a second driving unit, a second control unit, a second boost circuit, a third boost circuit, and a second power supply. The third laser circuit includes a third laser and a third energy storage unit, and the fourth laser circuit includes a fourth laser and a fourth energy storage unit. The second power supply is connected to both the second and third boost circuits; the second boost circuit is connected to both the third laser and the third energy storage unit, which are connected in parallel; the third boost circuit is connected to both the fourth laser and the fourth energy storage unit, which are connected in parallel; the second drive unit is connected to both the third and fourth lasers; and the second control unit is connected to both the second and third boost circuits. The second control unit is used to control the second boost circuit to output a third voltage and to control the third boost circuit to output a fourth voltage, wherein the third voltage is different from the fourth voltage.

7. The launching system according to claim 6, characterized in that, The second boost circuit includes a second inductor, a second diode, and a second boost switch; the third boost circuit includes a third inductor, a third diode, and a third boost switch. The second power supply is connected to the second inductor and the third inductor respectively; the second inductor is connected to the first terminal of the second diode and the first terminal of the second boost switch respectively, and the second terminal of the second diode is connected to the third laser and the third energy storage unit respectively; the third inductor is connected to the first terminal of the third diode and the first terminal of the third boost switch respectively, and the second terminal of the third diode is connected to the fourth laser and the fourth energy storage unit respectively; the second control unit is connected to the second terminal of the second boost switch and the second terminal of the third boost switch respectively; the third terminals of the second boost switch and the third boost switch are grounded. The second control unit is used to control the second boost switch to be turned on during a third time period before the third time, and to control the second boost switch to be turned off during the third time; the second control unit is used to control the third boost switch to be turned on during a fourth time period before the fourth time, and to control the third boost switch to be turned off during the fourth time; the duration of the third time period is different from the duration of the fourth time period.

8. The launching system according to claim 6 or 7, characterized in that, The difference between the emission power of the third laser and the emission power of the fourth laser is less than the second threshold.

9. The launching system according to claim 6 or 7, characterized in that, The transmitting system further includes at least one fifth laser circuit, the position of which is symmetrical to the position of the third laser circuit about the second driving unit; the fifth laser circuit includes a fifth laser and a fifth energy storage unit; The fifth laser and the fifth energy storage unit are connected in parallel. One side of the fifth laser and the fifth energy storage unit is connected to the second boost circuit, and the other side of the fifth laser and the fifth energy storage unit is connected to the second drive unit.

10. The launching system according to any one of claims 1, 2, 6, or 7, characterized in that, The driving unit in the transmitting system includes a driver, which is disposed at the beginning or end of the laser array in the transmitting system along a first direction; The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array. The voltage of each energy storage unit in the laser array increases or decreases along the first direction.

11. The launching system according to any one of claims 1, 2, 6, or 7, characterized in that, The driving unit in the transmitting system includes a driver, which is disposed in the middle of the laser array in the transmitting system along a first direction; The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

12. The launching system according to any one of claims 1, 2, 6, or 7, characterized in that, The driving unit in the transmitting system includes at least two drivers, which are respectively disposed at both ends of the laser array in the transmitting system along a first direction; The laser array includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of each energy storage unit in the laser array are symmetrically arranged along the first direction.

13. The launching system according to claim 12, characterized in that, The at least two drivers are arranged in a mirror image.

14. The launching system according to any one of claims 1, 2, 6, or 7, characterized in that, The laser circuit in the emission system is mounted on a printed circuit board (PCB).

15. The launching system according to claim 14, characterized in that, The drive unit in the transmission system is located on the reverse side of the PCB.

16. A chip, characterized in that, The chip includes the transmission system according to any one of claims 1 to 15.

17. A radar, characterized in that, The radar includes the transmitting system according to any one of claims 1 to 15, or the chip according to claim 16.

18. A terminal device, characterized in that, The terminal device includes the transmitting system according to any one of claims 1 to 15, or the chip according to claim 16, or the radar according to claim 17.

19. A vehicle end, characterized in that, The vehicle end includes the transmitting system according to any one of claims 1 to 15, or the chip according to claim 16, or the radar according to claim 17, or the terminal device according to claim 18.

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