CN110940990A

CN110940990A - Laser radar system and detection method and application thereof

Info

Publication number: CN110940990A
Application number: CN201811107673.1A
Authority: CN
Inventors: 沈阳; 徐超; 杨佳; 邢圆圆
Original assignee: Ningbo Sunny Automotive Optech Co Ltd
Current assignee: Ningbo Sunny Automotive Optech Co Ltd
Priority date: 2018-09-21
Filing date: 2018-09-21
Publication date: 2020-03-31

Abstract

The invention provides a laser radar system, a detection method and application thereof, wherein the laser radar system comprises at least one laser transmitter, a laser receiving component and a radar measuring and calculating module. The laser transmitter projects laser light to form a scanning view field so as to scan a target detection object, wherein three receiver units in the receiving assembly are arranged non-collinearly, at least three receiver units receive laser light reflected by the target detection object, each receiver unit respectively generates a corresponding detection signal, and the radar measuring and calculating module is communicatively connected to the laser receiving assembly and used for calculating the spatial position information of the target detection object based on the detection signals.

Description

Laser radar system and detection method and application thereof

Technical Field

The present invention relates to radar detection systems, and more particularly, to a laser radar system, a detection method thereof, and an application thereof.

Background

The laser radar system is a product of combining laser technology and radar technology. The laser radar uses laser as a medium and emits the laser to a target object, the target object generates diffuse reflection, and the reflected laser (including physical information such as amplitude, phase and the like) is received by a detector, so that the information such as the distance, the direction and the like of the target object is obtained, and the three-dimensional detection of the surrounding environment is realized. The laser radar has the advantages of active detection, strong anti-interference capability, high detection precision, full-time operation and the like, and is widely applied to the field of automatic driving. The existing laser radar is divided into a receiving-transmitting common optical path type and a receiving-transmitting non-common optical path type.

The receiving and transmitting common-path laser radar system is characterized in that laser projected to a target object by a laser radar and laser reflected by the target object after diffuse reflection are in the same optical path. Fig. 1A shows the detection optics of the described transceiver common-path lidar system. In general, a common-path laser radar system generates laser light of a specific wavelength from a laser light source through an emission lens, and projects the laser light outward through a beam splitter and a scanning device (MEMS, rotary prism, etc.). After the light is projected to a measured target object, laser diffuse reflection light generated on the surface of the target object passes through the same light path and then enters the light splitting device, the received reflection light is transmitted back to the receiving lens by the light splitting device, and finally the received laser reflection light is calculated and analyzed by the laser detector. The receiving and transmitting common-path laser radar is generally limited by the caliber of a scanning device, the diameter of the entrance pupil of a receiving optical path is small, and only a reflected light signal with a small caliber can be received, so that the detection distance is short. In addition, the detection precision of the receiving and transmitting common-path laser radar system is limited by the angle resolution capability of a scanning device, the angle resolution is low, and the normal use requirement cannot be met.

As shown in fig. 1B, the projection light of the receiving and transmitting non-common-path laser radar and the reflection light of the target are not on the same light path, and the light-passing hole of the receiving end is not limited by the aperture of the scanning device, so that the receiving lens with a large light-passing aperture can be used, and the problem of short detection distance of the receiving and transmitting common-path laser radar system can be solved to a certain extent. However, due to the size limitation of the near infrared detector used for the laser radar at present, the field angle of the receiving and transmitting non-common-path laser radar is small. Meanwhile, the laser radar mainly needs to realize two-dimensional scanning and 3D reconstruction of a detection area, so that scanning angle detection at each moment needs to be completed in the scanning process. The scanning angle detection of the non-common-path laser radar mainly comprises the following two methods: the first is to detect the scanning angle of the scanning device by detecting the input signal of the scanning device or by means of photoacoustic feedback, etc., and this method needs to add an angle feedback device on the scanning device, which increases the design difficulty and production cost of the scanning device, and the angle resolution is restricted by the measurement accuracy of the scanning angle of the scanning device; the other method is to use a large-aperture area array laser detector to detect the incident angle of a target reflected light beam by detecting the position of an image point on the detector, and the method needs to use a high-resolution area array laser detector. Because the laser radar works in an infrared wave band, and is limited by the current detector industry, the pixels of the array detector under the wave band are low (common arrays: 4 x 4, 2 x 8 and the like), and the angular resolution is limited. By combining the above analysis, the receiving and transmitting non-common-path laser radar in the prior art is limited by devices such as a detector on the scanning view field and angle test precision, and can not meet the use requirements at the present stage.

Disclosure of Invention

One of the main advantages of the present invention is to provide a lidar system, and a detection method and application thereof, wherein the lidar system is based on a plurality of receiver units for detection, and the detection accuracy of the lidar is improved.

Another advantage of the present invention is to provide a lidar system, a detection method and an application thereof, wherein each receiver unit of the lidar system can independently measure a distance from a target to the receiver, and target position information is obtained through inversion calculation according to a target distance value measured by each receiver.

Another advantage of the present invention is to provide a lidar system, a detection method and an application thereof, in which the diameter of the entrance pupil of the receiving end of the laser beam of the lidar system is not limited by the aperture of the scanning device, thereby increasing the detection distance.

Another advantage of the present invention is to provide a lidar system, a detection method and an application thereof, wherein the lidar system uses a unit detector, wherein the unit detector has a large detection area, and the detection field angle is increased.

Another advantage of the present invention is to provide a lidar system, and a detection method and application thereof, wherein the angular resolution of the structured radar system is not limited by the measurement accuracy of the scanning angle of the scanning device and the pixel number of the area array detector (APD, etc.), and the angular resolution is improved.

Another advantage of the present invention is to provide a lidar system, and a detection method and an application thereof, wherein when the lidar system uses more than three unit receivers to complete receiving of the lidar, the lidar system can detect a target detection object for multiple times, and remove redundant information based on a detection result, thereby reducing detection errors and improving measurement accuracy.

Another advantage of the present invention is to provide a lidar system, a detection method and an application thereof, wherein when the lidar system uses more than three unit receivers to complete the receiving operation of the lidar, the lidar system can splice each detection field, so as to obtain a larger detection field.

Another advantage of the present invention is to provide a lidar system, and a detection method and application thereof, wherein the lidar system uses a unit detector, is inexpensive, is simple to install, does not require the use of other expensive and complicated mechanical equipment, and reduces manufacturing and assembly costs. The invention thus provides a cost-effective solution.

Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.

In accordance with one aspect of the present invention, the foregoing and other objects and advantages are achieved in a lidar system of the present invention, comprising:

the laser emitter projects laser rays to form a scanning visual field so as to scan a target detection object;

a laser receiving assembly, wherein said laser receiving assembly comprises at least three receiver units, wherein three of said receiver units in said receiving assembly are disposed non-collinearly, wherein at least three of said receiver units receive laser light reflected by said target probe, wherein each of said receiver units generates a respective probe signal; and at least one radar measuring and calculating module, wherein the radar measuring and calculating module is communicatively connected to the laser receiving assembly, and the radar measuring and calculating module is used for acquiring the spatial position information of the target detection object based on the detection signal.

According to some embodiments of the present invention, the laser transmitter projects laser light outwards to form at least one emitting optical path, wherein the receiver unit of the laser receiving assembly receives the reflected laser light of the target detection object to form at least three receiving optical paths, and an included angle exists between the emitting optical path and each receiving optical path.

According to some embodiments of the present invention, each of the receiver units of the laser receiving assembly receives the reflected laser beam of the target object and generates a corresponding detection signal, the radar estimation module estimates the length of the receiving optical path between the target object and the receiver unit based on the detection signal generated by the receiver unit, and the radar estimation module obtains the spatial position information of the target object based on the lengths of the receiving optical paths between three receiver units and the target object.

According to some embodiments of the present invention, the laser receiving assembly further comprises at least one laser detecting unit group, wherein the laser detecting unit group comprises three receiver units, wherein each receiver unit forms one receiving optical path with a target object, and an included angle exists between any two receiving optical paths, wherein the laser detecting unit group further has at least one unit detecting field of view, wherein the laser detecting unit group receives reflected light of the target object in the unit detecting field of view, and the radar measuring and calculating module obtains spatial position information of the target object.

According to some embodiments of the present invention, when the laser receiving assembly comprises more than three receiver units, any three receiver units form one laser detection unit group, wherein the unit detection fields formed by the laser detection unit groups are spliced with each other to form a spliced detection field.

According to some embodiments of the present invention, the receiver unit further comprises a receiving lens and a laser detector, wherein the receiving lens collects the reflected laser light of the target object to the laser detector, and the laser detector generates a corresponding detection signal based on the reflected laser light.

According to some embodiments of the invention, the receiving lens is a small aperture lens, wherein an aperture value of the receiving lens is less than or equal to 1.5.

According to some embodiments of the present invention, the laser detector is a unit detector, the unit detector receives the reflected laser light collected by the receiving lens to generate a corresponding detection signal, and the radar measuring and calculating module measures and calculates the distance between the receiver unit and the target detection object based on the detection signal generated by the unit detector.

According to some embodiments of the invention, the laser transmitter further comprises:

a laser light source, wherein the laser light source generates a laser beam;

the transmitting lens receives the laser beams projected by the laser light source and arranges the laser beams into scanning beams; and

and the scanning device receives the laser beam arranged by the emission lens, and reflects the laser beam to form the emergent light path.

According to some embodiments of the present invention, the scanning device is rotatably disposed relative to the emergent laser, the scanning device deflects and reflects the laser beam projected by the emission lens to form emergent light paths with different angles, and the emergent laser of the scanning device forms the scanning field of view.

According to some embodiments of the invention, the detection calculation module obtains the distance between the target probe and the receiver unit based on time information of the receiver unit receiving the reflected laser light.

According to some embodiments of the present invention, the radar measuring and calculating module further includes a detection calculating module, wherein the detection calculating module receives the detection signal generated by the receiver unit, measures the distance between the target detection object and the receiver unit according to the detection signal, and calculates the spatial position information of the target detection object based on the distance lengths between three receiver units and the target detection object.

According to some embodiments of the invention, the radar measuring and calculating module further comprises a result processing module, wherein the result processing module collates the detection calculation results and reduces redundant data information in the detection results.

According to another aspect of the present invention, the present invention further provides a vehicle comprising:

a vehicle body; and

the lidar system according to at least one of the above aspects, wherein the lidar system is provided to the vehicle main body, the lidar system is mounted on the vehicle main body, and spatial position information of a target detection object in the vicinity of the vehicle main body is acquired by the lidar system.

According to some embodiments of the invention, the laser radar system is communicatively connected to the vehicle body, and detection information of the target probe in the vicinity of the vehicle body is transmitted to the vehicle body by the laser radar system, wherein the laser radar system is provided at a front portion of the vehicle body to detect the target probe scanned in front of the vehicle body.

According to some embodiments of the invention, the vehicle further comprises a radar mounting device, wherein the laser transmitter and the laser receiving component of the lidar system are integrated with the radar mounting device, wherein the lidar system is mounted to the vehicle body by the radar mounting device.

According to another aspect of the present invention, the present invention further provides a detection method of a laser radar system, the detection method comprising the steps of:

(a) receiving the reflected laser light by at least three receiver units to generate corresponding detection signals; and

(b) and obtaining the spatial position information of the laser reflection based on the detection signals generated by each receiver unit.

According to some embodiments of the present invention, the method step (a) further comprises the steps of (a.0) emitting at least one detection laser, and scanning at least one target detection object 1000 within a scan field of view.

According to some embodiments of the invention, in the above method step (a.0), at least one scanning field of view is formed by scanning at least one laser emitter, and scanning laser light is projected into the scanning field of view by the laser emitter.

According to some embodiments of the invention, the method step (a) further comprises the steps of:

(a.1) collecting the reflected laser light of the target probe to a laser detector of each receiver unit; and

(a.2) generating, by the laser detector, a corresponding detection signal based on the reflected laser light.

According to some embodiments of the invention, the method step (b) further comprises the steps of:

(b.1) measuring and calculating the distance between each receiver unit and the target probe; and

(b.2) calculating and analyzing the spatial position data of the target detection object according to the detection distance information of any three receiver units and the target reactant.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.

Drawings

Fig. 1A is an optical schematic diagram of a laser radar of the prior art, showing the detection principle of the common transmit-receive path.

Fig. 1B is an optical schematic diagram of another lidar of the prior art, illustrating the detection principle of transmit and receive non-common paths.

Fig. 2A is a block diagram of the overall structure of a lidar system according to a first preferred embodiment of the present invention.

FIG. 2B is a schematic diagram of the optical path of a lidar system according to the above preferred embodiment of the invention.

Fig. 2C is a schematic diagram of the overall optical path of the lidar system according to the above preferred embodiment of the invention.

Fig. 3 is an optical schematic diagram of a laser transmitter of the lidar system according to the above preferred embodiment of the present invention.

Fig. 4 is an optical schematic diagram of a laser receiving unit of the lidar system according to the above preferred embodiment of the present invention.

Fig. 5 is a schematic diagram illustrating the detection principle and calculation of the laser receiver of the lidar system according to the above preferred embodiment of the present invention.

Fig. 6 is a schematic view illustrating a detection field stitching principle of the lidar system according to the above preferred embodiment of the invention.

Fig. 7 is a schematic view of a vehicle to which the laser radar system is applied according to the above preferred embodiment of the present invention.

Fig. 8 is a schematic overall view of an alternative embodiment of a vehicle to which the lidar system is applied according to the above preferred embodiment of the invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be in a particular orientation, constructed and operated in a particular orientation, and thus the above terms are not to be construed as limiting the present invention.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

A lidar system according to a first preferred embodiment of the present invention is illustrated in fig. 2A to 6 of the drawings accompanying the present specification and described in the following description. The lidar system includes a laser transmitter 10, a laser receiving element 20, and a radar measurement and calculation module 30, wherein the laser transmitter 10 transmits a detection laser outward, and the detection laser irradiates a target detection object 1000 to form a reflection, wherein the laser receiving element 20 receives a reflection light of the target detection object 1000, and the radar measurement and calculation module 30 analyzes and calculates a spatial position or a relative position of the target detection object 1000 based on the light received by the laser receiving element.

It should be noted that, according to the first preferred embodiment of the present invention, the light of the detection laser emitted from the laser emitter of the lidar system and the reflected light of the laser received by the laser receiving assembly are not on the same optical path, that is, the lidar system is a transmit-receive non-common optical path. The size of the entrance pupil of the laser receiving assembly 20 is not limited by the size of the aperture of the laser emitter 10, and the laser receiving assembly 20 can receive reflected light rays in a wider range, so that a farther detection range can be obtained.

The laser transmitter 10 of the lidar system forms at least one exit light path 101, wherein a laser beam generated by the laser transmitter 10 is projected outwards through the exit light path 101, and when the laser beam of the exit light path 101 is projected to a target detection object 1000, the laser light speed forms a diffuse reflection of light on the surface of the target detection object 1000. At least three receiving light paths 201 are formed between the target detection object 1000 and the laser receiving element 20 of the lidar system, wherein the laser light reflected by the target detection object 1000 is transmitted to the laser receiving element 20 through the receiving light paths 201, and the laser light reflected by the target detection object 1000 is received by the laser receiving element 20. The radar measuring and calculating module 30 is communicatively connected to the laser receiving assembly 20, and the radar measuring and calculating module 30 calculates and analyzes the position information of the target object 1000 based on the length information of the receiving optical paths 201 formed between the laser receiving assembly 20 and the target object 1000.

As shown in fig. 2A, the laser transmitter 10 includes a laser light source 11, an emission lens 12 and a scanning device 13, wherein the laser light source 11 generates a laser beam and projects the generated laser beam to the emission lens 12, and the emission lens 12 shapes the laser beam generated by the laser light source 11 to be suitable for being scanned by the scanning device 13. The emission lens 12 shapes the laser beam emitted from the laser light source 11 into a parallel beam to be suitable for two-dimensional spot scanning by the scanning device 13. Optionally, the emission lens 12 shapes the laser beam emitted by the laser light source 11 into a linear beam to be suitable for one-dimensional line scanning by the scanning device 13. In other words, the emission lens 12 shapes the laser beam projected by the laser light source 11 into a beam suitable for scanning by the scanning device 13, and the emission lens 12 projects the shaped beam to the scanning device 13. The scanning device 13 deflects the light beam projected by the emission lens 12, and the exit light path 101 is formed by reflection by the scanning device 13. It is understood that the laser probe beam generated by the laser transmitter 10 is projected outwards through the exit optical path 101, and when projected to the target probe 1000, the target probe 1000 and the laser receiving assembly 20 form the receiving optical path 201.

Preferably, the Laser light source 11 of the Laser transmitter 10 is an LD semiconductor Laser (Laser Diode). It will be appreciated by those skilled in the art that the type of laser light source 11 is described herein by way of example only, and not by way of limitation, and that other types of laser light sources may be used. More preferably, the laser light source 11 emits near-infrared scanning laser light. Alternatively, the light emitted from the laser source 11 may be a laser beam with other wavelength types, and thus, the type of light emitted from the laser source 11 is only exemplary and not limiting.

The scanning device 13 of the laser transmitter 10 reflects the laser beam projected by the emission lens 12 to form the emission light path 101, wherein the scanning device 13 deflects relative to the laser beam projected by the emission lens 12 to form the emission light path 101 with different reflection angles. The deflection and reflection of the scanning device 13 form the outgoing light path 101 with different outgoing angles, so that a scanning field of view 100 is formed by the laser emitter 10. It is understood that the laser scanning beam emitted by the laser emitter 10 covers the target probe 1000 within the scanning field of view 100. The detection laser beam projected to the scan field of view 100 by the laser transmitter 10 is reflected on the surface of the target detection object 1000, and the reflected laser beam forms the receiving optical path 201.

Preferably, the scanning device 13 of the laser transmitter 10 is a MEMS (Micro-Electro-Mechanical System) scanning mirror. It should be noted that, according to the first preferred embodiment of the present invention, the scanning device 13 can also be implemented as other scanning devices, such as a rotating prism. Accordingly, the type of scanning device 13 described herein is exemplary, and not limiting.

As shown in fig. 2A to 4, the detection laser light projected into the scanning field of view 100 by the laser transmitter 10 is reflected when encountering the target detection object 1000, wherein a part of the reflected light is projected to the laser receiving assembly 20 to form the receiving optical path 201. The laser receiving assembly 20 comprises at least three receiver units 21, wherein each of the receiver units 21 collects and receives the laser signal projected by the laser transmitter 10 reflected by the target detection object 1000. The laser signals received by the receiver units 21 of the laser receiver assembly 20 are transmitted to the radar measuring and calculating module 30, and the radar measuring and calculating module 30 calculates the distance and the position information of the target object 1000 based on the laser signals received by the laser receiver assembly 20.

It should be noted that at least three receiver units 21 in the laser receiver assembly 20 are not in the same straight line, so that the radar measuring and calculating module 30 calculates spatial position information of the target object 1000 based on the reflected laser information received by the laser receiver assembly 20. It will be understood by those skilled in the art that the fact that three of the receiver units 21 are not collinear means that a line connecting any two of the receiver units 21 does not intersect another one of the receiver units 21. As shown in fig. 2A to 2C, each of the receiver units 21 of the laser receiving assembly 20 further includes at least one receiving lens 211 and a laser detector 212, wherein the receiving lens 211 collects the reflected laser light of the target object 1000 and projects the collected reflected laser light to the laser detector 212, and the laser detector 212 generates a corresponding reflection signal based on the reflected laser light collected by the receiving lens 211. Preferably, the receiving lens 211 is a large aperture lens to collect the reflected laser light of the target object 1000 in a wider range, so that the detection range of the laser receiving assembly 20 is wider and the field angle is larger. It is understood that the larger the lens aperture of the receiving lens 211, the smaller the aperture value F. More preferably, the F value of the receiving lens 211 is not greater than 1.5.

As shown in fig. 4, each of the receiver units 21 of the laser receiving assembly 20 has a receiving field of view 210, wherein the receiving optical path 201 is formed in the receiving field of view 210. The reflected light of the target object 1000 within the receiving field of view 210 can be collected by the receiving lens of the receiver unit 21 and transmitted to the laser detector 212. It is understood that the larger the lens aperture of the receiving lens 211, the larger the receiving field of view 210 of the receiver unit 21, and accordingly the larger the detection range of the receiver unit 21.

Any one of the receiver units 21 of the laser receiver assembly 20 collects and receives the laser light emitted by the target object 1000 and generates a corresponding detection signal, wherein the detection signal is transmitted to the radar measuring and calculating module 30, and the radar measuring and calculating module 30 calculates the distance to the target object 1000 based on the detection signal.

Preferably, the laser detector 212 of the receiver unit 21 is a unit detector, wherein the unit detector 212 has only one pixel, so that the laser detector 212 can determine whether the target object 1000 exists in the receiving field of view 210 of the receiver unit 21, but cannot distinguish the spatial position of the target object 1000. It is understood that the radar measuring and calculating module 30 calculates the relative distance of the target object 1000 based on the detection signal generated by the laser detector 212 of any one of the receiver units 21. It will be appreciated that the detection accuracy of the lidar system is not dependent on the detection accuracy of the laser detector 212 of the receiver unit 21.

As shown in fig. 5, the radar evaluation module 30 detects spatial position information of the target object 1000 based on the detection signals generated by any three receiver units 21 of the laser receiver assembly 20 that are not on the same straight line. The laser light reflected by the target probe 1000 is reflected by the receiver units 21S1, 21S2, 21S3, 21S4 …, 21Sn of the laser light receiving assembly 20, wherein the coordinates of the receiver unit 21S1 are set to (a1, b1, c1), the coordinates of the receiver unit 21S2 are set to (a2, b2, c2), the coordinates of the receiver unit 21S3 are set to (a3, b3, c3), the coordinates of the receiver unit 21Sn are set to (an, bn, cn), and the coordinates of the target probe 1000 are (x, y, z).

The distance between the receiver unit 21S1 and the target probe 1000 is R1, the distance between the receiver unit 21S2 and the target probe 1000 is R2, the distance between the receiver unit 21S3 and the target probe 1000 is R3, and the distance between the receiver unit 21Sn and the target probe 1000 is Rn. Accordingly, the relationship between R1, R2, …, Rn and receiver and target coordinates is shown as follows:

therefore, the coordinates (x, y, z) of the target probe 1000 can be calculated by the above formula. The lidar system detects the spatial position information of the target object 1000 by detecting the distance length between the receiver unit 21 and the target object 1000 to calculate the spatial position information of the target object 1000. Therefore, the detection angle resolution of the laser radar system is not influenced by the measurement precision of the scanning angle of the scanning device, and higher angle resolution can be obtained.

It should be noted that the radar evaluation module 30 receives the detection signals generated by the receiver units 21 of the laser receiver assembly 20, and the radar evaluation module 30 selects to use the detection signals of three or more receiver units 21 to calculate the spatial position information of the target object 1000, when the number of the receiver units 21 of the laser receiver assembly 20 exceeds three, each of the receiver units 21 receives the reflected laser light of the target object 1000, and when any three of the receiver units 21 are not in the same straight line, the radar evaluation module 30 may calculate the coordinates of a plurality of sets of the target object 1000 based on the detection signals generated by the laser receiver assembly 20 to reduce the measurement error and remove redundant data.

As shown in fig. 6, the laser receiving assembly 20 further includes at least one laser detection unit set 200, wherein the laser detection unit set 200 has a unit detection field 230, and wherein the laser detection unit set 200 is capable of detecting the spatial position information of the target detection object 1000 within the unit detection field 230. The group of laser detection units 200 comprises any three of the receiver units 21 that are not collinear, and the overlapping portions of the receiving fields of view 210 of the receiver units 21 of the group of laser detection units 200 form the unit detection field of view 230. It is understood that the laser light emitted from the target detection object 1000 within the detection field of view 230 of the unit can be received by any of the receiver units 21 of the laser detection unit set 200 and generate a corresponding detection signal. It should be noted that any two receiver units 21 of the laser detection unit set 200 are not in the same straight line with the target detection object 1000. In other words, in the same laser detection unit group 200, an included angle exists between any two of the receiving light paths 201, or any two of the receiving light paths 201 are different lines.

Accordingly, when the number of the receiver units 21 of the laser receiving assembly 20 exceeds three, and any three of the receiver units 21 are not on the same straight line, the laser detection unit groups 200 constituting the laser receiving assembly 20 exceed three. Therefore, the unit detection fields 230 of the laser detection unit groups 200 overlap with each other, and thus a larger detection field is spliced. For example, when the number of the receiver units 21 of the laser receiver assembly 20 is four, and any three of the receiver units 21 are not in the same straight line, the number of the laser detection unit groups 200 of the laser receiver assembly 20 is three. The unit detection fields of view 230 of the laser detection unit groups 200 of the laser receiving assembly 20 constitute the detection fields of view.

It should be noted that, when the laser receiving assembly 20 includes three receiver units 21, the unit detection field of view of the laser detecting unit group 200 is the detection field of view of the laser receiving assembly 20.

As shown in fig. 2A and 2B, the radar evaluation module 30 is communicatively connected to the laser receiving assembly 20, wherein each receiver unit 21 of the laser receiving assembly 20 transmits the generated detection signal to the radar evaluation module 30, and the radar evaluation module 30 calculates spatial position information of the target detection object 1000 based on the detection signal of the receiver unit 21 of each laser detection unit group 200. The radar estimation module 30 includes a detection calculation module 31 and a result processing module 32. The detection calculation module 31 calculates spatial distance information of the target detection object 1000 based on detection signals generated by the three receiver units 21 of at least one of the laser detection unit groups 200. The result processing module 32 is communicatively connected to the detection calculation module 31, wherein the result processing module 32 performs integration processing on the result data of the target detection object 1000 detected by the detection calculation module 31 to obtain more accurate data.

Preferably, the radar measuring and calculating module 30 calculates a distance between the target object 1000 and any one of the receiver units 21 of the laser receiving assembly 20 by measuring a time interval between the laser transmitter 10 emitting the laser to the laser receiving assembly 20 receiving the reflected laser of the target object 1000, and further calculates the spatial position information of the target object 1000. It should be noted that, in the present invention, the radar measuring and calculating module 30 may also measure the distance between the target object 1000 and any one of the receiver units 21 of the laser receiving assembly 20 by other measuring methods. Accordingly, the described embodiments of the radar gauging module 30 are presented herein by way of example only and not by way of limitation.

Referring to fig. 7 and 8 of the drawings accompanying the present specification, a vehicle to which the laser radar system according to the above preferred embodiment of the present invention is applied will be described in the following description. The vehicle includes a vehicle body 400 and the at least one lidar system 500 disposed on the vehicle body 400. The lidar system 500 is used to detect a target detection object 1000 around the vehicle body 400, such as an obstacle in front of or behind the vehicle body 400, wherein detection information of the target detection object 1000 detected by the lidar system 500 is transmitted to the vehicle body 400 for the vehicle driver to acquire the detection information of the lidar system 500.

It is understood that the lidar system 500 further includes a laser transmitter 10, at least one laser receiver 20, and a radar estimation module 30, wherein the laser transmitter 10 transmits a detection laser outwards, and the detection laser irradiates the target object 1000 to form a reflection, wherein the laser receiver 20 receives the reflected light of the target object 1000, and the radar estimation module 30 analyzes and calculates the spatial position or the relative position of the target object 1000 based on the light received by the laser receiver.

Fig. 7 shows a first preferred embodiment of the vehicle according to the present invention, in which the laser receiving assembly 20 of the laser radar system 500 includes three receiver units 21, and the three receiver units 21 are not in the same straight line. The laser transmitter 10 of the lidar system 500 is disposed on the vehicle body 400, the laser transmitter 10 forms the scanning field of view 100 under the supporting action of the vehicle body 400, and the target detection object 1000 in the scanning field of view 100 is irradiated by the detection laser light emitted by the laser transmitter 10. The detection laser light emitted by the laser emitter 10 irradiates the target detection object 1000 to form emission, and the reflected light is received by the laser receiving assembly 20 to generate a corresponding detection signal. Accordingly, the three receiver units 21 of the laser light receiving assembly 20 are respectively provided to the vehicle body 400, and the receiver units 21 are supported by the vehicle body 400.

Accordingly, the laser receiver assembly 20 is communicatively connected to the radar evaluating module 30, the detection signals generated by the three receiver units 21 of the laser receiver assembly 20 are transmitted to the radar evaluating module 30, and the radar evaluating module 30 evaluates the spatial position information of the target detection object 1000 based on the detection signals.

Preferably, in the first preferred embodiment of the present invention, three receiver units 21 of the laser light receiving assembly 20 are respectively installed at different positions of the vehicle body 100. That is, the laser transmitter 10 and the laser receiving assembly 20 of the lidar system 500 are of a split structure. More preferably, the laser transmitter 10 is disposed at an upper portion of the vehicle body 400 of the vehicle so as to form a larger scanning field of view 100; wherein the receiver unit 21 of the laser light receiving assembly 20 is disposed at the front of the vehicle body 400 so that the reflected light of the object detection object 1000 is collected by the receiver unit 21. It is noted that, in the present invention, the location where the lidar system 500 is installed is merely exemplary and not limiting. Therefore, the lidar system 500 may also be installed at other positions of the vehicle body 400 to measure the target object 1000 in other spaces near the vehicle, such as the lidar system 500 is installed at the rear of the vehicle body 400 to measure the target object 1000 behind the vehicle body 400, thereby providing a vehicle driver with a vehicle rear indication.

Fig. 8 shows another preferred embodiment of the vehicle of the present invention, in which the laser receiving assembly 20 of the laser radar system 500 includes more than three receiver units 21, and at least three of the receiver units 21 are not in the same straight line. Preferably, any three receiver units 21 of the laser receiving assembly 20 are not in the same straight line. More preferably, the laser transmitter 10 and the laser receiver assembly 20 of the lidar system 500 are of a unitary structure.

Accordingly, the vehicle further includes a radar mounting device 600, wherein the receiver unit 21 and the laser transmitter 10 of the laser receiving assembly 20 are integrated with the radar mounting device 600, and the laser transmitter 10 and the laser receiving assembly 20 of the laser radar system 500 are mounted to the vehicle body 400 by the radar mounting device 600. Preferably, the laser transmitter 10 and the laser receiving assembly 20 of the laser radar system 500 are disposed at the front or rear of the vehicle body 400, and a detection field of view of the laser radar system 500 is formed in front of the vehicle without affecting normal running of the vehicle. It will be appreciated that the laser transmitter 10 of the lidar and the receiver unit 21 of the laser receiver assembly 20 are integrated into the radar mounting apparatus 600, resulting in a small installation space, simplified installation, and facilitated positioning of the laser receiver assembly 20.

For example, when the number of the receiver units 21 of the laser receiving assembly 20 is four, three laser detection unit groups 200 are composed of the receiver units 21, and each of the laser detection unit groups 200 can be used to detect spatial position information of the object detection object 1000. The detection calculation module 31 of the radar measuring and calculating module 30 calculates spatial position information of the target detection object 1000 based on the detection signal generated by any one of the laser detection unit groups 200, and the result processing module 32 processes the calculation result of the detection calculation module 31 to obtain more accurate position location information.

According to another aspect of the present invention, the present invention further provides a detection method of a lidar system, wherein the detection method comprises the following method steps:

(a) receiving the reflected laser light of the target detection object 1000 by at least three receiver units 21 which are not in the same straight line, and generating corresponding detection signals; and

(b) the spatial position information of the target probe 1000 is calculated by the radar measuring and calculating module 30 based on the detection signal generated by the receiver unit 21.

In the detection method of the laser radar system, step (a) of the method further comprises the following step (a.0): emitting at least one probing laser, and scanning at least one target probe 1000 within a scan field of view.

In the detection method of the laser radar system, in the method step (a.0), at least one scanning field is formed by scanning at least one laser transmitter 10, and scanning laser light is projected into the scanning field by the laser transmitter 10.

In the detection method of the above laser radar system, wherein the method step (a) further comprises the steps of:

collecting the reflected laser light of the target object 1000 to a laser detector 212 of each receiver unit 21; and

a corresponding detection signal is generated by the laser detector 212 based on the reflected laser light.

In the detection method of the laser radar system described above, wherein the method step (b) further comprises the steps of:

measuring the distance between each receiver unit 21 and the target probe 1000; and

and calculating and analyzing the spatial position data of the target detection object 1000 according to the detection distance information of any three receiver units 21 and the target reactant which are not in the same straight line.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. A lidar system, comprising:

the laser emitter projects laser light to scan a target detection object;

a laser light receiving assembly, wherein said laser light receiving assembly comprises at least three receiver units, wherein three of said receiver units in said receiving assembly are disposed non-collinearly, wherein at least three of said receiver units receive laser light reflected by said target probe, wherein each of said receiver units generates a respective probe signal; and

a radar estimation module, wherein the radar estimation module is communicatively connected to the laser receiver assembly, and the radar estimation module is used for acquiring spatial position information of the target detection object based on the detection signal.

2. The lidar system of claim 1, wherein the laser transmitter projects laser light outward to form at least one exit optical path, wherein the receiver unit of the laser receiving assembly receives reflected laser light of the target probe to form at least three receiving optical paths, and wherein an angle exists between the exit optical path and each of the receiving optical paths.

3. The lidar system according to claim 2, wherein each of the receiver units of the laser receiving assembly receives the reflected laser of the target probe and generates a corresponding probe signal, a length of the receiving optical path between the target probe and the receiver unit is measured by the radar measuring module based on the probe signal generated by the receiver unit, and spatial position information of the target probe is obtained by the radar measuring module based on the lengths of the receiving optical paths between three of the receiver units and the target probe.

4. The lidar system according to claim 2 or 3, wherein the lidar assembly further comprises at least one lidar unit group, wherein the lidar unit group comprises three receiver units, wherein one receiving optical path is formed between each receiver unit and a target detection object, and an included angle exists between any two receiving optical paths, wherein the lidar unit group further comprises at least one lidar field, wherein the lidar unit group receives reflected light of the target detection object in the lidar field, and the radar estimation module obtains spatial position information of the target detection object.

5. The lidar system according to claim 4, wherein when the laser receiving assembly comprises more than two sets of the laser detection units, the unit detection fields formed by the sets of the laser detection units are spliced with each other to form a spliced detection field.

6. The lidar system of claim 4, wherein the receiver unit further comprises a receiving lens and a laser detector, wherein the receiving lens converges reflected laser light of the target probe to the laser detector, whereby the laser detector generates a corresponding detection signal based on the reflected laser light.

7. The lidar system of claim 6, wherein the receiving lens is a small aperture lens, wherein an aperture value of the receiving lens is less than or equal to 1.5.

8. The lidar system according to claim 6, wherein the laser detector is a unit detector, the unit detector receives the reflected laser light collected by the receiving lens to generate a corresponding detection signal, and wherein the radar estimation module calculates the distance between the receiver unit and the target detection object based on the detection signal generated by the unit detector.

9. The lidar system of claim 2, wherein the laser transmitter further comprises:

a laser light source, wherein the laser light source generates a laser beam;

10. The lidar system according to claim 9, wherein the scanning device is rotatably disposed relative to the outgoing laser, and the laser beam projected by the transmitting lens is deflected and reflected by the scanning device to form outgoing optical paths with different angles, so that a scanning field is formed by the outgoing laser of the scanning device.

11. The lidar system of claim 10, wherein the detection computation module derives a distance between the target probe and the receiver unit based on time information of the receiver unit receiving the reflected laser light.

12. The lidar system of claim 9, wherein the radar estimation module further comprises a detection calculation module, wherein the detection calculation module receives the detection signals generated by the receiver unit, estimates a distance between the target object and the receiver unit according to the detection signals, and derives spatial position information of the target object based on a distance length between three of the receiver units and the target object.

13. The lidar system of claim 10, wherein the radar gauging module further comprises a result processing module, wherein the result processing module collates results from the detection computation module and reduces redundant data information in the detection results.

14. A vehicle, characterized by comprising:

a vehicle body; and

the lidar system according to at least one of claims 1 to 13, wherein the lidar system is provided to the vehicle body, the lidar system is mounted on the vehicle body, and spatial position information of a target detection object in the vicinity of the vehicle body is acquired by the lidar system.

15. The vehicle of claim 14, wherein the lidar system is communicatively connected to the vehicle body, detection information of the target probe in the vicinity of the vehicle body being transmitted to the vehicle body by the lidar system, wherein the lidar system is disposed at a front portion of the vehicle body to detect the target probe scanning in front of the vehicle body.

16. The vehicle of claim 14, wherein the vehicle further comprises a radar mounting device, wherein the laser transmitter and the laser receiving component of the lidar system are integrated with the radar mounting device, wherein the lidar system is mounted to the vehicle body by the radar mounting device.

17. A method of detecting a lidar system, the method comprising the steps of:

(a) receiving, by at least three receiver units, reflected laser light of the target probe and generating corresponding probe signals; and

(b) calculating spatial position information of the target probe based on the probe signal generated by the receiver unit.

18. The detection method according to claim 17, wherein the method further comprises, before the step (a), the steps of:

(a.0) emitting at least one probing laser, and scanning at least one target probe within a scan field of view.

19. The detection method according to claim 18, wherein in the above method step (a.0), at least one of the scan fields of view is formed by scanning with at least one laser emitter, and the scan laser light is projected into the scan field of view by the laser emitter.

20. The detection method of claim 17, wherein the method step (a) further comprises the steps of:

21. The detection method of claim 20, wherein the method step (b) further comprises the steps of:

(b.2) analyzing the spatial position data of the target detection object according to the detection distance information of at least three receiver units and the target reactant.