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Large-FOV (field of view) short-range laser radar and vehicle

A technology of lidar and large field of view, applied in the field of laser detection, can solve the problems of complex structure of vehicle lidar, small vertical field of view, detection blind spot, etc., to reduce the blind spot of short-range detection, large detection range and simple structure Effect

Pending Publication Date: 2018-11-13
HESAI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the vehicle-mounted lidar in the market is mainly used for long-distance detection. In order to avoid the waste of the laser beam irradiating the ground or the sky in the distance, the vertical field of view is usually set to be small, and there is a detection blind spot in short-range detection.
For example, the vertical field of view of VelodyneHDL-64E is 26.8°, and the vertical field of view of Hesai Technology Pandar 40 is 23°, and there is a detection blind spot when detecting within 30m
In addition, the design of multiple lines and multiple lasers makes the current vehicle-mounted lidar complex and costly

Method used

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  • Large-FOV (field of view) short-range laser radar and vehicle

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Embodiment 1

[0054] figure 1 It is a schematic structural diagram of the large field of view short-range laser radar provided by the embodiment of the present invention, please refer to figure 1 , the large field of view short-range lidar disclosed in this embodiment includes a laser emitting module, a laser receiving module and a rotating structure, and the rotating structure is used to drive the laser emitting module and the laser receiving module to rotate horizontally.

[0055] figure 2 It is a schematic structural diagram of the laser emitting module provided by the embodiment of the present invention, please refer to figure 2 , in an optional implementation manner, the laser emitting module includes:

[0056] Laser 11, for emitting outgoing laser beams;

[0057]A control circuit for controlling the operation of the laser 11;

[0058] One-dimensional vibrating mirror 12, used to change the optical path direction of the outgoing laser beam in the vertical direction;

[0059] Spe...

Embodiment 2

[0092] In order to solve the problem of detection blind spots in the vehicle-mounted laser radar in the prior art, the vehicle disclosed in this embodiment adopts the large-field-of-view short-range laser radar described in Embodiment 1, which can realize 360° rotation in the horizontal direction and Large field of view scanning in the vertical direction. Compared with the prior art, the short-range lidar with a large field of view adopted in this embodiment has a larger vertical field of view, which can reduce the detection blind spot of the vehicle-mounted lidar.

[0093] Figure 9 It is a schematic diagram of the installation position of the laser radar provided by the embodiment of the present invention, please refer to Figure 9 , the vehicle-mounted lidar provided by the prior art is usually installed on the top of the vehicle. However, in the autonomous driving technology, the environment perception system needs to perceive obstacles, such as vehicles, pedestrians, traffi...

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Abstract

The invention discloses large-FOV (field of view) short-range laser radar. The laser radar comprises a laser transmitting module, a laser receiving module and a rotating structure, wherein the laser transmitting module comprises a laser used for transmitting outgoing laser beams, a control circuit used for controlling the laser to work as well as a one-dimensional galvanometer used for changing light path direction of the outgoing laser beams in the vertical direction; the laser receiving module is used for receiving reflection laser to execute target detection, and the reflection laser is aroused by the outgoing laser beams reflected by the one-dimensional galvanometer under action of an external obstacle; the rotating structure is used for driving the laser transmitting module and the laser receiving module to rotate horizontally. The invention further discloses a vehicle. The large-FOV short-range laser radar is arranged at the front end of the vehicle. Short-range detection blind zone can be reduced, the structure is simple, production, installation and adjustment are convenient, and production cost is reduced greatly.

Description

technical field [0001] The invention relates to the technical field of laser detection, in particular to a short-range laser radar with a large field of view and a vehicle. Background technique [0002] In the autonomous driving technology, the environmental perception system is a basic and crucial part, and it is the guarantee of the safety and intelligence of the autonomous driving vehicle. The lidar in the environmental perception sensor has great advantages in terms of reliability, detection range, and ranging accuracy. Incomparable advantages. Lidar analyzes the turn-back time after the laser encounters the target object by emitting and receiving the laser beam, calculates the relative distance between the target object and the vehicle, and uses the three-dimensional coordinates and reflectivity of a large number of dense points on the surface of the target object collected during this process and other information, quickly rebuild the 3D model of the measured target, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/93G01S7/481
CPCG01S7/4814G01S17/931
Inventor 向少卿
Owner HESAI TECH CO LTD
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