CN111337904A - Signal processing method for laser radar and laser radar - Google Patents
Signal processing method for laser radar and laser radar Download PDFInfo
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Abstract
The invention provides a signal processing method for a laser radar and the laser radar, wherein the method comprises the following steps: modulating the input initial signal through a laser pulse modulation circuit to obtain a target signal; the laser generates a target laser pulse according to the target signal; the laser pulse modulation circuit comprises a pulse rising edge transient pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge transient pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser. The signal-to-noise ratio of the laser pulse generated by the laser radar can be effectively improved, the signal stability is improved, and the working performance of the laser radar is effectively improved.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a signal processing method for a laser radar and the laser radar.
Background
Laser radar can be used in fields such as unmanned car, robot, through the signal of transmitting infrared ray signal and receiving infrared ray at the measured object surface reflection, measures the distance of measured object.
In the related art, a laser pulse is generated by a laser in a laser radar according to an input initial signal, so that a laser probing task is performed using the generated laser pulse.
In this way, the signal-to-noise ratio of the generated laser pulse is not high, the stability is not good, and the working performance of the laser radar is affected.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a signal processing method for a laser radar and the laser radar, which can effectively improve the signal-to-noise ratio of laser pulses generated by the laser radar, improve the signal stability and effectively improve the working performance of the laser radar.
The signal processing method for the laser radar provided by the embodiment of the first aspect of the invention comprises the following steps: modulating the input initial signal through a laser pulse modulation circuit to obtain a target signal; the laser generates a target laser pulse according to the target signal; the laser pulse modulation circuit comprises a pulse rising edge transient pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge transient pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser.
According to the signal processing method for the laser radar provided by the embodiment of the first aspect of the invention, an input initial signal is modulated by a laser pulse modulation circuit to obtain a target signal; the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge current carrier discharging circuit, the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge current carrier discharging circuit modulate initial signals to shorten rising and falling time of target laser pulses generated by a laser, signal to noise ratio of the laser pulses generated by the laser radar can be effectively improved, signal stability is improved, and working performance of the laser radar is effectively improved.
The laser radar provided by the embodiment of the second aspect of the invention comprises: the device comprises a controller, a laser pulse modulation circuit and a laser, wherein the laser pulse modulation circuit modulates an input initial signal to obtain a target signal; the controller is used for controlling the generation of target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge transient pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge transient pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser.
According to the laser radar provided by the embodiment of the second aspect of the invention, the input initial signal is modulated by the laser pulse modulation circuit to obtain a target signal; the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge current carrier discharging circuit, the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge current carrier discharging circuit modulate initial signals to shorten rising and falling time of target laser pulses generated by a laser, signal to noise ratio of the laser pulses generated by the laser radar can be effectively improved, signal stability is improved, and working performance of the laser radar is effectively improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a signal processing method for a lidar according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a laser pulse modulation circuit according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a signal processing method for a lidar according to an embodiment of the present invention;
FIG. 4a is a signal diagram of a related art;
FIG. 4b is a signal diagram illustrating an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a laser radar according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a laser radar according to another embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention. On the contrary, the embodiments of the invention include all changes, modifications and equivalents coming within the spirit and terms of the claims appended hereto.
In order to solve the technical problems that the signal-to-noise ratio of laser pulses generated by a laser radar is not high, the stability is not good, and the working performance of the laser radar is affected in the related technology, the embodiment of the invention provides a signal processing method for the laser radar, wherein an input initial signal is modulated by a laser pulse modulation circuit to obtain a target signal; the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge current carrier discharging circuit, the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge current carrier discharging circuit modulate initial signals to shorten rising and falling time of target laser pulses generated by a laser, signal to noise ratio of the laser pulses generated by the laser radar can be effectively improved, signal stability is improved, and working performance of the laser radar is effectively improved.
Fig. 1 is a schematic flowchart of a signal processing method for a lidar according to an embodiment of the present invention.
The present embodiment is exemplified in a case where the signal processing method for a lidar is configured as a signal processing apparatus for a lidar.
The signal processing method for the lidar in the present embodiment may be configured in a signal processing apparatus for the lidar, and the signal processing apparatus for the lidar may be provided in the lidar.
Referring to fig. 1, the method includes:
s101: and modulating the input initial signal through a laser pulse modulation circuit to obtain a target signal.
The laser pulse modulation circuit may be a high-current high-speed laser pulse modulation circuit, and the laser pulse modulation circuit is a differential circuit composed of a resistor and a capacitor.
In a specific implementation, the differentiating circuit composed of the resistor and the capacitor may be used to modulate an input initial signal, so that a pulse obtained by modulation is used as a target signal, the target signal is used as an input of a laser in the laser radar, so that the laser can output a laser pulse at an output end, and the laser uses a laser pulse generated by the target signal, which may be referred to as a target laser pulse.
The laser pulse modulation circuit can realize transient acceleration aiming at the rising edge of an input initial signal, namely the transient acceleration of the rising edge of the input initial signal is realized through a differential circuit consisting of a resistor and a capacitor, and the current carrier discharge process in the laser is accelerated through the laser pulse modulation circuit, so that the laser is extinguished more quickly, the time of the target signal lasting than the falling edge of the initial signal is shorter, the falling speed of the target signal in the period of the falling edge is accelerated, and therefore, the purpose of improving the signal-to-noise ratio of the laser radar is achieved.
Optionally, in some embodiments, when the laser pulse modulation circuit modulates an input initial signal to obtain a target signal, the initial signal forms an overvoltage short pulse signal via a pulse rising edge transient pressurization circuit, and the overvoltage short pulse signal is input into the laser to quickly saturate carriers injected in a short time, so that the rising edge of a target laser pulse generated by the laser lasts for a shorter time than the rising edge of the initial signal; the pulse falling edge carrier discharge circuit enables the positive electrode and the negative electrode of the laser to form a loop, and accelerates the discharge of carriers in the laser, so that the duration of the falling edge of a target laser pulse generated by the laser is shorter than the duration of the falling edge of an initial signal.
S102: the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser.
The target laser pulse described above is used to assist the lidar in performing the laser detection task.
The laser pulse modulation circuit comprises a laser, wherein a diode for outputting a target signal in the laser pulse modulation circuit is connected with the laser, so that the target signal is input into the laser, the laser generates a target laser pulse according to the target signal, and the target laser pulse is adopted to assist the laser radar to execute a laser detection task.
In the embodiment of the invention, the target laser pulse is adopted to assist the laser radar to execute the laser detection task, and the signal collector in the laser radar can also receive the echo pulse corresponding to the target laser pulse, so that the processor of the laser radar identifies the effective pulse from the echo pulse and executes the laser detection task according to the effective pulse, and the target laser pulse can support the laser radar to accurately judge the effective pulse and other pulses, thereby providing powerful support when the laser radar executes the laser detection task, being beneficial to improving the signal-to-noise ratio of the whole laser radar sampling and improving the measurement precision of the laser radar.
In the embodiment, an input initial signal is modulated by a laser pulse modulation circuit to obtain a target signal; the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge current carrier discharging circuit, the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge current carrier discharging circuit modulate initial signals to shorten rising and falling time of target laser pulses generated by a laser, signal to noise ratio of the laser pulses generated by the laser radar can be effectively improved, signal stability is improved, and working performance of the laser radar is effectively improved.
Referring to fig. 2, fig. 2 is a schematic structural diagram of the laser pulse modulation circuit in the embodiment of the present invention, the laser pulse modulation circuit includes a resistor 21, a capacitor 22, a first and gate 23, a second and gate 24, a switch 25, a laser 26, and a diode 27, wherein a first end 231 of the first and gate 23 and a first end 221 of the capacitor 22 are respectively used for accessing an initial signal; the second end 232 of the first and gate 23 is connected to the second power supply voltage signal 28, the diode 27 is disposed between the third end 233 of the first and gate 23 and the third end 243 of the second and gate 24, and is used for isolating an upper and lower loop and preventing the influence of a low level after instantaneous overvoltage of a lower loop on the upper loop, and the third end 233 of the first and gate 23 is connected to the first end 271 of the diode 27; a second terminal 272 of the diode 27 is connected to the input 261 of the laser 26, which laser 26 outputs the target laser pulse via the output 262; a first end 241 of the second and gate 24 is connected to the first supply voltage signal 29, a second end 242 of the second and gate 24 is connected to the second end 222 of the capacitor 22, and a third end 243 of the second and gate 24 is connected to the third end 233 of the first and gate 23 and then connected to the input end 261 of the laser 26; the third terminal 243 of the second and gate 24 is connected to the second terminal 272 of the diode 27; the switch 25 can be turned on or off, when the switch 25 is turned on, one end of the switch 25 is connected to the third end 243 of the second and gate 24, the other end of the switch 25 is connected to the second end 212 of the resistor 21, the first end 211 of the resistor 21 is connected to the second end 222 of the capacitor 22, and the second end of the resistor is grounded.
Shaping the initial signal through the first power supply voltage signal and the second AND gate to obtain a first overvoltage short pulse signal; shaping the initial signal through a second power supply voltage signal and the first AND gate to obtain a second overvoltage short pulse signal; the first overvoltage short pulse signal and the second overvoltage short pulse signal are superposed and input into the laser to generate a very short overvoltage and overcurrent driving waveform, so that a carrier injected into the laser in a short time is quickly saturated, and the duration time of the rising edge of the output target laser pulse is shorter than that of the rising edge of the initial signal.
When the switch is switched on, the pulse falling edge carrier discharge circuit is switched on, so that the anode and the cathode of the laser form a loop, the carrier discharge process in the laser is accelerated, and the duration of the falling edge of the output target laser pulse is shorter than the duration of the falling edge of the initial signal.
Above-mentioned when realizing laser pulse modulation circuit, can adopt commonly used electronic components to build laser pulse modulation circuit under the unchangeable prerequisite of pulse power and complexity basically, overcome the time delay that electronic components's resistance-capacitance etc. caused in addition external circuit's design, and alleviate the broadening to the electric current signal edge of input to carry out more accurate judgement to the duration or the time interval of electric current signal of input, thereby reach the purpose that promotes laser radar performance.
Fig. 3 is a schematic flowchart of a signal processing method for a lidar according to an embodiment of the present invention.
The present embodiment is exemplified by the structure design of the laser pulse modulation circuit as shown in fig. 2.
S301: when the switch is disconnected, the initial signal is shaped through the first power supply voltage signal and the second AND gate, and a first overvoltage short pulse signal is obtained.
In this embodiment, the switch may be controlled to be turned off or turned on according to actual requirements, for example, when the time duration of the rising edge of the initial signal needs to be optimally adjusted, the switch may be controlled to be turned off, and when the time duration of the falling edge of the initial signal needs to be optimally adjusted, the switch may be controlled to be turned on, which is not limited.
S302: and shaping the initial signal through the second power supply voltage signal and the first AND gate to obtain a second overvoltage short pulse signal.
S303: the first overvoltage short pulse signal and the second overvoltage short pulse signal are superposed and input into the laser to generate a very short overvoltage and overcurrent driving waveform, so that a carrier injected into the laser in a short time is quickly saturated, and the duration time of the rising edge of the output target laser pulse is shorter than that of the rising edge of the initial signal.
Referring to fig. 2, the pulse signal obtained by shaping the initial signal by the first supply voltage signal VCC1 and the second and gate (and gate 2) may be referred to as a first overvoltage short pulse signal, and the pulse signal obtained by shaping the initial signal by the second supply voltage signal VCC2 and the first and gate (and gate 1) may be referred to as a second overvoltage short pulse signal, and then the first overvoltage short pulse signal and the second overvoltage short pulse signal are added by the schottky diode and input to the laser.
For example, the input initial signal can obtain an overvoltage short pulse in a very short time after being shaped by the and gate 2, the size of the short pulse is controlled by the first supply voltage signal VCC1, the and gate 1 and the second supply voltage signal VCC2 can control the overvoltage short pulse in the other path, the upper loop and the lower loop are isolated by the schottky diode, the influence of the low level after the instantaneous overvoltage of the lower path on the upper path is prevented, finally, the two paths of signals are superposed to drive the high-speed laser of the large circuit together, the instantaneous overvoltage is achieved, the rising edge of the large current is accelerated, the duration of the rising edge of the current signal is shortened, and the driving effect of the signal-to-noise ratio is improved.
S304: when the switch is switched on, the pulse falling edge carrier discharge circuit is switched on, so that the anode and the cathode of the laser form a loop, the carrier discharge process in the laser is accelerated, and the duration of the falling edge of the output target laser pulse is shorter than the duration of the falling edge of the initial signal.
Referring to fig. 2, when the switch is turned on, that is, when the switch is turned off, the input initial signal is at the falling edge, and the loop where the laser is located is shown by a dotted line in fig. 2, that is, the loop is formed by connecting the positive electrode and the negative electrode of the laser by using a conducting wire.
Referring to fig. 4a and 4b, fig. 4a is a signal diagram in the related art, and fig. 4b is a signal diagram in an embodiment of the present invention, where 4 in fig. 4a represents an unmodulated initial signal, 3 represents a laser pulse generated based on the unmodulated initial signal, 1 in fig. 4b represents a target laser pulse generated by a target signal modulated by a laser pulse modulation circuit, 2 represents the target signal modulated by the laser pulse modulation circuit, and 5 represents a reference signal.
In the embodiment, the rising speed of the rising edge of the initial signal of the high-speed laser pulse modulation circuit with large current is increased, and the falling speed of the falling edge is increased, so that the time for the rising edge and the falling edge to last is reduced, the current signal for modulation is closer to an ideal state, the sharpness and the stability of the light wave signal pulse are improved, and effective support is provided for subsequent receiving and processing, so that the signal-to-noise ratio of the laser radar can be increased, the stability and the performance of other aspects are improved. And the discrete design or the comprehensive design of the circuit module can be adopted for realizing and verifying, namely, a very short overvoltage and overcurrent driving waveform is generated, so that the injected carriers quickly reach saturation in a short time, the corresponding luminous intensity reaches the peak value of the laser pulse, the realization is simple and convenient, and the applicability is better.
Fig. 5 is a schematic structural diagram of a lidar according to an embodiment of the present invention.
Referring to fig. 5, laser radar 500 includes:
a controller 501, a laser pulse modulation circuit 502, and a laser 503, wherein,
the laser pulse modulation circuit 502 modulates the input initial signal to obtain a target signal;
a controller 501 that controls generation of a target laser pulse according to a target signal; the laser pulse modulation circuit 502 includes a pulse rising edge transient voltage-increasing circuit 5021 and a pulse falling edge carrier-discharging circuit 5022, and the pulse rising edge transient voltage-increasing circuit 5021 and the pulse falling edge carrier-discharging circuit 5022 modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser 503.
Optionally, in some embodiments, the laser pulse modulation circuit 502 is specifically configured to:
the initial signal forms an overvoltage short pulse signal through the pulse rising edge transient voltage-increasing circuit 5021, the overvoltage short pulse signal is input into the laser 503, and carriers injected in a short time are quickly saturated, so that the duration of the rising edge of a target laser pulse generated by the laser 503 is shorter than the duration of the rising edge of the initial signal;
the pulse falling edge carrier discharge circuit 5022 forms the positive and negative electrodes of the laser 503 into a loop to accelerate the discharge of carriers inside the laser 503, so that the duration of the falling edge of the target laser pulse generated by the laser 503 is shorter than the duration of the falling edge of the initial signal.
Alternatively, in some embodiments, the laser pulse modulation circuit 502 is a differential circuit composed of a resistor and a capacitor.
Optionally, in some embodiments, the pulse rising edge transient pressurizing circuit 5021 comprises a resistor, a capacitor, a first and gate, a second and gate, wherein,
the first end of the first AND gate and the first end of the capacitor are respectively used for accessing an initial signal;
the second end of the first AND gate is connected to a second power supply voltage signal;
the first end of the second AND gate is connected with a first power supply voltage signal, the second end of the second AND gate is connected with the second end of the capacitor, and the third end of the second AND gate is connected with the third end of the first AND gate and then connected with the input end of the laser;
the first end of the resistor is connected with the second end of the capacitor, and the second end of the resistor is grounded;
shaping the initial signal through a first power supply voltage signal and a second AND gate to obtain a first overvoltage short pulse signal; shaping the initial signal through a second power supply voltage signal and the first AND gate to obtain a second overvoltage short pulse signal; the first overvoltage short pulse signal and the second overvoltage short pulse signal are superposed and input into the laser to generate a very short overvoltage and overcurrent driving waveform, so that a carrier injected into the laser in a short time is quickly saturated, and the duration time of the rising edge of the output target laser pulse is shorter than that of the rising edge of the initial signal.
Optionally, in some embodiments, the pulse falling edge carrier bleeding circuit 5022 includes a switch, one end of the switch is connected to the third end of the second and gate, and the other end of the switch is connected to the second end of the resistor; when the switch is turned on, the pulse falling edge carrier discharge circuit 5022 is turned on, so that the positive and negative electrodes of the laser 503 form a loop, the carrier discharge process inside the laser is accelerated, and the duration of the falling edge of the output target laser pulse is shorter than that of the falling edge of the initial signal.
Optionally, in some embodiments, the laser pulse modulation circuit 502 further includes a diode, which is disposed between the third terminal of the first and gate and the third terminal of the second and gate, and is used for isolating the upper and lower loops and preventing the influence of the low level after the transient overvoltage occurs in the lower loop on the upper loop.
Optionally, in some embodiments, referring to fig. 6, the laser radar 500 further includes a signal receiver 504, where the signal receiver 504 is configured to receive an echo pulse corresponding to the target laser pulse;
and the controller 501 is used for identifying a valid pulse from the echo pulses and executing a laser detection task according to the valid pulse.
It should be noted that the foregoing explanations of the signal processing method for the lidar in the embodiments of fig. 1 to fig. 3 also apply to the lidar 500 in this embodiment, and the implementation principles thereof are similar and will not be described herein again.
In the embodiment, an input initial signal is modulated by a laser pulse modulation circuit to obtain a target signal; the laser generates target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge instantaneous pressurizing circuit and a pulse falling edge current carrier discharging circuit, the pulse rising edge instantaneous pressurizing circuit and the pulse falling edge current carrier discharging circuit modulate initial signals to shorten rising and falling time of target laser pulses generated by a laser, signal to noise ratio of the laser pulses generated by the laser radar can be effectively improved, signal stability is improved, and working performance of the laser radar is effectively improved.
It should be noted that the terms "first," "second," and the like in the description of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. A signal processing method for a lidar, the method comprising:
modulating the input initial signal through a laser pulse modulation circuit to obtain a target signal;
the laser generates a target laser pulse according to the target signal; the laser pulse modulation circuit comprises a pulse rising edge transient pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge transient pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser.
2. The signal processing method for lidar according to claim 1, wherein the modulating the input initial signal by the laser pulse modulation circuit to obtain the target signal specifically comprises:
the initial signal forms an overvoltage short pulse signal through the pulse rising edge transient pressurizing circuit, the overvoltage short pulse signal is input into the laser, and carriers injected in a short time are quickly saturated, so that the rising edge of a target laser pulse generated by the laser lasts for a shorter time than the rising edge of the initial signal;
the pulse falling edge carrier discharge circuit enables the positive electrode and the negative electrode of the laser to form a loop, and accelerates the discharge of carriers in the laser, so that the duration of the falling edge of the target laser pulse generated by the laser is shorter than the duration of the falling edge of the initial signal.
3. The signal processing method for a lidar according to claim 1, wherein the laser pulse modulation circuit is a differential circuit composed of a resistor and a capacitor.
4. The signal processing method for lidar of claim 3, wherein the pulse rising edge transient pressurizing circuit comprises a resistor, a capacitor, a first AND gate, a second AND gate, wherein,
the first end of the first AND gate and the first end of the capacitor are respectively used for accessing an initial signal;
the second end of the first AND gate is connected to a second power supply voltage signal;
a first end of the second AND gate is connected to a first power supply voltage signal, a second end of the second AND gate is connected with a second end of the capacitor, and a third end of the second AND gate is connected with a third end of the first AND gate and then connected with an input end of the laser;
the first end of the resistor is connected with the second end of the capacitor, and the second end of the resistor is grounded;
shaping the initial signal through the first power supply voltage signal and the second AND gate to obtain a first overvoltage short pulse signal; shaping the initial signal through the second power supply voltage signal and the first AND gate to obtain a second overvoltage short pulse signal; the first overvoltage short pulse signal and the second overvoltage short pulse signal are superposed and input into the laser to generate a very short overvoltage and overcurrent driving waveform, so that a carrier injected into the laser in a short time is quickly saturated, and the duration time of the rising edge of the output target laser pulse is shorter than the duration time of the rising edge of the initial signal.
5. The signal processing method for the lidar of claim 4, wherein the pulse falling edge carrier bleeding circuit comprises a switch, one end of the switch is connected with the third end of the second and gate, and the other end of the switch is connected with the second end of the resistor; when the switch is switched on, the pulse falling edge carrier discharge circuit is switched on, so that the anode and the cathode of the laser form a loop, the carrier discharge process in the laser is accelerated, and the duration of the falling edge of the output target laser pulse is shorter than the duration of the falling edge of the initial signal.
6. The signal processing method for lidar of claim 5, wherein the laser pulse modulation circuit further comprises a diode, the diode is disposed between the third terminal of the first AND gate and the third terminal of the second AND gate, and is used for isolating an upper loop and a lower loop and preventing an influence of a low level after a transient overvoltage of the lower loop on the upper loop.
7. The signal processing method for lidar of any of claims 1-6, wherein after the laser generates the target laser pulse based on the target signal, further comprising:
receiving echo pulses corresponding to the target laser pulses;
and identifying effective pulses from the echo pulses, and executing a laser detection task according to the effective pulses.
8. A lidar, comprising: a controller, a laser pulse modulation circuit, and a laser, wherein,
the laser pulse modulation circuit modulates an input initial signal to obtain a target signal;
the controller is used for controlling the generation of target laser pulses according to the target signals; the laser pulse modulation circuit comprises a pulse rising edge transient pressurizing circuit and a pulse falling edge carrier discharging circuit, and the pulse rising edge transient pressurizing circuit and the pulse falling edge carrier discharging circuit modulate an initial signal to shorten the rising and falling time of a target laser pulse generated by the laser.
9. The lidar of claim 8, wherein the laser pulse modulation circuit is specifically configured to:
the initial signal forms an overvoltage short pulse signal through the pulse rising edge transient pressurizing circuit, the overvoltage short pulse signal is input into the laser, and carriers injected in a short time are quickly saturated, so that the rising edge of a target laser pulse generated by the laser lasts for a shorter time than the rising edge of the initial signal;
the pulse falling edge carrier discharge circuit enables the positive electrode and the negative electrode of the laser to form a loop, and accelerates the discharge of carriers in the laser, so that the duration of the falling edge of the target laser pulse generated by the laser is shorter than the duration of the falling edge of the initial signal.
10. The lidar of claim 8, wherein the laser pulse modulation circuit is a differential circuit comprising a resistor and a capacitor.
11. The lidar of claim 10, wherein the pulse rising edge transient pressurization circuit comprises a resistor, a capacitor, a first AND gate, a second AND gate, wherein,
the first end of the first AND gate and the first end of the capacitor are respectively used for accessing an initial signal;
the second end of the first AND gate is connected to a second power supply voltage signal;
a first end of the second AND gate is connected to a first power supply voltage signal, a second end of the second AND gate is connected with a second end of the capacitor, and a third end of the second AND gate is connected with a third end of the first AND gate and then connected with an input end of the laser;
the first end of the resistor is connected with the second end of the capacitor, and the second end of the resistor is grounded;
shaping the initial signal through the first power supply voltage signal and the second AND gate to obtain a first overvoltage short pulse signal; shaping the initial signal through the second power supply voltage signal and the first AND gate to obtain a second overvoltage short pulse signal; the first overvoltage short pulse signal and the second overvoltage short pulse signal are superposed and input into the laser to generate a very short overvoltage and overcurrent driving waveform, so that a carrier injected into the laser in a short time is quickly saturated, and the duration time of the rising edge of the output target laser pulse is shorter than the duration time of the rising edge of the initial signal.
12. The lidar of claim 11, wherein the pulse falling edge carrier bleed circuit comprises a switch having one end connected to a third terminal of the second and gate and another end connected to a second terminal of the resistor; when the switch is switched on, the pulse falling edge carrier discharge circuit is switched on, so that the anode and the cathode of the laser form a loop, the carrier discharge process in the laser is accelerated, and the duration of the falling edge of the output target laser pulse is shorter than the duration of the falling edge of the initial signal.
13. The lidar of claim 12, wherein the laser pulse modulation circuit further comprises a diode disposed between the third terminal of the first and gate and the third terminal of the second and gate for isolating an upper and lower loop and preventing an effect of a low level after a transient overvoltage on the upper loop.
14. Lidar according to any of claims 8-13, further comprising a signal receiver,
the signal receiver is used for receiving echo pulses corresponding to the target laser pulses;
and the controller is used for identifying effective pulses from the echo pulses and executing a laser detection task according to the effective pulses.
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