Research On Two-Dimensional Lidar Ranging Technique

The development of unmanned technology so that the lidar has become the core components of intelligent vehicles,with the unmanned car research heat up the temperature,the demand for automotive lidar is also increasing,the current car lidar products mainly by the United States velodyne company,its high The price has become an obstacle to the production of unmanned vehicles,car lidar localization,low cost is the future direction of development.In this paper,a two-dimensional lidar is implemented to determine the distance of the surrounding obstacle.This paper briefly introduces the working principle of the lidar and the principle of the avalanche diode detector.Based on these principles,the optical design of the lidar transmission system and the design of the laser drive circuit are designed and realized.Select the appropriate laser,collimator,and modulator.The reception of optical signal is the core of the lidar.In this paper,the mechanical structure of the receiver and the circuit is designed and processed.The optical signal receiving and amplifying circuit is designed,and the signal is converted by AD.Through the FPGA programming to achieve the modulation of the outgoing light pulse and the AD after the conversion of the signal detection,and accordingly the timing.Lidar detection of the surrounding environment requires the radar can be high-speed rotation,we designed and processed a rotating platform can achieve a smooth high-speed rotation,due to the use of fiber optic slip ring and slip ring,the rotation process does not occur fiber or signal line winding,To ensure the smooth operation of the platform detection equipment.Finally,the distance measurement is carried out through the whole system,the data of the ranging are analyzed,the reason of the error is analyzed,and the way to reduce the error and other methods of analyzing the data are put forward.