Laser radar receiving end component, fault diagnosis method thereof and laser radar

Abstract

The present invention relates to a fault diagnosis method that can be used for a laser radar receiving end, wherein the laser radar receiving end includes a photoelectric sensor, a transimpedance amplifier unit and an analog-to-digital converter, wherein the transimpedance amplifier unit can amplify the output of the photoelectric sensor, and the analog-to-digital converter can perform analog-to-digital conversion on the output of the transimpedance amplifier unit, wherein the fault diagnosis method includes: inputting a test signal into the transimpedance amplifier unit; and judging whether the laser radar receiving end has a fault according to the output of the analog-to-digital converter.

Description

Technical Field

[0001] The present invention generally relates to the field of optoelectronic technology, and in particular to a laser radar receiving end component, a fault diagnosis method thereof, and a laser radar. Background Art

[0002] LiDAR is a general term for laser active detection sensor equipment. Its working principle is as follows: the transmitter of the LiDAR emits a beam of laser. After the laser beam encounters an object, it is diffusely reflected and returns to the laser receiver. The radar module multiplies the time interval between sending and receiving signals by the speed of light and then divides it by 2 to calculate the distance between the transmitter and the object. According to the number of laser beams, there are usually single-line LiDAR, 4-line LiDAR, 8 / 16 / 32 / 64-line LiDAR, etc. One or more laser beams are emitted at different angles in the vertical direction and scanned in the horizontal direction to detect the three-dimensional contour of the target area. Multiple measurement channels (lines) are equivalent to scanning planes with multiple inclination angles. Therefore, the more laser beams there are in the vertical field of view, the higher the angular resolution in the vertical direction and the greater the density of the laser point cloud.

[0003] The laser radar is small in size, and it contains a large number of electronic components and circuits. Taking the circuit design of the laser receiving end of a mechanical laser radar as an example, it includes optoelectronic devices such as APD, TIA, Demux, Mux, and high-voltage drive circuits. Various components may malfunction, such as failure, short circuit, open circuit, and jamming. The current laser radar has no detection means, and there is a problem that the laser is not successfully emitted due to device damage, but the system cannot detect it and treats it as if there is no obstacle ahead. At present, it is urgent to solve the problem that when radar is used as a key sensor for perception in autonomous driving, there is a safety risk caused by device failure.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the prior art in the field. Summary of the invention

[0005] In view of at least one defect of the prior art, the present invention provides a fault diagnosis method that can be used for a laser radar receiving end, wherein the laser radar receiving end includes a photoelectric sensor, a transimpedance amplifier unit, and an analog-to-digital converter, wherein the transimpedance amplifier unit can amplify the output of the photoelectric sensor, and the analog-to-digital converter can perform analog-to-digital conversion on the output of the transimpedance amplifier unit, wherein the fault diagnosis method includes:

[0006] Inputting a test signal to the transimpedance amplification unit;

[0007] According to the output of the analog-to-digital converter, it is determined whether there is a fault in the laser radar receiving end.

[0008] According to one aspect of the present invention, the step of determining whether there is a fault at the laser radar receiving end based on the output of the analog-to-digital converter includes: comparing the output of the analog-to-digital converter with a preset waveform to determine whether there is a fault at the laser radar receiving end and the type of fault.

[0009] According to one aspect of the present invention, the fault includes one or more of the following: an open circuit of the transimpedance amplification unit, a short circuit of the power supply, and abnormal proportional amplification of the transimpedance amplification unit.

[0010] According to one aspect of the present invention, the test signal comprises a high-low alternating pulse signal.

[0011] According to one aspect of the present invention, the laser radar receiving end includes a demultiplexer, a plurality of photoelectric sensors, a plurality of transimpedance amplification units corresponding to and coupled to the plurality of photoelectric sensors, and a multiplexer, wherein the demultiplexer is coupled to the plurality of transimpedance amplification units and can selectively select one of the transimpedance amplification units, and the plurality of transimpedance amplification units are coupled to the analog-to-digital converter through the multiplexer.

[0012] The step of inputting the test signal to the transimpedance amplification unit includes: inputting the test signal to a plurality of the transimpedance amplification units in sequence.

[0013] The present invention also relates to a laser radar receiving end component, comprising:

[0014] A photoelectric sensor configured to convert an incident light signal into an electrical signal;

[0015] a transimpedance amplification unit, coupled to the photoelectric sensor and configured to amplify the electrical signal output by the photoelectric sensor;

[0016] an analog-to-digital converter, coupled to the transimpedance amplification unit, capable of receiving an output of the transimpedance amplification unit and performing analog-to-digital conversion;

[0017] a test signal generating unit, coupled to the transimpedance amplifying unit and configured to provide a test signal to the transimpedance amplifying unit;

[0018] A fault diagnosis unit is configured to: in response to the test signal, determine whether there is a fault in the laser radar receiving end according to the output of the analog-to-digital converter.

[0019] According to one aspect of the present invention, the fault diagnosis unit is configured to compare the output of the analog-to-digital converter with a preset waveform to determine whether there is a fault at the laser radar receiving end and the type of the fault.

[0020] According to one aspect of the present invention, the fault includes one or more of the following: an open circuit of the transimpedance amplification unit, a short circuit of the power supply, and abnormal proportional amplification of the transimpedance amplification unit.

[0021] According to one aspect of the present invention, the test signal comprises a high-low alternating pulse signal.

[0022] According to one aspect of the present invention, the laser radar receiving end component includes a demultiplexer, a plurality of photoelectric sensors, a plurality of transimpedance amplification units corresponding to and coupled to the plurality of photoelectric sensors, and a multiplexer, wherein the demultiplexer is coupled to the plurality of transimpedance amplification units and can selectively select one of the transimpedance amplification units, and the plurality of transimpedance amplification units are coupled to the analog-to-digital converter through the multiplexer.

[0023] The test signal generating unit is configured to input the test signal to the plurality of transimpedance amplifying units in sequence.

[0024] According to one aspect of the present invention, the laser radar receiving end component also includes a selection switch, and the test signal generating unit and the photoelectric sensor are both coupled to the transimpedance amplification unit through the selection switch, wherein the selection switch is configured to allow only the output signal of the test signal generating unit and one of the photoelectric sensor to be coupled to the transimpedance amplification unit at the same time.

[0025] According to one aspect of the present invention, the test signal generating unit and the fault diagnosis unit are integrated together.

[0026] The present invention also relates to a laser radar, comprising:

[0027] a transmitter assembly configured to transmit a probe beam; and

[0028] The laser radar receiving end component as described above is configured to receive the radar echo after the detection light beam is reflected on the obstacle.

[0029] In the technical solution of the embodiment of the present invention, the coverage rate of fault diagnosis is high, which can cover all failure scenarios of the laser radar receiving end circuit, and the implementation complexity is low. The traditional diagnosis scheme requires the front-end demultiplexer and transimpedance amplifier unit and the back-end two-stage multiplexer, the driver of the analog-to-digital converter, etc. to be detected separately, and the circuit is complicated. In the present invention, by providing a test signal to the transimpedance amplifier unit, it is possible to detect whether each channel of the laser radar receiving end is working normally, and through the output of the analog-to-digital converter, the device and location where the fault may occur can be diagnosed. The solution of the present invention does not add dedicated detection chips and complex circuits, so the cost is low. At the same time, the diagnostic logic circuit does not affect the normal working circuit, and even if the diagnostic circuit is damaged, it can be identified by the FPGA logic, and it has high robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0031] Figure 1 A schematic diagram of a laser radar receiving end component is shown;

[0032] Figure 2 A fault diagnosis method that can be used for a laser radar receiving end according to an embodiment of the present invention is shown;

[0033] Figure 3 A schematic diagram of performing a test according to an embodiment of the present invention is shown;

[0034] Figure 4 shows the waveform of a test signal and the waveform of an output signal according to an embodiment of the present invention;

[0035] Figure 5 An embodiment of a laser radar receiving end is shown;

[0036] Figure 6 A laser radar receiving end component according to an embodiment of the present invention is shown; and

[0037] Figure 7 A laser radar receiving end component according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0038] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] The disclosure below provides many different embodiments or examples to realize different structures of the present invention. In order to simplify the disclosure of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present invention. In addition, the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art can appreciate the application of other processes and / or the use of other materials.

[0043] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0044] Figure 1 A schematic diagram of a laser radar receiving end component is shown. As shown in the figure, the laser radar receiving end component includes a photoelectric sensor (such as an avalanche photodiode APD), a transimpedance amplifier unit TIA, and an analog-to-digital converter ADC. Among them, the photoelectric sensor receives the echo signal of the laser radar and converts the optical signal into an electrical signal. Usually the electrical signal is a current signal and is relatively weak, so the signal can be amplified and converted into a voltage signal through the transimpedance amplifier unit TIA. Then, analog-to-digital conversion is performed through the analog-to-digital converter ADC to generate a digital signal for subsequent signal processing of the laser radar, such as generating point cloud data to characterize one or more parameters such as the distance, angle, and reflectivity of the obstacle.

[0045] Figure 2 A fault diagnosis method 100 that can be used for a laser radar receiving end according to an embodiment of the present invention is shown and will be described in detail below with reference to the accompanying drawings.

[0046] like Figure 2 As shown, the fault diagnosis method 100 includes:

[0047] In step S101, a test signal is input to the transimpedance amplification unit.

[0048] Figure 1 In the laser radar working process, the input signal of the transimpedance amplifier unit TIA comes from the photoelectric sensor. Figure 3As shown, in order to detect whether the receiving end is working properly before the laser radar starts working or during the operation interval, a test signal is input to the transimpedance amplifier unit separately instead of the electrical signal output of the photoelectric sensor to test whether the link of the laser radar receiving end can work properly. According to one embodiment of the present invention, when the test signal is input, the photoelectric sensor is shielded so that it does not generate a signal output, or the signal generated on the photoelectric sensor cannot be provided to the transimpedance amplifier unit TIA, so that the test signal and the signal of the photoelectric sensor do not interfere with each other.

[0049] In step S102, it is determined whether there is a fault in the laser radar receiving end based on the output of the analog-to-digital converter.

[0050] After the test signal is input in step S101, the transimpedance amplifier unit amplifies it as an input signal, and then performs analog-to-digital conversion and output through the analog-to-digital converter ADC. By collecting and analyzing the output of the analog-to-digital converter, it can be determined whether the link of the laser radar receiving end is working normally.

[0051] For example, the output of the analog-to-digital converter ADC can be compared with a preset waveform to determine whether the laser radar receiving end has a fault and the type of fault. Common faults of the laser radar receiving end include: open circuit of the transimpedance amplifier unit, short circuit of the power supply, abnormal ratio amplification of the transimpedance amplifier unit, etc.

[0052] In addition, according to a preferred embodiment of the present invention, the test signal comprises a high-low alternating pulse signal. Figure 4 The PWM waveform in shows the waveform of the test signal according to this embodiment. The test signal includes a plurality of continuous square wave pulses, and the amplitudes of adjacent pulses are different, so that the pulses can be distinguished by odd and even values, which can further improve the accuracy of fault diagnosis.

[0053] Figure 4 The Q1, Q2, Q3 and Q4 waveforms in the figure respectively show the waveforms output by the analog-to-digital converter ADC when various possible faults occur.

[0054] As described in waveform Q1, corresponding to one or more pulses in the test signal, the lack of corresponding output pulses in waveform Q1 indicates that there is a fault at the receiving end of the laser radar, and a possible fault may be an open circuit in the transimpedance amplifier unit.

[0055] As shown in waveform Q2, the amplitude of the first pulse is too high, and the amplitude of the third pulse is clamped to be basically equal to the second pulse, which also indicates that there is a fault in the receiving end of the lidar. Possible faults include bias voltage faults (such as unstable APD bias voltage), which causes output offset.

[0056] As shown in waveform Q3, although the ratios between the pulses are normal, each pulse is abnormally amplified compared to the test signal PWM. For example, assuming that the normal amplitudes of the high and low pulses output by the analog-to-digital converter ADC are 1 and 0.8 respectively, but the amplitudes of the high and low pulses currently output are 2 and 1.6 respectively, which are amplified by 2 times on the basis of the normal amplitudes, which also indicates that there is a fault at the receiving end of the laser radar, and a possible fault is that the transimpedance amplifier unit may be faulty.

[0057] As shown in waveform Q4, if there is one stage of operational amplifier, the pulse will change proportionally, so there is a maximum value Max and a minimum value Min.

[0058] Figure 5 An embodiment of a laser radar receiving end is shown, which includes a demultiplexer De-Mux, a plurality of photoelectric sensors APD 1, APD 2, ..., APD N, a plurality of transimpedance amplifier units TIA 1, TIA 2, ..., TIA N corresponding to and coupled to the plurality of photoelectric sensors, a multiplexer Mux, and an analog-to-digital converter ADC, wherein the demultiplexer De-Mux is coupled to the plurality of transimpedance amplifier units and can selectively select one of the transimpedance amplifier units, and the plurality of transimpedance amplifier units are coupled to the analog-to-digital converter through the multiplexer. Each photoelectric sensor and the transimpedance amplifier unit connected thereto constitute a channel.

[0059] The demultiplexer De-Mux can, for example, output an enable signal to each transimpedance amplifier unit in sequence, thereby activating each transimpedance amplifier unit in sequence. When one of the transimpedance amplifier units is activated, a test signal is provided to the activated transimpedance amplifier unit to test whether the channel and the downstream analog-to-digital converter are working properly.

[0060] Figure 6 A laser radar receiving end component 200 according to an embodiment of the present invention is shown below. Figure 6 Detailed description.

[0061] like Figure 6As shown, the laser radar receiving end component 200 includes a photoelectric sensor 201, a transimpedance amplifier unit 202, an analog-to-digital converter 203, a test signal generating unit 204, and a fault diagnosis unit 205. The photoelectric sensor 201 can convert an incident light signal into an electrical signal, and the transimpedance amplifier unit 202 is coupled to the photoelectric sensor 201 and configured to amplify the electrical signal output by the photoelectric sensor 201. The analog-to-digital converter 203 is coupled to the transimpedance amplifier unit 202, and can receive the output of the transimpedance amplifier unit and perform analog-to-digital conversion. The test signal generating unit 204 is used to generate a test signal, which is coupled to the transimpedance amplifier unit 202 and configured to provide a test signal to the transimpedance amplifier unit. Figure 6 As shown, the photoelectric sensor 201 and the test signal generating unit 204 can be coupled to the transimpedance amplifying unit 202 through the selection switch 206. The selection switch 206 can, for example, have a first position and a second position. When in the first position, it can couple the output signal of the photoelectric sensor 201 to the transimpedance amplifying unit 202; when in the second position, it can couple the test signal generated by the test signal generating unit 204 to the transimpedance amplifying unit 202. The selection switch 206 only allows the output signal of one of the test signal generating unit 204 and the photoelectric sensor 201 to be coupled to the transimpedance amplifying unit at the same time. Thereby, interference between the test signal and the output signal of the photoelectric sensor 201 is avoided.

[0062] The fault diagnosis unit 205 is coupled to the output end of the analog-to-digital converter and is configured to respond to the test signal and determine whether the laser radar receiving end has a fault according to the output of the analog-to-digital converter. The fault diagnosis unit 205 can, for example, execute the fault diagnosis method 100 described above to determine whether there is a fault and the location and type of the specific fault. Figure 1-5 The features described can be combined with Figure 6 The technical solutions can be used without creative labor, which falls within the protection scope of the present invention.

[0063] According to one embodiment of the present invention, the fault diagnosis unit 205 is configured to compare the output of the analog-to-digital converter 203 with a preset waveform to determine whether there is a fault at the laser radar receiving end and the type of the fault, such as the above reference Figure 4 The detailed description will not be repeated here.

[0064] Common faults may include one or more of the following: open circuit of the transimpedance amplifier unit, short circuit of the power supply, abnormal ratio amplification of the transimpedance amplifier unit. In addition, the test signal may include a high-low alternating pulse signal, so as to more accurately diagnose the fault of the laser radar receiving end link.

[0065] In addition, the laser radar receiving end component may include multiple channels, each channel includes a photoelectric sensor and a transimpedance amplifier unit corresponding to and coupled thereto, and the laser radar receiving end component includes a demultiplexer and a multiplexer, the demultiplexer is coupled to the multiple transimpedance amplifier units and can selectively select one of the transimpedance amplifier units, and the multiple transimpedance amplifier units are coupled to the analog-to-digital converter through the multiplexer, and its structural schematic diagram is shown as follows Figure 5 In this case, the test signal generating unit 204 may input the test signal to the plurality of transimpedance amplifying units in sequence.

[0066] In addition, according to a preferred embodiment of the present invention, the test signal generating unit 204 and the fault diagnosis unit 205 are integrated together to form an integrated controller, for example, implemented by FPGA, DSP or ASIC. Figure 7 As shown, the test signal generating unit 204 may be integrated with a fault diagnosis module, which may be implemented by software, hardware, or a combination of software and hardware. The output of the analog-to-digital converter 203 is directly coupled to the test signal generating unit 204, and fault diagnosis is performed through the fault diagnosis module integrated therein. This method is conducive to making the entire laser radar receiving end component more compact and less power consuming.

[0067] The present invention also relates to a laser radar, comprising a transmitting end component and the laser radar receiving end component as described above, wherein the transmitting end component can emit a detection beam, and the laser radar receiving end component can receive a radar echo after the detection beam is reflected on an obstacle.

[0068] In the technical solution of the embodiment of the present invention, the coverage rate of fault diagnosis is high, which can cover all failure scenarios of the laser radar receiving end circuit, and the implementation complexity is low. The traditional diagnosis scheme needs to separately detect the front-end demultiplexer and transimpedance amplifier unit and the back-end two-stage multiplexer, the driver of the analog-to-digital converter, etc., and the circuit is complicated. In the present invention, by providing a test signal to the transimpedance amplifier unit, it is possible to detect whether each channel of the laser radar receiving end is working normally, and through the output of the analog-to-digital converter, the device and location where the fault may occur can be diagnosed. No dedicated detection chip and complex circuit are added to the solution of the present invention, so the cost is low. At the same time, the diagnostic logic circuit does not affect the normal working circuit, and even if the diagnostic circuit is damaged, it can be identified by the controller (such as FPGA, DSP, or ASIC) logic, and the robustness is high.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0070] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A fault diagnosis method for a laser radar receiving end, wherein the laser radar receiving end comprises a photoelectric sensor, a transimpedance amplifier unit, an analog-to-digital converter, and a test signal generating unit, wherein the transimpedance amplifier unit can amplify the output of the photoelectric sensor, and the analog-to-digital converter can perform analog-to-digital conversion on the output of the transimpedance amplifier unit, wherein the fault diagnosis method include: separately inputting a test signal from the test signal generating unit to the transimpedance amplifying unit; According to the output of the analog-to-digital converter, it is determined whether the laser radar receiving end has a fault. Wherein, when the test signal is input to the transimpedance amplification unit, the signal from the photoelectric sensor is not input to the transimpedance amplification unit.

2. The fault diagnosis method according to claim 1, wherein the step of judging whether there is a fault at the laser radar receiving end according to the output of the analog-to-digital converter is include: The output of the analog-to-digital converter is compared with a preset waveform to determine whether there is a fault at the laser radar receiving end and the type of fault.

3. The fault diagnosis method according to claim 1 or 2, wherein the fault comprises one or more of the following: an open circuit of the transimpedance amplification unit, a short circuit of the power supply, and an abnormal proportional amplification of the transimpedance amplification unit.

4. The fault diagnosis method according to claim 1 or 2, wherein the test signal comprises a high-low alternating PWM pulse signal.

5. The fault diagnosis method according to claim 1 or 2, wherein the laser radar receiving end comprises a demultiplexer, a plurality of photoelectric sensors, a plurality of transimpedance amplification units corresponding to and coupled to the plurality of photoelectric sensors, and a multiplexer, the demultiplexer is coupled to the plurality of transimpedance amplification units and can selectively select one of the transimpedance amplification units, the plurality of transimpedance amplification units are coupled to the analog-to-digital converter through the multiplexer, The step of separately inputting a test signal from the test signal generating unit to the transimpedance amplifying unit include: The test signal is input into the plurality of transimpedance amplification units in sequence.

6. A laser radar receiving end component, include: A photoelectric sensor configured to convert an incident light signal into an electrical signal; a transimpedance amplification unit, coupled to the photoelectric sensor and configured to amplify the electrical signal output by the photoelectric sensor; an analog-to-digital converter, coupled to the transimpedance amplification unit, capable of receiving an output of the transimpedance amplification unit and performing analog-to-digital conversion; a test signal generating unit, coupled to the transimpedance amplifying unit and configured to provide a test signal to the transimpedance amplifying unit separately; A fault diagnosis unit, wherein the fault diagnosis unit is configured to: in response to the test signal, determine whether the laser radar receiving end has a fault according to the output of the analog-to-digital converter, Wherein, when the test signal is input to the transimpedance amplification unit, the signal from the photoelectric sensor is not input to the transimpedance amplification unit.

7. A laser radar receiving end component according to claim 6, wherein the fault diagnosis unit is configured to compare the output of the analog-to-digital converter with a preset waveform to determine whether there is a fault in the laser radar receiving end and the type of fault.

8. The laser radar receiving end component according to claim 6 or 7, wherein the fault includes one or more of the following: an open circuit in the transimpedance amplifier unit, a short circuit in the power supply, and abnormal proportional amplification of the transimpedance amplifier unit.

9. A laser radar receiving end component according to claim 6 or 7, wherein the test signal comprises a high-low alternating pulse signal.

10. The laser radar receiving end component according to claim 6 or 7, wherein the laser radar receiving end component comprises a demultiplexer, a plurality of photoelectric sensors, a plurality of transimpedance amplification units corresponding to and coupled to the plurality of photoelectric sensors, and a multiplexer, wherein the demultiplexer is coupled to the plurality of transimpedance amplification units and can selectively select one of the transimpedance amplification units, and the plurality of transimpedance amplification units are coupled to the analog-to-digital converter via the multiplexer, The test signal generating unit is configured to input the test signal to the plurality of transimpedance amplifying units in sequence.

11. The laser radar receiving end component according to claim 6 or 7 further includes a selection switch, through which the test signal generating unit and the photoelectric sensor are both coupled to the transimpedance amplification unit, wherein the selection switch is configured to allow only the output signal of the test signal generating unit and one of the photoelectric sensor to be coupled to the transimpedance amplification unit at the same time.

12. The laser radar receiving end component according to claim 6 or 7, wherein the test signal generating unit and the fault diagnosis unit are integrated together.

13. A laser radar, include: a transmitter assembly configured to transmit a detection beam; and The laser radar receiving end component as described in any one of claims 6-12 is configured to receive the radar echo after the detection beam is reflected on an obstacle.

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