Lidar system, electronic device, and vehicle

Abstract

The application relates to a laser radar system, an electronic device and a vehicle, which comprises a transmitting module, a receiving module and a control module, the transmitting module comprises a transmitter and a transmitting lens, and the receiving module comprises a receiving lens and a receiver; the transmitter comprises a plurality of light emitting units, each of which is used for emitting a detection signal; the transmitting lens emits the detection signal after collimation; the receiving lens transmits a returned echo signal of the detection signal reflected by a target to the receiver; the receiver comprises a plurality of receiving units, each of which is used for receiving the echo signal, and the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens; the optical path between part or all of the light emitting units and the transmitting lens is not equal to the focal length of the transmitting lens. In the case that the number of light emitting units is limited, the pixel number of the receiver can be maximally utilized, so that the angular resolution of the system is optimized.

Description

Technical Field

[0001] This application relates to the field of radar technology, and more particularly to a lidar system, electronic equipment, and vehicle. Background Technology

[0002] Vehicle-mounted LiDAR systems are mainly classified into three categories based on whether they include a scanning device: non-solid-state, hybrid solid-state, and all-solid-state. Non-solid-state mainly refers to early traditional mechanical LiDAR (Light Detection and Ranging), which obtains a 3D point cloud map by vertically arranging multiple laser beams and mechanically rotating them 360°. Hybrid solid-state mainly includes Micro-electro-mechanical System (MEMS) LiDAR, which differs from mechanical LiDAR in that it integrates all mechanical components onto a single chip using MEMS micromirrors and is then manufactured using semiconductor processes. All-solid-state refers to a LiDAR system without a scanning device, mainly including optical phased array LiDAR and Flash LiDAR. Flash LiDAR involves emitting laser pulses across the entire field of view, and the receiving end uses a focal plane array detector to collect the returned laser pulse signals, using the time-of-flight method to obtain a 3D point cloud map. However, in related technologies, the resolution of all-solid-state Flash LiDAR systems is limited by the number of light-emitting units in the transmitter. How to improve the angular resolution of the system under the limitation of the number of light-emitting units in the transmitter is an urgent technical problem to be solved. Summary of the Invention

[0003] In view of this, a lidar system, electronic device and vehicle are proposed to solve the problem that the angular resolution of the system is difficult to improve when the number of light-emitting units in the transmitter is limited in the existing technology.

[0004] In a first aspect, embodiments of this application provide a lidar system comprising: a transmitting module, a receiving module, and a control module. The transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver. The transmitter includes multiple light-emitting units, each of which emits a detection signal under the control of the control module. The transmitting lens collimates the detection signal before emitting it. The receiving lens transmits a received echo signal to the receiver, the echo signal being a signal reflected back by a target from the detection signal. The receiver includes multiple receiving units, each of which receives the echo signal. The optical path between some or all of the light-emitting units and the transmitting lens is not equal to the focal length of the transmitting lens, while the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens. The system's illumination type is either flood illumination or mixed illumination. This first aspect provides a lidar system with flood illumination or mixed illumination, which, when the number of light-emitting units is limited, maximizes the use of the receiver's pixel count to optimize the system's angular resolution and meets the illumination type requirements of the corresponding detection scenario. For example, floodlight illumination, with its uniform angular resolution and absence of noticeable dark areas within the field of view, is suitable for detection scenarios requiring high resolution and relatively short detection distances. Hybrid illumination, on the other hand, combines the long detection distance of stencil illumination with the uniform angular resolution and absence of noticeable dark areas within the field of view of floodlight illumination, making it suitable for detection scenarios requiring relatively low resolution and relatively long detection distances.

[0005] According to the first aspect, in one possible implementation, the transmitting module further includes: an optical path adjustment device, which comprises a flat glass plate and / or a light-diffusing device, wherein the distance between each light-emitting unit and the transmitting lens is equal to the focal length of the transmitting lens; wherein the illumination type of the system is flood illumination, and the optical path adjustment device is located between the transmitter and the transmitting lens, so that the optical path between each light-emitting unit and the transmitting lens is greater than the focal length of the transmitting lens, thereby achieving flood illumination of the system; or the illumination type of the system is mixed illumination, and the optical path adjustment device is located between some of the light-emitting units and the transmitting lens, so that the optical path between some of the light-emitting units and the transmitting lens is greater than the focal length of the transmitting lens, and the optical path between the remaining light-emitting units and the transmitting lens is equal to the focal length of the transmitting lens, thereby achieving mixed illumination of the system. Through the above methods, flood illumination or mixed illumination of the lidar system is achieved using the optical path adjustment device.

[0006] According to the first aspect, in one possible implementation, the illumination type of the system is flood illumination, and the distance between each light-emitting unit and the transmitting lens is less than the focal length of the transmitting lens, thereby achieving flood illumination of the system. In this way, the optical path between the light-emitting unit and the transmitting lens can be made less than the focal length of the transmitting lens by changing the distance between them, thus achieving flood illumination of the system.

[0007] According to the first aspect, in one possible implementation, the system's illumination type is floodlight illumination, and the distance between each light-emitting unit and the transmitting lens is greater than the focal length of the transmitting lens, thus achieving floodlight illumination of the system. In this way, the optical path between the light-emitting unit and the transmitting lens can be made greater than the focal length of the transmitting lens by changing the distance between them, thereby achieving floodlight illumination of the system.

[0008] According to the first aspect, in one possible implementation, the system's lighting type is mixed lighting. The emitting module further includes an electrically controlled atomizing glass device located between the transmitter and the emitting lens. The distance between the transmitter and the emitting lens is less than or equal to the focal length of the emitting lens. The control module is further configured to control power supply to a portion of the electrically controlled atomizing glass device, increasing the optical path between the light-emitting unit corresponding to the de-energized area of ​​the electrically controlled atomizing glass device and the emitting lens to be greater than or equal to the focal length of the emitting lens. Conversely, the optical path between the light-emitting unit corresponding to the energized area of ​​the electrically controlled atomizing glass device and the emitting lens remains equal to or less than the focal length of the emitting lens, thus achieving mixed lighting for the system. Through the above method, mixed lighting of the system is achieved using an electrically controlled atomizing glass device with zoned controllable power supply.

[0009] According to the first aspect, in one possible implementation, the control module is further configured to control the on-time and emission time of each of the light-emitting units, and the on-time and exposure time of each of the receiving units, based on the detection scenario. In this manner, since floodlighting and mixed illumination (including the floodlighting area) homogenize emission energy, a certain detection distance will be sacrificed at the same field of view. Controlling the on-time and emission time of each light-emitting unit, and the on-time and exposure time of the receiving units, based on the detection scenario, allows for dynamic configuration to compensate for the detection performance of specific areas.

[0010] According to the first aspect, in one possible implementation, the detection scenario is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit; wherein controlling the turn-on time and light-emitting time of each light-emitting unit, and controlling the turn-on time and exposure time of each receiving unit according to the detection scenario, includes: determining the first receiving unit corresponding to each first light-emitting unit, the first turn-on time, and the first light-emitting time corresponding to each first receiving unit, based on the first light-emitting unit, the first turn-on time, and the first light-emitting time indicated by the detection scenario; controlling each first light-emitting unit to turn on according to the corresponding first turn-on time and continuously emit light for the first light-emitting time, and controlling each first receiving unit to turn on according to the corresponding first turn-on time and continuously expose for at least the first exposure time. Thus, by limiting the first light-emitting unit that needs to be turned on and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit in the detection scenario, precise control of "the turn-on time and light-emitting time of each light-emitting unit, and the turn-on time and exposure time of each receiving unit" based on the detection scenario can be achieved, realizing dynamic configuration based on the detection scenario.

[0011] According to the first aspect, in one possible implementation, the receiving module further includes a filter for filtering the echo signal before transmitting it to the receiver. This can remove interference signals from the echo signal and reduce the adverse effects of interfering light on subsequent detection of target information such as distance based on the echo signal.

[0012] According to the first aspect, in one possible implementation, the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens. This ensures that the lens's f-tanθ or f-θ distortion is small, thereby enabling the system's lateral (vertical) field of view to be extended to close to 180°.

[0013] According to the first aspect, in one possible implementation, the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. This allows the angular resolution of the system to be no longer limited by the number of light-emitting units, enabling the system to maintain a greater angular resolution with a smaller number of light-emitting units.

[0014] Secondly, embodiments of this application provide a lidar system, the system comprising: a transmitting module, a receiving module, and a control module. The transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver. The transmitter includes multiple light-emitting units, each of which emits a detection signal under the control of the control module. The transmitting lens is used to collimate the detection signal before emitting it. The receiving lens is used to transmit a received echo signal to the receiver, the echo signal being a signal returned by a target reflecting the detection signal. The receiver includes multiple receiving units, each of which receives the echo signal, and the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens. The control module is used to adjust the optical path between some or all of the light-emitting units and the transmitting lens according to the current illumination type being detected, wherein the illumination type of the system includes at least two of dot matrix illumination, flood illumination, and mixed illumination. The first aspect provides a lidar system with adjustable illumination type. Even with a limited number of light-emitting units, it meets the illumination type requirements of corresponding detection scenarios, maximizing the utilization of receiver pixels under both flood illumination and mixed illumination to optimize the system's angular resolution. For example, flood illumination offers uniform angular resolution and eliminates noticeable dark areas within the field of view, making it suitable for detection scenarios with high resolution requirements and relatively short detection distances. Mixed illumination combines the long detection distance of array illumination with the uniform angular resolution and absence of noticeable dark areas of flood illumination, making it suitable for detection scenarios with relatively low resolution requirements and relatively long detection distances. Similarly, array illumination offers a long detection distance, making it suitable for detection scenarios with low resolution requirements and long detection distances.

[0015] According to the second aspect, in one possible implementation, the transmitting module further includes an optical path adjustment component, which comprises a flat glass plate and / or a light-diffusing device; wherein, adjusting the optical path between some or all of the light-emitting units and the transmitting lens according to the currently detected illumination type includes: adjusting the relative positional relationship between the optical path adjustment component and the transmitter according to the currently detected illumination type and the distance between the transmitter and the transmitting lens, thereby achieving adjustment of the optical path between some or all of the light-emitting units and the transmitting lens. Through the above method, the optical path adjustment component enables smooth switching of the lidar system between different illumination types.

[0016] According to the second aspect, in one possible implementation, if the illumination type of the system includes both dot illumination and flood illumination, then the transmitting lens is configured as a zoom lens. Adjusting the optical path between some or all of the light-emitting units and the transmitting lens according to the currently detected illumination type includes: if the currently detected illumination type is flood illumination, adjusting the focal length of the zoom lens so that the optical path between each light-emitting unit and the transmitting lens under dot illumination is not equal to the focal length of the zoom lens; or if the currently detected illumination type is dot illumination, adjusting the focal length of the zoom lens so that the optical path between each light-emitting unit and the transmitting lens under dot illumination is equal to the focal length of the zoom lens. Through the above method, by configuring the transmitting lens as a zoom lens, a smooth switching between the illumination type of the lidar system and flood illumination and dot illumination is achieved.

[0017] According to the second aspect, in one possible implementation, if the illumination type of the system further includes the mixed illumination, the emitting module further includes an electrically controlled atomizing glass device, the electrically controlled atomizing glass device being disposed between the emitter and the emitting lens; wherein, adjusting the optical path between some or all of the light-emitting units and the emitting lens according to the currently detected illumination type includes: if the currently detected illumination type is the dot matrix illumination or the floodlight illumination, then controlling the entire area of ​​the electrically controlled atomizing glass device to be powered; or if the currently detected illumination type is the mixed illumination, then adjusting the focal length of the zoom lens so that the distance between each light-emitting unit and the emitting lens is less than or equal to the focal length of the zoom lens and controlling the power supply to a portion of the electrically controlled atomizing glass device, so that the optical path between some of the light-emitting units and the emitting lens is not equal to the focal length of the emitting lens, and the optical path between the remaining light-emitting units and the emitting lens is equal to the focal length of the emitting lens. By employing the above method, and by placing an electrically controlled atomizing glass device between the transmitter and the transmitting lens, and by setting the transmitting lens as a zoom lens, the entire area of ​​the electrically controlled atomizing glass device is energized under both dot matrix and flood illumination conditions. This allows the detection signal to directly reach the transmitting lens through the electrically controlled atomizing glass device, ensuring that adjusting the focal length of the transmitting lens (which is set as a zoom lens) achieves both dot matrix and flood illumination. Under mixed illumination conditions, by energizing only a portion of the electrically controlled atomizing glass device, the optical path from the light-emitting unit in the de-energized area of ​​the device to the transmitting lens increases, while the optical path from the light-emitting unit in the energized area remains unchanged. The system achieves hybrid lighting as follows: if the focal length of the zoom lens makes the distance between each light-emitting unit and the transmitting lens less than the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of ​​the electronically controlled atomizing glass device achieve dot matrix lighting, and the light-emitting units corresponding to the power-on area of ​​the electronically controlled atomizing glass device achieve flood lighting; if the focal length of the zoom lens makes the distance between each light-emitting unit and the transmitting lens equal to the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of ​​the electronically controlled atomizing glass device achieve flood lighting, and the light-emitting units corresponding to the power-on area of ​​the electronically controlled atomizing glass device achieve dot matrix lighting.

[0018] According to the second aspect, in one possible implementation, the transmitting module further includes: an electrically controlled atomizing glass device disposed between the transmitter and the transmitting lens; wherein, adjusting the optical path between some or all of the light-emitting units and the transmitting lens according to the current illumination type being detected includes: controlling the energizing state of the electrically controlled atomizing glass device according to the current illumination type being detected and the distance between the light-emitting units and the transmitting lens, so as to adjust the optical path between some or all of the light-emitting units and the transmitting lens. Through the above method, the system can switch between dot matrix illumination, floodlight illumination, and mixed illumination by utilizing the electrically controlled atomizing glass device with zoned controllable energizing, enabling the system to meet the illumination type requirements of different detection scenarios and making the system more widely applicable.

[0019] According to the second aspect, in one possible implementation, the system further includes a driving component, wherein adjusting the optical path between some or all of the light-emitting units and the emitting lens according to the currently detected lighting type includes: controlling the driving component to move the emitting lens and / or the emitter according to the currently detected lighting type and the distance between the light-emitting units and the emitting lens, to adjust the optical path between some or all of the light-emitting units and the emitting lens. Thus, the lighting type of the system can be switched by moving the emitting lens and / or the emitter.

[0020] According to the second aspect, in one possible implementation, the control module is further configured to control the on-time and emission time of each of the light-emitting units, and the on-time and exposure time of each of the receiving units, based on the detection scenario. In this manner, since floodlighting and mixed illumination (including the floodlighting area) homogenize emission energy, a certain detection distance will be sacrificed at the same field of view. Controlling the on-time and emission time of each light-emitting unit, and the on-time and exposure time of the receiving units, based on the detection scenario, allows for dynamic configuration to compensate for the detection performance of specific areas.

[0021] According to the second aspect, in one possible implementation, the detection scenario is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit; wherein, controlling the turn-on time and light-emitting time of each light-emitting unit, and controlling the turn-on time and exposure time of each receiving unit according to the detection scenario, includes: determining the first receiving unit corresponding to each first light-emitting unit, the first turn-on time, and the first light-emitting time corresponding to each first receiving unit, based on the first light-emitting unit, the first turn-on time, and the first light-emitting time indicated by the detection scenario; controlling each first light-emitting unit to turn on according to the corresponding first turn-on time and continuously emit light for the first light-emitting time, and controlling each first receiving unit to turn on according to the corresponding first turn-on time and continuously expose for at least the first exposure time. Thus, by limiting the first light-emitting unit that needs to be turned on and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit in the detection scenario, precise control of "the turn-on time and light-emitting time of each light-emitting unit, and the turn-on time and exposure time of each receiving unit" based on the detection scenario can be achieved, realizing dynamic configuration based on the detection scenario.

[0022] According to the second aspect, in one possible implementation, the receiving module further includes a filter for filtering the echo signal before transmitting it to the receiver. This removes interference signals from the echo signal and reduces the adverse effects of interfering light on subsequent detection of target information such as distance based on the echo signal.

[0023] According to the second aspect, in one possible implementation, the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens. This ensures that the lens's f-tanθ or f-θ distortion is small, thereby enabling the system's lateral (vertical) field of view to be extended to nearly 180°.

[0024] According to the second aspect, in one possible implementation, the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. This allows the angular resolution of the system to be no longer limited by the number of light-emitting units, enabling the system to maintain a greater angular resolution with a smaller number of light-emitting units.

[0025] Thirdly, embodiments of this application provide an electronic device, including: a lidar system provided by any one of the first aspects or various possible implementations of the first aspect, or a lidar system provided by any one of the second aspects or various possible implementations of the second aspect.

[0026] Fourthly, embodiments of this application provide a vehicle comprising: a lidar system provided by any one of the first aspects or various possible implementations of the first aspect, or a lidar system provided by any one of the second aspects or various possible implementations of the second aspect.

[0027] These and other aspects of this application will become more apparent in the description of the following embodiments(s). Attached Figure Description

[0028] The accompanying drawings, which are included in and form part of this specification, illustrate exemplary embodiments, features, and aspects of this application together with the specification and serve to explain the principles of this application.

[0029] Figure 1 A schematic diagram of a lidar system according to an embodiment of this application is shown.

[0030] Figure 2 This diagram illustrates the optical path of a lidar system according to an embodiment of the present application.

[0031] Figures 3A-3C A schematic diagram illustrating the uniform light effect of a lidar system according to an embodiment of this application is shown.

[0032] Figures 4A-4B Schematic diagrams of a one-dimensional addressable transmitter and a two-dimensional addressable transmitter are shown respectively.

[0033] Figures 5A-5C This diagram illustrates the target surface effect of a lidar system according to an embodiment of this application.

[0034] Figures 6A-6B Schematic diagrams of the target surface effect of a lidar system according to an embodiment of this application are shown.

[0035] Figure 7 A structural block diagram of a lidar system according to an embodiment of this application is shown. Detailed Implementation

[0036] Various exemplary embodiments, features, and aspects of this application will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0037] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0038] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented without certain specific details. In some instances, methods, means, components, and circuits well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0039] In related technologies, to meet the increasingly higher angular resolution requirements of LiDAR systems, FlashLiDAR typically increases the number of array units for vertical-cavity surface-emitting lasers (VCSELs) and single-photon avalanche photodiodes (SPADs). However, limitations in technical performance and cost prevent an unlimited increase in the number of array units. For example, with a one-dimensional addressable VCSEL, due to its limited effective area length (e.g., less than 5mm), exceeding this length limit with an excessively large number of array units significantly reduces the uniformity of luminous power. Furthermore, the blind-spot coverage scenarios for automotive LiDAR often require a lateral field of view (FOV) of 180°, but the lateral FOV of a single optical engine in related technologies is generally no more than 60°, necessitating multi-optical engine stitching to meet this requirement. Other LiDAR systems also suffer from reliability issues that preclude them from meeting automotive-grade requirements. How to improve the angular resolution, enhance the reliability, and expand the field of view of a system when the number of light-emitting units in the transmitter is limited is an urgent technical problem to be solved.

[0040] To address the aforementioned technical problems, this application provides a lidar system that, despite a limited number of light-emitting units in the transmitter, improves the system's angular resolution, enhances its reliability, and expands its field of view. Furthermore, to adapt to the application requirements of lidar systems in different products, several lidar system examples are provided below to further illustrate the lidar system provided in this application.

[0041] Figure 1 A schematic diagram of a lidar system according to an embodiment of this application is shown. Figure 1 As shown, the lidar system includes a transmitting module 1, a receiving module 2, and a control module 3. The transmitting module 1 may include a transmitter 11 and a transmitting lens 12, and the receiving module 2 may include a receiving lens 22 and a receiver 21.

[0042] The emitter 11 may include multiple light-emitting units 111, and the multiple light-emitting units 111 may be as follows: Figure 1The array is shown. Each light-emitting unit 11 emits a detection signal for target detection under the control of the control module 3. The transmitting lens 12 is located in the light-emitting direction of the transmitter 11 and is used to collimate the detection signal before emission, so that the collimated detection signal S1 can be sent to the target M. The receiving lens 22 transmits the received echo signal S2 to the receiver 21. The echo signal is the signal returned by the target M after reflecting the detection signal S1. The receiver 21 may include multiple receiving units 211, which may be arranged in an array. Each receiving unit 211 is used to receive the echo signal S2, and the optical path between each receiving unit 211 and the receiving lens 22 is equal to the focal length of the receiving lens 22. The echo signal S2 can be used for subsequent detection and analysis of information such as distance, velocity, and acceleration of the target M.

[0043] Wherein, if the lighting type of the system is fixed and is floodlighting or mixed lighting, the optical path between some or all of the light-emitting units 111 and the emitting lens 12 is not equal to the focal length of the emitting lens 12, and the optical path between each receiving unit 211 and the receiving lens 22 is equal to the focal length of the receiving lens 22. If the lighting type of the system is fixed and is dot matrix lighting, the optical path between the light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12.

[0044] In this embodiment, the optical path between the light-emitting unit and the emitting lens can refer to the path that the detection signal emitted by the light-emitting unit travels from being emitted to propagating to the emitting lens, converted into the path that the detection signal travels in a vacuum. Alternatively, the optical path between the light-emitting unit and the emitting lens can also be considered as the product of the path that the detection signal travels from being emitted to propagating to the emitting lens and the refractive index of the medium in that path.

[0045] In this embodiment, the transmitter 11 and receiver 21 can be configured according to the actual needs of the lidar system. For example, the transmitter 11 can be a VCSEL array, where each VCSEL in the VCSEL array is a light-emitting unit 111. The receiver 21 can be a SPAD array, where each SPAD in the SPAD array is a receiving unit 211.

[0046] In this embodiment, if the lighting type is floodlighting, the optical path between each light-emitting unit 111 and the emitting lens 12 is not equal to (i.e., can be all less than or all greater than) the focal length of the emitting lens 12. If the lighting type is mixed lighting, the optical path between some of the light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens (achieving dot matrix lighting), while the optical path between the remaining light-emitting units 11 and the emitting lens 12 is not equal to the focal length of the emitting lens 12 (achieving floodlighting), thus achieving mixed lighting that combines dot matrix lighting and floodlighting.

[0047] In this embodiment, the illumination type of the lidar system can be fixed as either flood illumination or mixed illumination. This allows the system to maximize the use of the receiver's pixel count, thus optimizing the system's angular resolution and meeting the illumination type requirements of the corresponding detection scenario, even with a limited number of light-emitting units. For example, flood illumination offers uniform angular resolution and eliminates obvious dark areas within the field of view, making it suitable for detection scenarios with high resolution requirements and relatively short detection distances. Conversely, mixed illumination combines the long detection distance of array illumination with the uniform angular resolution and absence of obvious dark areas within the field of view of flood illumination, making it suitable for detection scenarios with relatively low resolution requirements and relatively long detection distances.

[0048] In this embodiment, to implement a lidar system with floodlighting or mixed lighting, it can be achieved through any of the following fixed-type methods 1-3. To more clearly explain the implementation methods of fixed-type methods 1-3 in this application, Figure 2 This diagram illustrates the optical path of a lidar system according to an embodiment of this application. Figure 2 As shown, assuming that under the current settings, the optical path between each light-emitting unit 111 in the transmitter 11 and the transmitting lens 12 is equal to the focal length of the transmitting lens 12, then if no other settings are made, and the optical path between each light-emitting unit 111 and the transmitting lens 12 is kept equal to the focal length of the transmitting lens 12, then the lidar system can achieve the following: Figure 2 The dot matrix illumination shown indicates that the illumination type of the lidar system at this time is dot matrix illumination.

[0049] Fixed type method 1: Directly change the distance between the transmitter 11 and the transmitting lens 12.

[0050] When the illumination type of the lidar system is flood illumination, it can be achieved in the following way:

[0051] The distance between the transmitter 11 and the transmitting lens 12 is shortened so that the optical path between each light-emitting unit 111 and the transmitting lens 12 is less than the focal length of the transmitting lens 12, thereby achieving flood illumination of the system. Specifically, in the entire lidar system, the transmitting lens 12 can be moved closer to the transmitter 11 along the optical axis, the transmitter 11 can be moved closer to the transmitting lens 12 along the optical axis, or both the transmitting lens 12 and the transmitter 11 can be moved closer together along the optical axis.

[0052] Increasing the distance between the transmitter 11 and the transmitting lens 12 ensures that the optical path between each light-emitting unit 111 and the transmitting lens 12 is greater than the focal length of the transmitting lens 12, thereby achieving flood illumination of the system. Specifically, within the entire lidar system, the transmitting lens 12 can be moved away from the transmitter 11 along the optical axis, the transmitter 11 can be moved away from the transmitting lens 12 along the optical axis, or both the transmitting lens 12 and the transmitter 11 can be moved away from each other simultaneously along the optical axis.

[0053] By using the above-mentioned fixed type method 1, a floodlight illumination lidar system can be set up by adjusting the distance between the transmitter 11 and the transmitting lens 12. The implementation method is simple and low cost.

[0054] In this embodiment, due to the difference between the optical path and focal length between the transmitter 11 and the transmitting lens 12 (the different optical path and focal length between the transmitter 11 and the transmitting lens 12 can be caused by any of the methods provided in this application, which will not be elaborated here), the uniform light effect of the target surface 1 in the lidar system also varies. Figures 3A-3C This illustration shows a schematic diagram of the uniform light effect of a lidar system according to an embodiment of this application. This application uses the example where the optical path between each light-emitting unit in the transmitter 11 and the transmitting lens 12 under flood illumination is actually less than the focal length of the transmitting lens 12, combined with... Figures 3A-3C This illustrates the difference in light homogenization effect. Under the premise that the optical path between the transmitter 11 and the transmitting lens 12 is actually less than the focal length of the transmitting lens 12, such as... Figure 3A As shown, if the defocus distance (i.e., the distance between the focal plane of the transmitter 11 and the transmitting lens 12) is too small, gaps will still exist between the diffuse spots on the target surface 1, meaning there will be detection black areas on the receiver 21. If... Figure 3C The defocus distance shown is too large. Although there are no gaps between the diffuse spots on target surface 1, excessive energy loss occurs outside the effective field of view (the area shown by the target surface frame), which is detrimental to the high-probability detection by receiver 21. Therefore, in practical applications, the defocus distance can be set according to the product parameters of transmitting lens 12 and transmitter 11, and can be compared and set accordingly. Figure 3BThe optimized defocus distance shown is such that there are no gaps between the blur spots on the target surface 1 and the energy loss outside the effective field of view is small, thereby enabling the receiver to detect with a high probability under the same conditions.

[0055] In this embodiment, when the optical path between the transmitter 11 and the transmitting lens 12 is actually greater than the focal length of the transmitting lens 12, dot illumination will be formed at a certain point in the near field, while flood illumination will be formed at other distances. When the optical path between the transmitter 11 and the transmitting lens 12 is actually less than the focal length of the transmitting lens 12, flood illumination will be formed everywhere.

[0056] Fixed type method 2: Depending on the lighting type of the system, an optical path adjustment component is added between some or all of the light-emitting units 111 and the emitting lens 12.

[0057] In the lidar system, the illumination type is flood illumination, and the optical path between each light-emitting unit 111 in the transmitter 11 and the transmitting lens 12 is as follows: Figure 2 As shown, when the focal length of the transmitting lens 12 is equal to that of the transmitting module 1, the transmitting module 1 may further include an optical path adjustment component. This optical path adjustment component is located between the transmitter and the transmitting lens (e.g., as shown in the image). Figure 2 (as shown at point X), so that the optical path between each of the light-emitting units 111 and the emitting lens 12 is greater than the focal length of the emitting lens 12, thereby achieving floodlight illumination of the system.

[0058] In the lidar system, the illumination type is mixed illumination, and the optical path between each light-emitting unit 111 in the transmitter 11 and the transmitting lens 12 is as follows: Figure 2 When all the light-emitting units 111 are equal to the focal length of the transmitting lens 12, the transmitting module 1 may further include an optical path adjustment component. This optical path adjustment component is located between a portion of the light-emitting units 111 and the transmitting lens 12, such that the optical path between a portion of the light-emitting units 111 and the transmitting lens 12 is greater than the focal length of the transmitting lens 12, and the optical path between the remaining light-emitting units 111 and the transmitting lens 12 is equal to the focal length of the transmitting lens 12, thus achieving hybrid illumination of the system. For example, in a hybrid illumination lidar system, only the optical path adjustment component may be placed in such a position as... Figure 2The upper half of the transmitter 11 is shown. The optical path between each light-emitting unit 111 in the upper half of the transmitter 11 and the transmitting lens 12 is greater than the focal length of the transmitting lens 12, achieving flood illumination. The optical path between each light-emitting unit 111 in the lower half of the transmitter 11 and the transmitting lens 12 (since there is no optical path adjustment element in the optical path) is equal to the focal length of the transmitting lens 12, achieving dot illumination. Overall, the system achieves mixed illumination, combining dot illumination and flood illumination. It is understood that those skilled in the art can adjust the position of the optical path adjustment element according to actual needs to adjust the ratio of dot illumination and flood illumination in the mixed illumination, their relative positional relationship, etc.

[0059] In some embodiments, different regions of the optical path adjustment element can be configured to increase the optical path to varying degrees, allowing the entire optical path adjustment element to be placed between the transmitter 11 and the transmitting lens 12. Specifically, if the distance between some light-emitting units 111 and the transmitting lens 12 is less than the focal length of the transmitting lens 12, and the distance between the remaining light-emitting units 111 and the transmitting lens 12 is equal to or greater than the focal length of the transmitting lens 12, then the optical path between each light-emitting unit 111 in the region of the optical path adjustment element with a small increase in optical path and the transmitting lens 12 is equal to the focal length of the transmitting lens 12, achieving dot matrix illumination; conversely, the optical path between each light-emitting unit 111 in the region of the optical path adjustment element with a large increase in optical path and the transmitting lens 12 is greater than the focal length of the transmitting lens 12, achieving floodlight illumination. If the distance between the light-emitting unit 111 and the emitting lens 12 is less than the focal length of the emitting lens 12, then the optical path between each light-emitting unit 111 and the emitting lens 12 in the region where the optical path adjustment device increases the optical path by a small amount is less than the focal length of the emitting lens 12, thus achieving floodlight illumination; the optical path between each light-emitting unit 111 and the emitting lens 12 in the region where the optical path adjustment device increases the optical path by a large amount is equal to the focal length of the emitting lens 12, thus achieving dot matrix illumination.

[0060] In this embodiment, the optical path adjustment device can be an optical device that allows the detection signal to pass through and increases the optical path between the light-emitting unit 111 and the emitting lens 12. For example, the optical path adjustment device may include a flat glass plate and / or a light-diffusing device. The light-diffusing device may be a microlens array, etc., and this application does not limit it.

[0061] By using the above-mentioned fixed type method 2, a lidar system with a lighting type of mixed lighting or floodlight lighting can be easily set using the optical path adjustment component.

[0062] Fixed type method 3: If the system lighting type is mixed lighting, an electrically controlled atomizing glass device is added between the transmitter 11 and the transmitting lens 12.

[0063] When the system's illumination type is mixed illumination, the emitting module 1 may further include an electrically controlled atomizing glass device located between the emitter 11 and the emitting lens 12. The distance between each light-emitting unit 111 and the emitting lens 12 is less than or equal to the focal length of the emitting lens 12. When powered on, the electrically controlled atomizing glass device allows the detection signal emitted by the light-emitting unit 111 to directly pass through and be incident on the emitting lens 12 without changing the optical path between the light-emitting unit 111 and the emitting lens 12. When powered off, the electrically controlled atomizing glass device scatters and homogenizes the detection signal received from the light-emitting unit 111 before it is incident on the emitting lens 12, thereby increasing the optical path between the light-emitting unit 111 and the emitting lens 12, as the detection signal is homogenized by the electrically controlled atomizing glass device.

[0064] The control module 3 is further configured to control the power supply to a portion of the electrically controlled atomizing glass device, thereby increasing the optical path between the light-emitting unit 111 corresponding to the power-off area of ​​the electrically controlled atomizing glass device and the emitting lens 12 to a value greater than or equal to the focal length of the emitting lens 12, while maintaining the optical path between the light-emitting unit 111 corresponding to the power-on area of ​​the electrically controlled atomizing glass device and the emitting lens 12 at a value equal to or less than the focal length of the emitting lens 12, thus achieving mixed illumination of the system.

[0065] For example, such as Figure 2 As shown, the distance between each of the light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12. The electronically controlled atomizing glass device can be located at... Figure 2 If X is located in the center, then the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-off area of ​​the electronically controlled atomizing glass device is increased to be greater than the focal length of the emitting lens 12 for flood illumination, while the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-on area of ​​the electronically controlled atomizing glass device is maintained equal to the focal length of the emitting lens 12 for dot matrix illumination, thus realizing the mixed illumination of the system.

[0066] Alternatively, if the distance between each light-emitting unit 111 and the emitting lens 12 is less than the focal length of the emitting lens 12, then the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-off area of ​​the electronically controlled atomizing glass device is increased to be equal to the focal length of the emitting lens 12 for dot matrix illumination, while the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-on area of ​​the electronically controlled atomizing glass device remains less than the focal length of the emitting lens 12 for flood illumination, thus achieving mixed illumination of the system.

[0067] Among them, the electrically controlled atomizing glass device can be controlled by partitions to control its power-on status. The controllable area of ​​the electrically controlled atomizing glass device can be set according to actual needs to set the areas of dot matrix lighting and floodlighting in mixed lighting.

[0068] By using the above-mentioned fixed type method 3, the system's mixed lighting is achieved by utilizing an electrically controlled atomizing glass device that can be energized in zones.

[0069] In this implementation, the optical path between the light-emitting unit and the light-emitting lens is changed by means of an adjustable optical path device, an electrically controlled atomizing glass device, or by directly changing the distance between the emitter and the emitting lens. This allows the system to achieve better illumination under dot matrix lighting conditions, such as... Figure 2 Each light-emitting unit shown is located in the focal plane configuration area; under floodlight illumination, the system appears as follows: Figure 2 Each light-emitting unit shown is located in the non-focal plane configuration area; the system under mixed illumination, such as Figure 2 The portion of each light-emitting unit shown is outside the focal plane configuration area, while the remaining portion is within the focal plane configuration area.

[0070] In one possible implementation, the transmitting lens 12 and the receiving lens 22 can include any of the following: a standard lens, a wide-angle lens, and a fisheye lens. This ensures that the lens's f-tanθ or f-θ distortion is small, thereby enabling the system's lateral (vertical) field of view to be extended to nearly 180°. In another possible implementation, the transmitting lens 12 and / or the receiving lens 22 in the system can use an all-glass lens structure, which can improve the system's reliability and reduce automotive-grade reliability risks.

[0071] In this embodiment, since floodlight illumination is a homogenized emission energy, a certain detection distance will be sacrificed under the same field of view. To compensate for the detection performance of a specific area, dynamic configuration is implemented. The dynamic configuration is implemented by the control module 3, which is also used to control the turn-on time and emission time of each of the light-emitting units 111 and the turn-on time and exposure time of each of the receiving units 211 according to the detection scenario.

[0072] In one possible implementation, the detection scenario can be used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, as well as the first turn-on time and first emission time corresponding to each first light-emitting unit. Controlling the turn-on time and emission time of each light-emitting unit, and controlling the turn-on time and exposure time of each receiving unit according to the detection scenario, can include: determining the first receiving unit corresponding to each first light-emitting unit, and the first turn-on time and first emission time corresponding to each first receiving unit, based on the first light-emitting unit, the first turn-on time, and the first emission time indicated by the detection scenario; controlling each first light-emitting unit to turn on according to the corresponding first turn-on time and continuously emit light for the first emission time; and controlling each first receiving unit to turn on according to the corresponding first turn-on time and continuously expose for at least the first exposure time. Thus, by limiting the first light-emitting unit that needs to be turned on, and the first turn-on time and first emission time corresponding to each first light-emitting unit, in the detection scenario, precise control of the "turn-on time and emission time of each light-emitting unit, and the turn-on time and exposure time of each receiving unit" based on the detection scenario can be achieved, realizing dynamic configuration based on the detection scenario.

[0073] In this implementation, to ensure the timely and accurate transmission of detection signals by the light-emitting unit and the reception of echo signals by the receiving unit, the first turn-on time and first exposure time of each first receiving unit must match the first turn-on time and first emission time of the corresponding first light-emitting unit. That is, each first receiving unit must turn on synchronously with its corresponding first light-emitting unit at the latest. For example, the first turn-on time of the first receiving unit can be the same as or earlier than the first turn-on time of the corresponding first light-emitting unit. Furthermore, the exposure time of each first receiving unit must be at least equal to the first emission time of its corresponding first light-emitting unit. For example, the first exposure time of the first receiving unit can be the same as or greater than the first emission time of the corresponding first light-emitting unit.

[0074] In this implementation, when the detection scene indicates the presence of a first light-emitting unit and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit, the control module can determine the first turn-on time and first exposure time of the first receiving unit corresponding to each first light-emitting unit based on the first light-emitting unit and the first turn-on time and first light-emitting time corresponding to each first light-emitting unit. For example, the first start time of the first light-emitting unit can be set as the first turn-on time of the corresponding first receiving unit, and the first light-emitting time of the first light-emitting unit can be set as the first exposure time of the corresponding first receiving unit.

[0075] In this implementation, the first turn-on time and / or first emission time of different first light-emitting units can be the same or different. The first turn-on time and / or first emission time of each first light-emitting unit can be set according to actual needs, and this application does not impose any restrictions on this.

[0076] In this implementation, the detection scenarios can include long-range detection, high-resolution short-range detection, selected field-of-view detection, detection detection, etc., and different detection scenarios can adapt to different practical needs.

[0077] Figures 4A-4B Schematic diagrams of a one-dimensional addressable transmitter and a two-dimensional addressable transmitter are shown respectively. Figures 5A-5C This diagram illustrates the target surface effect of a lidar system according to an embodiment of this application.

[0078] like Figure 4A , Figure 4B The illustration shows the dynamic configuration implementation of this application using one-dimensional and two-dimensional addressable transmitters as examples. The one-dimensional addressable transmitter can scan horizontally (or vertically), and a single partition can contain only one column (or one row) or multiple columns (or multiple rows). The transmitter array can be arranged in a matrix, a honeycomb, or other arrangements. Figure 4A The diagram shows the transmitter scanning horizontally, with each partition containing only one column, for a total of m columns arranged in a rectangular pattern. In some embodiments, the receiver's activation mode can correspond one-to-one with the transmitter's activation mode. For example, if the transmitter activates the i-th column of the m partitions, the receiver also activates the i-th column of the m partitions accordingly, and the exposure time is the same as the transmitter's emission time. Similarly, Figure 4B The image shows the transmitter scanning horizontally, with each partition containing only 2×3 elements arranged in a rectangular pattern. In some embodiments, the receiver's activation mode can correspond one-to-one with the transmitter's activation mode. For example, if the transmitter activates the i-th partition among multiple partitions, the receiver will also activate the i-th partition among multiple partitions accordingly, and the exposure time will be the same as the transmitter's emission time.

[0079] The dynamic configuration implementation method of the lidar system is described in detail below. In related technologies, the m regions of a one-dimensional addressable transmitter emit light sequentially with a consistent emission time t. However, this configuration is often affected by the illumination of the transmitting lens, resulting in uneven energy reception between the center and edge regions of the receiver, affecting the detection rate. To address similar "detection scenarios," the dynamic configuration method in this application embodiment is to dynamically configure which emission region needs to emit light and the first turn-on time and first emission time of the first emission unit in that region based on the uneven energy conditions. For example, during factory calibration, if certain regions (such as...) are found to be emitting light... Figure 5AIf the detection rate of the edge zones shown in the target surface effect diagram is low, the light-emitting units in these zones can be set as the first light-emitting units, and the first light-emitting time of the first light-emitting units in these zones can be increased accordingly. Of course, to ensure a consistent system frame rate, the first light-emitting time of the first light-emitting units in the zones with stronger energy can be reduced accordingly. More generally, all m zones of the transmitter emit light, but the light-emitting time of each zone is not necessarily the same, and can be t1, t2, ..., tm, respectively, so that the energy received by each zone of the receiver is as uniform as possible, that is, to achieve consistent detection performance across the entire field of view of the system.

[0080] In some detection scenarios with selected field of view, it is part of the designed field of view (e.g.) Figure 5B The target surface effect or Figure 5C In the target surface effect three, the first activation time and first emission time of the first emitting unit in the transmitter that needs to emit light can be dynamically configured in this embodiment (for example, for target surface effect two, only the (i-1)th and ith partitions corresponding to the required field of view in target surface effect two can be activated). The emission time of each partition can be increased to m / 2 times, enabling long-range detection of a specific field of view. In some embodiments, fewer than m partitions in the transmitter can be controlled to emit light, and the first activation time and first emission time of the first emitting unit in the corresponding partition can be dynamically configured to optimize the performance of the corresponding partition's field of view. Similarly, a two-dimensional addressable transmitter can also be implemented in the same dynamic configuration manner to adapt to the needs of different detection scenarios.

[0081] In certain long-range detection scenarios, a designed field of view is used to achieve long-range detection. In this embodiment, the first activation time and first emission time of the first emitting unit that needs to emit light in the transmitter can be dynamically configured, and the first emission time of each first emitting unit corresponding to the designed field of view can be extended, thereby achieving long-range detection. The designed field of view can also be part or all of the system's field of view.

[0082] In certain high-resolution, short-range detection scenarios where the detection distance requirement is not high, the first activation time and first emission time of the first emitting unit in the transmitter that needs to emit light can be dynamically configured in this embodiment. Furthermore, the first emission time of the first emitting unit in the lower energy region can be extended to enhance detection accuracy.

[0083] Figures 6A-6B Schematic diagrams of the target surface effect of a lidar system according to an embodiment of this application are shown. Figure 6B This is a schematic diagram of the target surface effect under floodlight illumination. Figure 6A This is a schematic diagram of the target surface effect under dot matrix illumination. For example... Figure 6A As shown, in a lidar system for dot-matrix illumination, the light spot of each emitting unit typically corresponds to the light spot of each cluster of receivers (e.g., Figure 6A As shown, each cluster contains 6*6 receiver pixels, which correspond one-to-one. At this time, the angular resolution of the lidar system is related to the number of light spots (which also corresponds to the number of clusters). Figure 6A As can be seen from this, a single light spot actually corresponds to approximately 12 receiver pixels (i.e., Figure 6A The pixels within the central spot circle indicate that the detection rate requirement can be met after combining 12 receiver pixels. If the dynamic configuration implementation method provided in this application is adopted, the energy of a single spot can be increased, and the number of receiver pixels combined can be reduced to achieve the same detection rate. However, while reducing the area covered by the spot can improve resolution, the areas not covered by the spot are black areas (i.e., no resolution), leading to uneven system resolution and affecting practical applications. Figure 6B The floodlighting shown does not have this problem; the floodlighting covers each cluster of receivers, and also covers all available receiver pixels simultaneously. Figure 6B The diagram shows floodlight illumination covering 4 clusters and 144 receiver pixels. Therefore, with dynamic configuration, the number of receiver pixel merges (the original cluster is equivalent to 6x6 merges) can be freely selected, such as 3x3, 2x2, or even no merges, etc., and the system resolution remains uniform regardless of the choice. Furthermore, floodlight illumination does not require the number of emitting units in the transmitter array to match the number of receiver clusters. Typically, due to the limited number of emitting units, the number can be smaller, but the angular resolution will not be reduced. Therefore, in practical applications, the system illumination type can be set according to the actual detection scenario.

[0084] Figure 7 A structural block diagram of a lidar system according to an embodiment of this application is shown. Figure 7 As shown, the system may also include a drive circuit 4 and a signal processing and ranging unit 5. The control module 3 generates periodic pulse signals and drives the transmitter 11 to emit a narrow-pulse laser S1 (i.e., a detection signal) via the drive circuit 4. Simultaneously, the control module 3 sends a timing start signal to the signal processing and ranging unit 5. The narrow-pulse laser S1, after being collimated and homogenized by the transmitting lens 12, illuminates the target M. The diffuse reflection light S2 (i.e., the echo signal) from the target M is collected and filtered by the receiving lens 22 and transmitted to the receiver 21. The signal processing and ranging unit 5 then obtains information such as the distance to the target M and sends a stop signal to the control module 3.

[0085] In one possible implementation, the receiving module 2 may further include a filter for filtering the echo signal before it is transmitted to the receiver 21. The filter can be positioned in front of the receiving lens 22 so that the echo signal is filtered before being received by the receiving lens 22. Alternatively, the filter can be positioned between the receiving lens 22 and the receiver 21 so that the echo signal is filtered as it travels from the receiving lens 22 to the receiver 21, ensuring that the echo signal received by the receiver 21 has already been filtered. In this way, by using a filter, interference signals in the echo signal can be removed, reducing the adverse effects of interference light on subsequent detection of target distance and other information based on the echo signal.

[0086] In one possible implementation, the number of light-emitting units 111 in the system can be less than or equal to the number of receiving units 211 in the system. This allows the angular resolution of the system to be no longer limited by the number of light-emitting units, enabling the system to maintain a greater angular resolution with a smaller number of light-emitting units.

[0087] This application also provides another lidar system, which differs from the lidar system in that its illumination type is not a single, fixed type, but can be adjusted in real time. This lidar system is as follows: Figure 1 The device may include a transmitting module 1, a receiving module 2, and a control module 3. The transmitting module 1 may include a transmitter 11 and a transmitting lens 12, and the receiving module 2 may include a receiving lens 22 and a receiver 21.

[0088] The transmitter 11 may include multiple light-emitting units 111, each of which emits a detection signal for target detection under the control of the control module 3. A transmitting lens 12 is located in the light-emitting direction of the transmitter 11 and is used to collimate the detection signal before emission, so that the collimated detection signal S1 can be sent to the target M. A receiving lens 22 transmits the received echo signal S2 to a receiver 21, the echo signal being the signal returned by the target M after reflecting the detection signal S1. The receiver 21 may include multiple receiving units 211, each of which receives the echo signal S2, and the optical path between each receiving unit 211 and the receiving lens 22 is equal to the focal length of the receiving lens 22.

[0089] The control module 3 is used to adjust the optical path between some or all of the light-emitting units 111 and the emitting lens 12 according to the current illumination type being detected. The illumination type of the system includes at least two of dot matrix illumination, floodlight illumination, and mixed illumination.

[0090] In this embodiment, the control module 3 can adjust the type of optical path between some or all of the light-emitting units 111 and the emitting lens 12 in one or more of the following ways.

[0091] Type Adjustable Method 1:

[0092] In this embodiment, if the system's illumination type is dot matrix illumination and floodlight illumination, the transmitting lens 12 can be set as a zoom lens. The control module 3 can adjust the focal length of the transmitting lens 12 according to the current illumination type being detected, thereby adjusting the optical path between each of the light-emitting units 111 and the transmitting lens 12.

[0093] Wherein, if the distance between each of the light-emitting units 111 and the emitting lens 12 is equal to the first focal length of the emitting lens 12 (a certain focal length that the emitting lens 12 can be adjusted to when it is a zoom lens), then: when the current illumination type being detected is dot matrix illumination, the control module 3 adjusts the focal length of the zoom lens to the first focal length, so that the optical path between each of the light-emitting units 111 and the emitting lens 12 is the same as the focal length of the zoom lens, thereby achieving dot matrix illumination of the system. When the current illumination type being detected is flood illumination, the control module 3 adjusts the focal length of the zoom lens to the second focal length, so that the optical path between each of the light-emitting units 111 and the emitting lens 12 is different from the focal length of the zoom lens, thereby achieving flood illumination of the system. Since the difference between the optical path between the light-emitting unit 111 and the emitting lens 12 and the focal length of the zoom lens is different under floodlight illumination, the uniform light effect of the system is different. Therefore, the second focal length can be a set focal length value that is determined in advance based on the uniform light effect, so that the optical path between the light-emitting unit 111 and the emitting lens 12 is greater than or equal to the focal length of the zoom lens.

[0094] If the distance between each of the light-emitting units 111 and the emitting lens 12 is greater than the third focal length of the emitting lens 12 (a focal length that the emitting lens 12 can adjust to when it is a zoom lens), and the system can achieve flood illumination when the focal length of the zoom lens is the third focal length, then: when the current illumination type being detected is dot matrix illumination, the control module 3 adjusts the focal length of the zoom lens to the fourth focal length (at this time, the fourth focal length is equal to the distance between the current light-emitting unit 111 and the emitting lens 12), so that the optical path between each of the light-emitting units 111 and the emitting lens 12 is the same as the focal length of the zoom lens, thereby achieving dot matrix illumination of the system. When the current illumination type being detected is flood illumination, the control module 3 adjusts the focal length of the zoom lens to the third focal length to achieve flood illumination of the system.

[0095] If the distance between each of the light-emitting units 111 and the emitting lens 12 is less than the fifth focal length of the emitting lens 12 (a focal length that the emitting lens 12 can adjust to when it is a zoom lens), and the system can achieve flood illumination when the focal length of the zoom lens is the fifth focal length, then: when the current illumination type being detected is dot matrix illumination, the control module 3 adjusts the focal length of the zoom lens to the sixth focal length (at this time, the sixth focal length is equal to the distance between the current light-emitting unit 111 and the emitting lens 12), so that the optical path between each of the light-emitting units 111 and the emitting lens 12 is the same as the focal length of the zoom lens, thereby achieving dot matrix illumination of the system. When the current illumination type being detected is flood illumination, the control module 3 adjusts the focal length of the zoom lens to the fifth focal length to achieve flood illumination of the system.

[0096] In this way, by setting the transmitting lens to a zoom lens through the adjustable type method one, the illumination type of the lidar system can be smoothly switched between flood illumination and dot matrix illumination.

[0097] Type Adjustable Method Two:

[0098] In this embodiment, the emitting module 1 may further include an optical path adjustment component. The optical path adjustment component may include a flat glass plate and / or a light-diffusing device. The light-diffusing device may be a microlens array, etc., and this application is not limited thereto. To achieve optical path adjustment, the emitting module 1 may further include a driving component, and the control module 3 may control the driving component to move the optical path adjustment component between the emitter 11 and the emitting lens 12 (e.g., ...). Figure 2 (The location of X in the middle). The control module 3 is also used to adjust the relative positional relationship between the optical path adjustment member and the transmitter 11 according to the current illumination type being detected and the distance between the transmitter 11 and the transmitting lens 12, so as to realize the adjustment of the optical path between part or all of the light-emitting unit 111 and the transmitting lens 12.

[0099] Wherein, if the distance between each light-emitting unit 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12, then:

[0100] If control module 3 determines that the current illumination type being detected is the floodlight illumination, it controls the aforementioned driving component to move the optical path adjustment element between the emitter 11 and the emitting lens 12, so that the optical path between each light-emitting unit 111 and the emitting lens 12 is greater than the focal length of the emitting lens 12. Or

[0101] If the control module 3 determines that the current illumination type being detected is the mixed illumination, it controls the driving component to move the optical path adjustment element between a portion of the light-emitting units 111 and the emitting lens 12, so that the optical path between a portion of the light-emitting units 111 and the emitting lens 12 is greater than the focal length of the emitting lens 12, and the optical path between the remaining light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12; or

[0102] If the control module 3 determines that the current illumination type being detected is the dot matrix illumination, it controls the aforementioned driving component to move the optical path adjustment element out from between the light-emitting unit 111 and the emitting lens 12 (or if the current optical path adjustment element is not between the light-emitting unit 111 and the emitting lens 12, the position of the optical path adjustment element does not need to be adjusted), so that the optical path between each light-emitting unit 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12.

[0103] Alternatively, if the distance between each of the light-emitting units 111 and the emitting lens 12 is less than the focal length of the emitting lens 12, and the system can achieve floodlight illumination without an optical path adjustment device between the light-emitting units 111 and the emitting lens 12, then:

[0104] If the control module 3 determines that the current illumination type being detected is the floodlight illumination, it controls the aforementioned driving component to move the optical path adjustment element out from between the light-emitting unit 111 and the emitting lens 12 (or if the optical path adjustment element is not currently between the light-emitting unit 111 and the emitting lens 12, then the position of the optical path adjustment element does not need to be adjusted).

[0105] If the control module 3 determines that the current illumination type being detected is the mixed illumination, it controls the driving component to move the optical path adjustment element between a portion of the light-emitting units 111 and the emitting lens 12, so that the optical path between a portion of the light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12, and the optical path between the remaining light-emitting units 111 and the emitting lens 12 remains less than the focal length of the emitting lens 12; or

[0106] If the control module 3 determines that the current illumination type being detected is the dot matrix illumination, it controls the aforementioned driving component to move the optical path adjustment component between the transmitter 11 and the transmitting lens 12, so that the optical path between each of the light-emitting units 111 and the transmitting lens 12 is equal to the focal length of the transmitting lens 12.

[0107] By using the adjustable method described above, the laser radar system can smoothly switch between different lighting types using an optical path adjustment component.

[0108] Type Adjustable Method 3:

[0109] In this embodiment, if the system's lighting type includes mixed lighting and the lighting type also includes at least one of dot matrix lighting and floodlight lighting, then in the case that the transmitting lens 12 in the system is a zoom lens, the transmitting module 1 may also include an electronically controlled atomizing glass device, which is disposed between the transmitter 11 and the transmitting lens 12.

[0110] If the control module 3 determines that the current illumination type being detected is either dot matrix illumination or floodlight illumination (the method for adjusting the focal length of the zoom lens under dot matrix illumination and floodlight illumination is described in "Type Adjustable Method 1" above, and will not be repeated here), then it controls the entire area of ​​the electronically controlled atomizing glass device to be powered on. Alternatively, if the control module 3 determines that the current illumination type being detected is the mixed illumination, then it adjusts the focal length of the zoom lens so that the distance between each light-emitting unit 111 and the emitting lens 12 is less than or equal to the focal length of the zoom lens, and controls the power supply to a portion of the electronically controlled atomizing glass device, so that the optical path between some of the light-emitting units 111 and the emitting lens 12 is not equal to the focal length of the emitting lens 12, and the optical path between the remaining light-emitting units 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12.

[0111] By employing the aforementioned adjustable method three, an electrically controlled atomizing glass device is installed between the transmitter and the transmitting lens, and the transmitting lens is set as a zoom lens. Under dot matrix illumination and flood illumination, the entire area of ​​the electrically controlled atomizing glass device is energized, allowing the detection signal to directly reach the transmitting lens through the device. This ensures that adjusting the focal length of the zoom lens enables both dot matrix illumination and flood illumination. Under mixed illumination, by energizing only a portion of the electrically controlled atomizing glass device, the optical path from the light-emitting unit in the de-energized area to the transmitting lens increases, while the optical path from the light-emitting unit in the energized area remains unchanged. The system achieves hybrid lighting as follows: if the focal length of the zoom lens makes the distance between each light-emitting unit and the transmitting lens less than the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of ​​the electronically controlled atomizing glass device achieve dot matrix lighting, and the light-emitting units corresponding to the power-on area of ​​the electronically controlled atomizing glass device achieve flood lighting; if the focal length of the zoom lens makes the distance between each light-emitting unit and the transmitting lens equal to the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of ​​the electronically controlled atomizing glass device achieve flood lighting, and the light-emitting units corresponding to the power-on area of ​​the electronically controlled atomizing glass device achieve dot matrix lighting.

[0112] Type Adjustable Method Four:

[0113] In this embodiment, the transmitting module 1 may further include an electronically controlled atomizing glass device located between the transmitter 11 and the transmitting lens 12 (e.g., Figure 2 (The location of X in the middle). The control module 3 is also used to control the power-on state of the electronically controlled atomizing glass device according to the current illumination type being detected and the distance between the light-emitting unit 111 and the emitting lens 12, so as to adjust the optical path between some or all of the light-emitting unit 111 and the emitting lens 12.

[0114] If the control module 3 determines that the distance between the light-emitting unit 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12, then:

[0115] If it is further determined that the illumination type currently being detected by the system is the dot matrix illumination, then power is supplied to the entire area of ​​the electronically controlled atomizing glass device; or

[0116] If it is further determined that the illumination type currently being detected by the system is the floodlight illumination, then the power supply to the electrically controlled atomizing glass device is stopped, so that the optical path between each light-emitting unit and the emitting lens is greater than the focal length of the emitting lens; or

[0117] If it is further determined that the current illumination type being detected by the system is mixed illumination, then power is supplied to a portion of the electrically controlled atomizing glass device, such that the optical path between the light-emitting unit and the transmitting lens in the power-supply area of ​​the electrically controlled atomizing glass device is equal to the focal length of the transmitting lens, and the optical path between the light-emitting unit and the transmitting lens in the power-off area of ​​the electrically controlled atomizing glass device is greater than the focal length of the transmitting lens.

[0118] If control module 3 determines that the distance between the light-emitting unit 111 and the emitting lens 12 is less than the focal length of the emitting lens 12, then:

[0119] If it is further determined that the illumination type currently being detected by the system is the dot matrix illumination, then the power supply to the electrically controlled atomizing glass device is controlled to increase the optical path between the light-emitting unit 111 and the emitting lens 12 until it is the same as the focal length of the emitting lens 12; or

[0120] If it is further determined that the illumination type currently being detected by the system is flood illumination, then power is supplied to the entire area of ​​the electrically controlled atomizing glass device so that the optical path between each light-emitting unit and the emitting lens is maintained at a state smaller than the focal length of the emitting lens to achieve flood illumination; or

[0121] If it is further determined that the current illumination type being detected by the system is mixed illumination, then power is supplied to a portion of the electrically controlled atomizing glass device, such that the optical path between the light-emitting unit and the transmitting lens in the power-supply area of ​​the electrically controlled atomizing glass device is less than the focal length of the transmitting lens, and the optical path between the light-emitting unit and the transmitting lens in the power-off area of ​​the electrically controlled atomizing glass device is equal to the focal length of the transmitting lens.

[0122] By using the above-mentioned adjustable method four, the system can switch between dot matrix illumination, floodlight illumination and mixed illumination by using an electronically controlled atomizing glass device that can be energized in a partitioned manner. This allows the system to meet the illumination requirements of different detection scenarios and makes the system more widely applicable.

[0123] Type Adjustable Method Five:

[0124] In this embodiment, if the system's lighting type includes dot matrix lighting and floodlight lighting, the system may also include a driving component. The control module 3 can control the driving component to move the emitting lens 12 and / or the transmitter 11 according to the current lighting type being detected and the distance between the light-emitting unit 111 and the emitting lens 12, so as to adjust the optical path between each light-emitting unit and the emitting lens, thereby achieving the switching between dot matrix lighting and floodlight lighting.

[0125] The distance between one or both of the transmitting lens 12 and the transmitter 11 can be adjusted by moving them, thereby adjusting the optical path. For example, the control module 3 can:

[0126] Control the transmitting lens 12 to remain stationary while the transmitter 11 moves closer to the transmitting lens 12 along the optical axis. Control the transmitter 11 to remain stationary while the transmitting lens 12 moves closer to the transmitter 11 along the optical axis. Control the transmitting lens 12 and the transmitter 11 to move simultaneously in opposite directions along the optical axis to shorten the optical path to less than the focal length.

[0127] The transmitter 11 is kept stationary while the transmitting lens 12 moves away from the transmitter 12 along the optical axis. The transmitting lens 12 is kept stationary while the transmitter 11 moves away from the transmitting lens 12 along the optical axis. Both the transmitting lens 12 and the transmitter 11 are moved in opposite directions along the optical axis to increase the optical path length to be greater than the focal length.

[0128] Thus, through the above-mentioned adjustable method five, the lighting type of the system can be switched by moving the transmitting lens and / or the transmitter.

[0129] It is understood that the lidar system provided in this application, for the implementation of a single illumination type or multiple illumination types that can be switched and adjusted, achieves this by adjusting the optical path between some or all of the light-emitting units and the transmitting lens. The implementation methods for a single illumination type system include: directly setting the distance between the light-emitting unit and the transmitting lens, directly setting an optical path adjustment component, and setting an electrically controlled atomizing glass device, etc. The implementation methods for a system with multiple illumination types that can be switched and adjusted include: directly adjusting the distance between the light-emitting unit and the transmitting lens, adjusting the relative positional relationship between the optical path adjustment component and the light-emitting unit, and adjusting the energizing state of the electrically controlled atomizing glass device, etc. In fact, those skilled in the art can set the implementation method for adjusting the optical path between the light-emitting unit and the transmitting lens according to actual needs, and this application does not impose any restrictions on this.

[0130] Embodiments of this application provide an electronic device including any of the aforementioned lidar systems. Embodiments of this application also provide a control device, including: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the method performed by the aforementioned control module when executing the instructions.

[0131] Embodiments of this application provide a non-volatile computer-readable storage medium storing computer program instructions thereon, which, when executed by a processor, implement the method performed by the control module described above.

[0132] Embodiments of this application provide a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the method performed by the control module described above.

[0133] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), electrically programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital video disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination of the foregoing.

[0134] The computer-readable program instructions or code described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0135] The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" or similar languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of this application.

[0136] Various aspects of this application are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0137] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0138] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0139] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved.

[0140] It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, can be implemented using hardware (such as circuits or ASICs (Application Specific Integrated Circuits)) that performs the corresponding function or action, or using a combination of hardware and software, such as firmware.

[0141] Although the invention has been described herein in conjunction with various embodiments, those skilled in the art will understand and implement other variations of the disclosed embodiments by reviewing the accompanying drawings, disclosure, and appended claims in carrying out the claimed invention. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0142] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A lidar system, comprising: The system includes: a transmitting module, a receiving module, and a control module. The transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver. The transmitter includes multiple light-emitting units, each of which is used to emit a detection signal under the control of the control module; The transmitting lens is used to collimate the detection signal before emitting it. The receiving lens is used to transmit the received echo signal to the receiver, and the echo signal is the signal returned by the target reflecting the detection signal; The receiver includes multiple receiving units, each of which is used to receive the echo signal; Wherein, the optical path between some or all of the light-emitting units and the transmitting lens is not equal to the focal length of the transmitting lens, the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens, the illumination type of the system is floodlight illumination or mixed illumination, and the number of light-emitting units in the system is less than or equal to the number of receiving units in the system.

2. The system of claim 1, wherein, The emitting module further includes: an optical path adjustment component, which includes a flat glass plate and / or a light homogenizing device, wherein the distance between each light-emitting unit and the emitting lens is equal to the focal length of the emitting lens; The system's illumination type is floodlight illumination, and the optical path adjustment component is located between the transmitter and the transmitting lens, so that the optical path between each light-emitting unit and the transmitting lens is greater than the focal length of the transmitting lens, thereby achieving floodlight illumination of the system. or, The system's illumination type is mixed illumination. The optical path adjustment element is located between some of the light-emitting units and the emitting lens, so that the optical path between some of the light-emitting units and the emitting lens is greater than the focal length of the emitting lens, and the optical path between the remaining light-emitting units and the emitting lens is equal to the focal length of the emitting lens, thereby realizing the mixed illumination of the system.

3. The system according to claim 1, characterized in that, The system provides floodlight illumination, with the distance between each light-emitting unit and the transmitting lens being less than the focal length of the transmitting lens, so that the optical path between each light-emitting unit and the transmitting lens is less than the focal length of the transmitting lens, thereby achieving floodlight illumination for the system.

4. The system according to claim 1, characterized in that, The system provides floodlight illumination, with each light-emitting unit having a distance greater than the focal length of the transmitting lens, so that the optical path between each light-emitting unit and the transmitting lens is greater than the focal length of the transmitting lens, thereby achieving floodlight illumination for the system.

5. The system according to claim 1, characterized in that, The system uses mixed lighting. The transmitting module also includes an electrically controlled atomizing glass device located between the transmitter and the transmitting lens. The distance between the transmitter and the transmitting lens is less than or equal to the focal length of the transmitting lens. The control module is further configured to control the power supply to a portion of the electrically controlled atomizing glass device, thereby increasing the optical path between the light-emitting unit and the emitting lens corresponding to the power-off area of ​​the electrically controlled atomizing glass device to be greater than or equal to the focal length of the emitting lens, while maintaining the optical path between the light-emitting unit and the emitting lens corresponding to the power-on area of ​​the electrically controlled atomizing glass device at or less than the focal length of the emitting lens, thus achieving mixed illumination of the system.

6. The system according to any one of claims 1-5, characterized in that, The control module is also used to control the turn-on time and light emission time of each of the light-emitting units according to the detection scenario, and to control the turn-on time and exposure time of each of the receiving units.

7. The system according to claim 6, characterized in that, The detection scenario is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, as well as the first turn-on time and the first light-emitting time corresponding to each first light-emitting unit; The process of controlling the on-time and emission time of each light-emitting unit and the on-time and exposure time of each receiving unit according to the detection scenario includes: Based on the first light-emitting unit, the first turn-on time, and the first light-emitting time indicated by the detection scene, a first receiving unit corresponding to each first light-emitting unit, a first turn-on time, and a first exposure time corresponding to each first receiving unit are determined. The system controls each of the first light-emitting units to turn on and continuously emit light for the first light-emitting time according to the corresponding first turn-on time, and controls each of the first receiving units to turn on and continuously expose for at least the first exposure time according to the corresponding first turn-on time.

8. The system according to any one of claims 1-5, characterized in that, The receiving module further includes a filter for filtering the echo signal before transmitting it to the receiver.

9. The system according to any one of claims 1-5, characterized in that, The receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens.

10. A lidar system, characterized in that, The system includes: a transmitting module, a receiving module, and a control module. The transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver. The transmitter includes multiple light-emitting units, each of which is used to emit a detection signal under the control of the control module; The transmitting lens is used to collimate the detection signal before emitting it. The receiving lens is used to transmit the received echo signal to the receiver, and the echo signal is the signal returned by the target reflecting the detection signal; The receiver includes multiple receiving units, each receiving unit being used to receive the echo signal, and the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens; The control module is used to adjust the optical path between some or all of the light-emitting units and the emitting lens according to the current type of illumination being detected. The lighting type of the system includes at least two of the following: dot matrix lighting, floodlighting, and mixed lighting. The number of light-emitting units in the system is less than or equal to the number of receiving units in the system.

11. The system according to claim 10, characterized in that, The transmitting module also includes an optical path adjustment component, which includes a flat glass plate and / or a light homogenizing device. The adjustment of the optical path between some or all of the light-emitting units and the emitting lens, based on the current type of illumination being detected, includes: Based on the current illumination type being detected and the distance between the transmitter and the transmitting lens, the relative positional relationship between the optical path adjustment component and the transmitter is adjusted to achieve adjustment of the optical path between some or all of the light-emitting units and the transmitting lens.

12. The system according to claim 10, characterized in that, If the illumination type of the system includes both dot matrix illumination and flood illumination, then the transmitting lens is configured as a zoom lens. The adjustment of the optical path between some or all of the light-emitting units and the emitting lens, based on the current type of illumination being detected, includes: If the current illumination type being detected is the floodlight illumination, then adjust the focal length of the zoom lens so that the optical path between each light-emitting unit and the emitting lens under the dot matrix illumination is not equal to the focal length of the zoom lens; or If the current illumination type being detected is the dot matrix illumination, then the focal length of the zoom lens is adjusted so that the optical path between each light-emitting unit and the emitting lens under the dot matrix illumination is equal to the focal length of the zoom lens.

13. The system according to claim 12, characterized in that, If the lighting type of the system also includes the mixed lighting, the transmitting module further includes an electrically controlled atomizing glass device, which is disposed between the transmitter and the transmitting lens; The method of adjusting the optical path between some or all of the light-emitting units and the emitting lens according to the current type of illumination being detected also includes: If the current illumination type being detected is either the dot matrix illumination or the floodlight illumination, then control the entire area of ​​the electrically controlled atomizing glass device to be energized; or If the current illumination type being detected is the mixed illumination, then the focal length of the zoom lens is adjusted so that the distance between each light-emitting unit and the emitting lens is less than or equal to the focal length of the zoom lens, and power is supplied to a portion of the electronically controlled atomizing glass device so that the optical path between some of the light-emitting units and the emitting lens is not equal to the focal length of the emitting lens, and the optical path between the remaining light-emitting units and the emitting lens is equal to the focal length of the emitting lens.

14. The system according to claim 10, characterized in that, The transmitting module also includes: An electronically controlled atomizing glass device is disposed between the transmitter and the transmitting lens; The adjustment of the optical path between some or all of the light-emitting units and the emitting lens, based on the current type of illumination being detected, includes: Based on the current illumination type being detected and the distance between the light-emitting unit and the transmitting lens, the power-on state of the electrically controlled atomizing glass device is controlled to adjust the optical path between some or all of the light-emitting units and the transmitting lens.

15. The system according to claim 10, characterized in that, If the lighting type of the system includes both dot matrix lighting and floodlighting, the system further includes: a driving component. The adjustment of the optical path between some or all of the light-emitting units and the emitting lens, based on the current type of illumination being detected, includes: Based on the current illumination type being detected and the distance between the light-emitting unit and the emitting lens, the driving component is controlled to move the emitting lens and / or the emitter to adjust the optical path between some or all of the light-emitting units and the emitting lens.

16. The system according to any one of claims 10-15, characterized in that, The control module is also used to control the turn-on time and light emission time of each of the light-emitting units according to the detection scenario, and to control the turn-on time and exposure time of each of the receiving units.

17. The system according to claim 16, characterized in that, The detection scenario is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, as well as the first turn-on time and the first light-emitting time corresponding to each first light-emitting unit; The process of controlling the on-time and emission time of each light-emitting unit and the on-time and exposure time of each receiving unit according to the detection scenario includes: Based on the first light-emitting unit, the first turn-on time, and the first light-emitting time indicated by the detection scene, a first receiving unit corresponding to each first light-emitting unit, a first turn-on time, and a first exposure time corresponding to each first receiving unit are determined. The system controls each of the first light-emitting units to turn on and continuously emit light for the first light-emitting time according to the corresponding first turn-on time, and controls each of the first receiving units to turn on and continuously expose for at least the first exposure time according to the corresponding first turn-on time.

18. The system according to any one of claims 10-15, characterized in that, The receiving module further includes a filter for filtering the echo signal before transmitting it to the receiver.

19. The system according to any one of claims 10-15, characterized in that, The receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens.

20. An electronic device, characterized in that, include: The system according to any one of claims 1-9, or the system according to any one of claims 10-19.

21. A vehicle, characterized in that, include: The system according to any one of claims 1-9, or the system according to any one of claims 10-19.

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