LiDAR chips and LiDAR devices

Abstract

This invention relates to the field of lidar technology, providing a lidar chip and a lidar device. The lidar chip includes a substrate and functional modules disposed on the substrate. The functional modules include a communication module, a receiving module, a processing module, and a programmable control module. The communication module can communicate with external devices and is used to receive a bitstream corresponding to an application program. The receiving module receives echo signals and converts them into first waveform data. The processing module receives the first waveform data and processes it to obtain echo data. The programmable control module receives the bitstream corresponding to the application program and stores the application program. It receives the first waveform data and echo data and obtains lidar system data based on the application program. The application program stored in the programmable control module can be updated, modified, or added to through the communication module, facilitating development, iteration, and optimization, offering high flexibility. Furthermore, the integrated design of the lidar chip helps reduce size, power consumption, and cost.

Description

Technical Field

[0001] This invention relates to the field of lidar technology, and in particular to a lidar chip and lidar device. Background Technology

[0002] Commonly used environmental sensors in Advanced Driving Assistance Systems (ADAS) and autonomous driving systems include cameras, LiDAR, and millimeter-wave radar. Compared to cameras, LiDAR's biggest advantage is its fewer environmental limitations; it can be used normally both day and night.

[0003] LiDAR (Light Detection and Ranging) is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, velocity, attitude, and even shape.

[0004] According to the relevant technologies known to the inventor, some lidar devices are composed of discrete components. Discrete lidar devices include lasers, detectors, laser driver modules, receiver modules, processing modules, communication modules, etc. Discrete lidar devices have advantages such as short iteration cycles and ease of development and optimization, but they also have disadvantages such as large size and high power consumption, making it difficult to meet the requirements of ADAS and autonomous driving systems for lidar in pre-installed mass production. Summary of the Invention

[0005] The purpose of this invention is to provide a lidar chip and lidar device, aiming to solve the technical problems in related technologies where lidar devices are easy to develop but have large size and high power consumption.

[0006] In a first aspect, this application provides a lidar chip, the lidar chip comprising: a substrate and functional modules disposed on the substrate, the functional modules including a communication module, a receiving module, a processing module and a programmable control module;

[0007] The communication module is capable of communicating with external systems and is used to receive bit streams corresponding to the application program; the receiving module is electrically connected to the communication module and is used to receive echo signals and convert them into first waveform data; the processing module is electrically connected to the communication module and is used to receive the first waveform data and process it to obtain echo data.

[0008] The programmable control module is electrically connected to the communication module and is used to receive the bit stream corresponding to the application and store the application, and to receive the first waveform data and the echo data, and to obtain the lidar system data based on the application.

[0009] In one embodiment, the programmable control module includes a communication control unit, a storage unit, and a processing unit. The communication control unit is electrically connected to the communication module, the storage unit, and the processing unit, respectively. The communication control unit is used to receive the bit stream corresponding to the application sent by the communication module and write it into the storage unit. The processing unit obtains the lidar system data based on the application.

[0010] In one embodiment, the storage unit is further configured to store lidar system parameters sent by the communication control unit, and / or the storage unit is further configured to store lidar system data sent by the computing unit.

[0011] In one embodiment, the communication control unit is further configured to receive at least one of a protocol block, instruction block, waveform-level data block, and result-level data block sent by the communication module.

[0012] In one embodiment, the programmable control module is used to send configuration instructions to the communication module to configure the operating parameters of the receiving module and / or the processing module.

[0013] In one embodiment, the programmable control module is used to send a query instruction to the communication module to query the operating parameters of the receiving module and / or the processing module.

[0014] In one embodiment, the communication module includes an external communication unit, a parameter interaction unit, and a data interaction unit;

[0015] The external communication unit is used to communicate with the outside world;

[0016] The parameter interaction unit is used to send configuration instructions and query instructions to the receiving module, the processing module and the programmable control module;

[0017] The data interaction unit is used to receive the first waveform data output by the receiving module and send waveform-level data blocks to the programmable control module. The data interaction unit is also used to receive the echo data sent by the processing module and send result-level data blocks to the programmable control module.

[0018] In one embodiment, the receiving module includes a receiving unit, a filtering unit, and an analog-to-digital conversion unit; the receiving unit is used to receive the echo signal and convert it into a voltage signal; the filtering unit is used to filter the voltage signal; and the analog-to-digital conversion unit is used to convert the filtered voltage signal into the first waveform data.

[0019] In one embodiment, the processing module includes a digital filtering unit, a dynamic threshold unit, an echo recognition unit, and a measurement unit, wherein the echo data includes first echo data and second echo data;

[0020] The digital filtering unit is used to receive digital filtering parameters sent by the communication module, and to filter the first waveform data into second waveform data based on the digital filtering parameters.

[0021] The dynamic threshold unit is used to receive the dynamic threshold parameters sent by the communication module and perform dynamic threshold calculation on the second waveform data to obtain the first threshold information;

[0022] The echo identification unit is used to receive the echo identification parameters sent by the communication module, and combine the first threshold information and the second waveform data to obtain the first echo data;

[0023] The measurement unit is used to receive timing parameters sent by the communication module and measure the first echo data to obtain the second echo data.

[0024] In one embodiment, the lidar chip further includes a driving module, which is electrically connected to the communication module;

[0025] The driving module includes a scanning driving unit, a laser driving unit, and a detection driving unit; the scanning driving unit is used to drive the scanning component, the laser driving unit is used to drive the laser, and the detection driving unit is used to drive the detector.

[0026] Secondly, this application provides a lidar device, the lidar including a scanning component, a laser, a detector and a lidar chip as described in any one of the above, the lidar chip being electrically connected to the scanning component, the laser and the detector respectively.

[0027] The beneficial effects of the lidar chip and lidar device provided by this invention are as follows: the receiving module can receive the echo signal sent by the detector and convert it into first waveform data; the processing module can process the first waveform data to obtain echo data and acquire the echo flight time; the communication module communicates with the outside and can receive the bit stream of the application sent by the external network; the programmable control module receives the bit stream of the application, stores the application, and processes the first waveform data and echo data based on the application to obtain lidar system data; wherein, the application stored in the programmable control module can be updated, modified, or added or removed through the communication module, which is easy to develop, iterate and optimize, and has high flexibility. Moreover, the integrated design of the communication module, receiving module, processing module and programmable control module is conducive to reducing size, power consumption and cost, and solves the technical problem of lidar devices being easy to develop but large in size and high in power consumption in related technologies. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of the architecture of a lidar chip provided in an embodiment of the present invention;

[0030] Figure 2 This is an interactive schematic diagram of the programmable control module of the lidar chip in the embodiment;

[0031] Figure 3 This is a schematic diagram of the communication module of the lidar chip in the embodiment;

[0032] Figure 4 This is an interactive schematic diagram of the receiving module of the lidar chip in the embodiment;

[0033] Figure 5 This is an interactive schematic diagram of the processing module of the lidar chip in the embodiment;

[0034] Figure 6 This is an interactive schematic diagram of the driver module of the lidar chip in the embodiment.

[0035] The following are the labeling elements in the figure:

[0036] 10. LiDAR chip; 11. Substrate; 20. Detector; 30. Scanning component; 40. Laser;

[0037] 100. Communication module; 110. External communication unit; 120. Parameter interaction unit; 130. Data interaction unit;

[0038] 200. Receiver module; 210. Receiver unit; 220. Filtering unit; 230. Analog-to-digital conversion unit;

[0039] 300. Processing module; 310. Digital filtering unit; 320. Dynamic threshold unit; 330. Echo recognition unit; 340. Measurement unit;

[0040] 400. Programmable control module; 410. Communication control unit; 420. Storage unit; 430. Processing unit;

[0041] 500. Drive module; 510. Scan drive unit; 520. Laser drive unit; 530. Detection drive unit. Detailed Implementation

[0042] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0043] Throughout this specification, references to "an embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of this application. Therefore, the phrases "in one embodiment" or "in some embodiments" appear in various places throughout the specification, and not all refer to the same embodiment. Furthermore, in one or more embodiments, particular features, structures, or characteristics may be combined in any suitable manner.

[0044] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0046] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0047] Figure 1 This is a schematic diagram of the architecture of the lidar chip 10 provided in an embodiment of the present invention.

[0048] Please refer to Figure 1 The lidar chip 10 includes a substrate 11 and functional modules disposed on the substrate 11. The functional modules include a communication module 100, a receiving module 200, a processing module 300, and a programmable control module 400.

[0049] The communication module 100 is capable of communicating with external systems and is used to receive the bit stream corresponding to the application program. The receiving module 200 is electrically connected to the communication module 100 and is used to receive the echo signal and convert it into first waveform data. The processing module 300 is electrically connected to the communication module 100 and is used to receive the first waveform data and process it to obtain echo data. The programmable control module 400 is electrically connected to the communication module 100 and is used to receive the bit stream corresponding to the application program and store the application program. It is also used to receive the first waveform data and echo data, and to obtain lidar system data based on the application program.

[0050] In this application, the receiving module 200 can receive the echo signal sent by the detector 20 and convert it into first waveform data. The processing module 300 can process the first waveform data to obtain echo data and acquire the echo flight time. The communication module 100 communicates with the outside and can receive the bit stream of the application sent by the external network. The programmable control module 400 receives the bit stream of the application, stores the application, and processes the first waveform data and echo data based on the application to obtain the lidar system data.

[0051] The application program stored in the programmable control module 400 can be updated, modified, or added to via the communication module 100, making it easy to develop, iterate, and optimize, offering high flexibility without requiring the replacement of new functional modules. Furthermore, compared to discrete device arrangements, the integrated design of the communication module 100, receiving module 200, processing module 300, and programmable control module 400 helps reduce size, power consumption, and cost.

[0052] Optionally, the application includes a data processing application. The programmable control module 400 receives the bitstream of the data processing application through the communication module 100, stores the application, and, based on the application and the radar lookup table, performs data correction, calibration, and polar coordinate to 3D coordinate conversion on the raw radar data transmitted by the processing module 300. The radar lookup table can also be stored in the programmable control module 400 through the communication module 100, or pre-stored in the programmable control module 400. Furthermore, the communication module 100 can also receive new data processing applications sent externally, enabling iteration, optimization, and replacement of the data processing applications stored in the programmable control module 400, providing high flexibility.

[0053] For example, due to upgrades to detector 20, scanning component 30, or laser 40, point cloud parameters change, such as angular resolution, frame rate, or point frequency increases, and corresponding data corrections change. At this time, communication module 100 receives a new data processing application to optimize the data processing application in programmable control module 400.

[0054] For example, if a user changes vehicles and the LiDAR is removed from the old vehicle and installed on the new one, or if road construction or tree cover causes the LiDAR to be moved from a station booth to a monitoring pole, the installation location of the LiDAR changes, and the data calibration and coordinate transformation need to be modified accordingly. In this case, the communication module 100 receives a new data processing application to replace the data processing application in the programmable control module 400, so that the original LiDAR can continue to be used normally.

[0055] Optionally, the application includes a data frame creation application. Based on this application, the programmable control module 400, in conjunction with a frame format set by the lidar or defined by the user, packages the first waveform data and echo data, as well as related data processed from the first waveform data and echo data. Furthermore, the communication module 100 can also receive new data frame creation applications sent externally, enabling iteration, optimization, and replacement of the data frame creation application stored in the programmable control module 400, providing high flexibility and allowing data packaging in conjunction with new frame formats.

[0056] Optionally, the application includes a secondary boot application. Based on this application, the programmable control module 400 defines the startup process of the LiDAR, such as designing the startup sequence and process of each configuration item. It can iterate and optimize the startup process, offering high flexibility.

[0057] In some embodiments, combined with Figure 2The programmable control module 400 includes a communication control unit 410, a storage unit 420, and a processing unit 430. The communication control unit 410 is electrically connected to the communication module 100, the storage unit 420, and the processing unit 430. The communication control unit 410 receives the bit stream corresponding to the application program sent by the communication module 100 and writes it to the storage unit 420 to modify the application program of the programmable control module 400. Specifically, the communication control unit 410 acquires the application program, converts its format, and writes it to the storage unit 420 in the appropriate format. The processing unit 430 obtains lidar system data based on the application program, such as coordinate data, echo intensity data, and elevation data.

[0058] The communication control unit 410 is responsible for data interaction between the programmable control module 400 and the communication module 100. The storage unit 420 stores the application program, and the calculation unit 430 performs data calculations based on the application program stored in the storage unit 420. The communication module 100 obtains the first waveform data and echo signal from the processing module 300 and the receiving module 200, respectively, and sends them to the communication control unit 410. The calculation unit 430 receives the first waveform data and echo signal sent by the communication control unit 410, as well as the application program sent by the storage unit 420, and calculates the corresponding lidar system data.

[0059] Furthermore, since the application can be iterated and optimized, the computing unit 430 can calculate the corresponding lidar system data based on the updated application and obtain new lidar system data.

[0060] Specifically, in combination Figure 2 The LiDAR system data calculated by the computing unit 430 is sent to the storage unit 420, which also stores the LiDAR system data sent by the computing unit 430. Optionally, the storage unit 420 can further send the LiDAR system data to the communication module 100 through the communication control unit 410, and then the communication module 100 sends the LiDAR system data to the outside.

[0061] Specifically, in combination Figure 2 The storage unit 420 is also used to store the lidar system parameters sent by the communication control unit 410. For example, the communication control unit 410 receives parameter information from other functional modules, such as a radar lookup table, sent by the communication module 100, and stores it in the storage unit 420. The lidar system parameters stored in the storage unit 420 can be used for calculations in the arithmetic unit 430, or, upon receiving a query command from the communication module 100, can be used to send relevant lidar system parameters to the communication module 100.

[0062] Specifically, in combination Figure 2The communication control unit 410 is also used to receive at least one of the following: protocol block, instruction block, waveform-level data block, and result-level data block sent by the communication module 100. For example, the communication control unit 410 is also used to receive the protocol block sent by the communication module 100, determine the communication protocol between the communication control unit 410 and the communication module 100, and realize data interaction between the communication control unit 410 and the communication module 100.

[0063] Specifically, in combination Figure 2 The programmable control module 400 outputs to the communication module 100 through the communication control unit 410. The output may include configuration instructions and / or query instructions. For example, the programmable control module 400 sends configuration instructions to the communication module 100, which control the communication module 100 to configure the operating parameters of other functional modules. For instance, the configuration instructions may be used to configure the operating parameters of the receiving module 200 and / or the processing module 300. Similarly, the programmable control module 400 sends query instructions to the communication module 100, which control the communication module 100 to query the operating parameters of other functional modules. For instance, the query instructions may be used to query the operating parameters of the receiving module 200 and / or the processing module 300.

[0064] In one specific embodiment, between the communication module 100 and the communication control unit 410, the communication module 100 sends application bitstreams, protocol blocks, instruction blocks, waveform-level data blocks, and result-level data blocks to the communication control unit 410, and the communication control unit 410 sends the output of the programmable control module 400, such as configuration instructions and query instructions, to the communication module 100. Between the communication control unit 410 and the storage unit 420, the communication control unit 410 sends application bitstreams and LiDAR system parameters to the storage unit 420, and the storage unit 420 sends stored LiDAR system parameters to the communication control unit 410. Between the communication control unit 410 and the arithmetic unit 430, the communication control unit 410 sends LiDAR system parameters to the arithmetic unit 430. Between the storage unit 420 and the arithmetic unit 430, the storage unit 420 sends application bitstreams and LiDAR system parameters to the arithmetic unit 430, and the arithmetic unit 430 sends LiDAR system parameters to the storage unit 420.

[0065] In this application, the communication module 100 is electrically connected to each functional module, enabling communication and data interaction. Specifically, the functions of the communication module 100 include: First, the communication module 100 interacts with external devices (e.g., Ethernet MAC), receives data frames, parses the corresponding instructions, and sends them to the programmable control module 400. Second, the communication module 100 configures the interface parameters of other functional modules based on the configuration instructions of the communication control unit 410 of the programmable control module 400. Third, it receives the output data (including waveform data and result data) from the processing module 300, assembles protocol frames, and completes the communication process with external devices (e.g., Ethernet MAC).

[0066] Compared to direct external communication between functional modules, this application uses a communication module 100 to indirectly connect to the outside world, which has the following advantages: First, each functional module does not need to configure an independent logic module to interact with the MAC, nor does it need to set up dedicated interfaces such as RGMII / MDIO. The communication module 100 can independently support the underlying Ethernet protocol architecture, providing independent and flexible architectural support for subsequent network upgrades and network security. Second, since the various modules within the system are usually in different clock domains, data transmission between modules across clock domains often carries the risk of metastability for RTL (Real Time Logistics) design. Therefore, the communication module 100 is used for CDC (Clock Domain Crossing) processing to meet the data transmission requirements between various functional modules.

[0067] In some embodiments, combined with Figure 3 The communication module 100 includes an external communication unit 110, a parameter interaction unit 120, and a data interaction unit 130. The external communication unit 110 communicates with external devices, such as outputting protocol blocks to them. These external devices can be a host computer, detector 20, scanning component 30, or laser 40. The parameter interaction unit 120 sends configuration and query commands to the functional modules to configure or query their operating parameters. The data interaction unit 130 receives the first waveform data output by the receiving module 200 and sends waveform-level data blocks to the programmable control module 400. The data interaction unit 130 also receives echo data sent by the processing module 300 and sends result-level data blocks to the programmable control module 400.

[0068] Specifically, the configuration parameters can be configured by loading pre-stored parameters from the programmable control module 400 during the power-on initialization process; or they can be received from external devices via Ethernet communication during operation.

[0069] In some embodiments, combined with Figure 4 The receiving module 200 includes a receiving unit 210, a filtering unit 220, and an analog-to-digital converter (ADC) 230. The receiving unit 210 receives the echo signal and converts it into a voltage signal. The filtering unit 220 filters the voltage signal. The ADC 230 converts the filtered voltage signal into first waveform data. Thus, the echo signal is processed sequentially by the receiving unit 210, the filtering unit 220, and the ADC 230, converted into first waveform data, which can be used for further processing by the processing module 300, or sent via the communication module 100 to the application program of the programmable control module 400 for further processing.

[0070] Specifically, the receiving unit 210, filtering unit 220, and analog-to-digital conversion unit 230 are electrically connected to the communication module 100 for data interaction. For example, the communication module 100 sends configuration or query commands to the receiving unit 210, filtering unit 220, and analog-to-digital conversion unit 230 to configure or query the operating parameters of these units. The receiving unit 210, filtering unit 220, and analog-to-digital conversion unit 230 send query commands to the communication module 100, outputting their operating parameter information.

[0071] Optionally, the operating parameters of the receiving unit 210 include at least one of the following: a receiving gain parameter for controlling the ratio of the echo signal strength to the voltage signal, a receiving bandwidth parameter for determining the bandwidth to receive signals within a specific frequency range, and a receiving sensitivity parameter for controlling the sensitivity of the receiving unit 210. These operating parameters can be configured or queried by external devices, external personnel, or the programmable control module 400 via the communication module 100.

[0072] Optionally, the operating parameters of the filtering unit 220 include at least one of the following: filter type parameters for determining the type of filter, center frequency parameters for determining the center location of the transmission bandwidth, and bandwidth parameters for determining the range of the transmission bandwidth. These operating parameters can be configured or queried by external devices, external personnel, or the programmable control module 400 through the communication module 100.

[0073] Optionally, the operating parameters of the analog-to-digital conversion unit 230 include at least one of the sampling rate, analog-to-digital conversion bit depth, and reference voltage. These operating parameters can be configured or queried by external devices, external personnel, or the programmable control module 400 via the communication module 100.

[0074] In this application, the programmable control module 400 or external device sends configuration instructions or query instructions to the receiving unit 210, the filtering unit 220 and the analog-to-digital conversion unit 230 through the communication module 100.

[0075] Optionally, the configuration instructions output by the external device or programmable control module 400 include configuring the filter unit 220 to reserve filter weight parameters and filter window size parameters. The query instructions output by the external device or programmable control module 400 include querying the filter unit 220 to reserve filter weight parameters and filter window size parameters.

[0076] Specifically, the receiving unit 210 is also used to be electrically connected directly to the external detector 20 to receive the echo signal. Further, the receiving unit 210 is also used to amplify the echo signal. Optionally, the programmable control module 400 or an external device can configure the amplification factor parameters of the receiving unit 210 for the echo signal through the communication module 100. It is understood that in other embodiments, the external detector 20 can be directly electrically connected to the communication module 100, and then the echo signal can be sent to the receiving unit 210 through the communication module 100.

[0077] Optionally, the receiving unit 210 is a current-mode amplifier, which can first amplify the current of the echo signal and then convert it into a voltage signal.

[0078] Specifically, the analog-to-digital conversion unit 230 is directly electrically connected to the processing module 300 and is used to send first waveform data to the processing module 300 so that the processing module 300 can process the first waveform data. It can be understood that in other embodiments, the analog-to-digital conversion unit 230 sends the first waveform data to the processing module 300 through the communication module 100.

[0079] Specifically, the filtering unit 220 in the receiving module 200 filters the analog signal before the analog-to-digital conversion unit 230, so that the signal bandwidth and spectrum of the analog-to-digital conversion unit 230 meet the sampling rate requirements of the analog-to-digital conversion unit 230, and no signal distortion or other problems or phenomena occur.

[0080] In some embodiments, combined with Figure 5The processing module 300 includes a digital filtering unit 310, a dynamic thresholding unit 320, an echo recognition unit 330, and a measurement unit 340. The digital filtering unit 310 receives digital filtering parameters sent by the communication module 100 and filters the first waveform data into second waveform data based on these parameters. The dynamic thresholding unit 320 receives dynamic thresholding parameters sent by the communication module 100 and performs dynamic threshold calculations on the second waveform data to obtain first threshold information. The echo recognition unit 330 receives echo recognition parameters sent by the communication module 100 and combines the first threshold information with the second waveform data to obtain first echo data. The measurement unit 340 receives timing parameters sent by the communication module 100 and measures the first echo data to obtain second echo data. The echo data includes both first and second echo data. The echo data is sent via the communication module 100 to the programmable control module 400 for further processing based on the application program.

[0081] In this application, the arithmetic unit 430 of the programmable control module 400 can be used to process the first waveform data output by the receiving module 200, and can also be used to process the second echo data output by the processing module 300.

[0082] Specifically, the digital filtering unit 310 is used to filter digital signals. The relevant filtering parameters can be changed by configuration. The purpose is to enhance the flexibility of system processing, configure different filtering parameters for signals in different scenarios / applications, and improve performance such as detection probability, false detection rate, accuracy, and adaptability.

[0083] Specifically, the communication module 100 interacts with the digital filtering unit 310, the dynamic threshold unit 320, the echo recognition unit 330, and the measurement unit 340. For example, the communication module 100 sends configuration or query commands to the digital filtering unit 310, the dynamic threshold unit 320, the echo recognition unit 330, and the measurement unit 340 to configure or query the operating parameters (e.g., digital filtering parameters, dynamic threshold parameters, echo recognition parameters, and timing parameters) of the digital filtering unit 310, the dynamic threshold unit 320, the echo recognition unit 330, and the measurement unit 340. The digital filtering unit 310, the dynamic threshold unit 320, the echo recognition unit 330, and the measurement unit 340 send query commands to the communication module 100, outputting the operating parameter information of the digital filtering unit 310, the dynamic threshold unit 320, the echo recognition unit 330, and the measurement unit 340.

[0084] In some embodiments, combined with Figure 6The lidar chip 10 also includes a driving module 500, which is electrically connected to the communication module 100. The driving module 500 includes a scanning driving unit 510, a laser driving unit 520, and a detection driving unit 530. The scanning driving unit 510 drives the scanning component 30, the laser driving unit 520 drives the laser 40, and the detection driving unit 530 drives the detector 20.

[0085] Specifically, the communication module 100 interacts with the scanning drive unit 510, the laser drive unit 520, and the detection drive unit 530, respectively. For example, the communication module 100 sends configuration commands or query commands to the scanning drive unit 510, the laser drive unit 520, and the detection drive unit 530 to configure or query the operating parameters of the scanning drive unit 510, the laser drive unit 520, and the detection drive unit 530. The scanning drive unit 510, the laser drive unit 520, and the detection drive unit 530 send query commands to the communication module 100, outputting their operating parameter information.

[0086] Specifically, the scan drive unit 510 sends a first drive signal to the scan component 30. The first drive signal may include a scan drive signal and a scan feedback signal. The scan drive signal can be directly electrically connected to the scan component 30, or it can be indirectly electrically connected to the scan component 30 through the communication module 100 to realize data interaction.

[0087] The scanning component 30 is a two-dimensional MEMS scanning micromirror with two rotational directions: a fast axis and a slow axis. The fast axis is used for rapid rotational scanning, while the slow axis is used for quasi-static rotational scanning. The resonant frequency of the fast axis is higher than that of the slow axis. A laser beam is incident on the surface of the two-dimensional MEMS scanning micromirror at a certain angle and is reflected. At this time, the mirror rotates around both the fast and slow axes simultaneously, causing the reflected beam to also rotate around the fast and slow axes, thereby achieving two-dimensional scanning.

[0088] In this application, the first driving signal may include a sine wave, a triangle wave, a sawtooth wave, a square wave, etc. The same waveform can be used to drive the fast axis and the slow axis, or different waveforms can be used to drive the fast axis and the slow axis separately.

[0089] Specifically, the scanning drive unit 510 receives configuration parameters from the communication module 100. These parameters include the fast axis resonant frequency, the fast-slow axis period ratio, the fast axis amplitude, the slow axis amplitude, the slow axis quality factor, and the slow axis resonant frequency. The scanning drive unit 510 calculates the characteristic quantities of the drive signal required for scanning in real time. These characteristic quantities may include the fast axis drive value and the slow axis drive value. The scanning drive unit 510 generates a corresponding first drive signal, which is a superposition of a fast axis sine wave signal and a slow axis triangular wave signal. The fast axis sine wave signal is sent to the fast axis of the two-dimensional MEMS scanning micromirror, and the slow axis triangular wave signal is sent to the slow axis of the two-dimensional MEMS scanning micromirror. Together, they drive the two-dimensional MEMS scanning micromirror to oscillate and form a preset pattern. The beam of light reflected from the mirror scans the target area with the preset pattern, completing the preset pattern scan.

[0090] Specifically, the scanning drive unit 510 receives a query command from the communication module 100 and acquires the scanning feedback signal output by the scanning component 30 in real time. The scanning feedback signal may include the fast axis feedback signal and the slow axis feedback signal of the two-dimensional MEMS scanning micromirror. Then, the scanning drive unit 510 calculates the corresponding feature quantities, which may include the maximum and minimum values ​​of the fast axis feedback signal and the slow axis feedback signal of the two-dimensional MEMS scanning micromirror, the period value, and the linearity value. Finally, the scanning drive unit 510 returns the feature quantities to the communication module 100.

[0091] Specifically, the laser driving unit 520 sends a second driving signal to the laser 40, which may include a laser driving signal. The laser driving unit 520 can be directly electrically connected to the laser 40, or indirectly electrically connected to the laser 40 through the communication module 100 to achieve data interaction.

[0092] Specifically, the laser driving unit 520 receives configuration parameters from the communication module 100, including a laser emission time lookup table, the start time and width of the laser charging pulse, and the start time and width of the laser discharge pulse; it also receives synchronization signals from the scanning driving unit 510, including fast axis synchronization signals and slow axis synchronization signals of the two-dimensional MEMS scanning micromirror; and the laser driving unit 520 generates a second driving signal for the external laser 40.

[0093] Specifically, the detection drive unit 530 sends a third drive signal to the detector 20, which may include the detection drive signal. The detection drive unit 530 can be directly electrically connected to the laser 40, or it can be indirectly electrically connected to the detection drive unit 20 through the communication module 100 to achieve data interaction.

[0094] Optionally, the detector 20 control unit receives configuration parameters from the communication module 100, specifically the detection bias voltage, the bias voltage configuration start time, and the duration; receives a synchronization signal from the laser drive unit 520, and generates a third drive signal for the external detector 20.

[0095] Detector 20 is used to receive reflected laser light and convert it into an echo signal. The reflected laser light is the laser light after the emitted laser light is reflected. Detector 20 can be a lens or a lens group. Optionally, detector 20 can be any one of a diode, a diode array, a silicon photomultiplier tube, and a silicon photomultiplier tube array. The diode can be an indium phosphide photodiode or an avalanche breakdown photodiode. Optionally, the diode array or silicon photomultiplier tube array can be a regular array; for example, the spacing between adjacent diodes or silicon photomultiplier tubes in the diode array or silicon photomultiplier tube array can be a fixed value such as 0.2 mm or 0.5 mm. Optionally, the diode array or silicon photomultiplier tube array can be a circular array or an irregularly shaped array.

[0096] Furthermore, this application provides a lidar device. The lidar includes a scanning component 30, a laser 40, a detector 20, and a lidar chip 10 of any one of the above. The lidar chip 10 is electrically connected to the scanning component 30, the laser 40, and the detector 20, respectively. The lidar chip 10 is capable of communicating with external devices, and its application program is editable, offering high flexibility.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lidar chip, characterized in that, The lidar chip includes a substrate and functional modules disposed on the substrate, the functional modules including a communication module, a receiving module, a processing module, and a programmable control module; The communication module is capable of communicating with external systems and is used to receive bit streams corresponding to the application. The receiving module is electrically connected to the communication module and is used to receive the echo signal and convert it into first waveform data; The processing module is electrically connected to the communication module and is used to receive the first waveform data and process it to obtain echo data; The programmable control module is electrically connected to the communication module and is used to receive the bit stream corresponding to the application and store the application, and to receive the first waveform data and the echo data, and to obtain the lidar system data based on the application.

2. The lidar chip according to claim 1, characterized in that: The programmable control module includes a communication control unit, a storage unit, and a processing unit. The communication control unit is electrically connected to the communication module, the storage unit, and the processing unit. The communication control unit is used to receive the bit stream corresponding to the application sent by the communication module and write it into the storage unit. The processing unit obtains the lidar system data based on the application.

3. The lidar chip according to claim 2, characterized in that: The storage unit is also used to store the lidar system parameters sent by the communication control unit, and / or the storage unit is also used to store the lidar system data sent by the computing unit.

4. The lidar chip according to claim 2, characterized in that: The communication control unit is also used to receive at least one of the following: protocol block, instruction block, waveform-level data block, and result-level data block sent by the communication module.

5. The lidar chip according to claim 1, characterized in that: The programmable control module is used to send configuration instructions to the communication module to configure the operating parameters of the receiving module and / or the processing module; And / or, the programmable control module is used to send a query instruction to the communication module to query the operating parameters of the receiving module and / or the processing module.

6. The lidar chip according to claim 1, characterized in that: The communication module includes an external communication unit, a parameter interaction unit, and a data interaction unit; The external communication unit is used to communicate with the outside world; The parameter interaction unit is used to send configuration instructions and query instructions to the receiving module, the processing module and the programmable control module; The data interaction unit is used to receive the first waveform data output by the receiving module and send waveform-level data blocks to the programmable control module. The data interaction unit is also used to receive the echo data sent by the processing module and send result-level data blocks to the programmable control module.

7. The lidar chip according to claim 1, characterized in that: The receiving module includes a receiving unit, a filtering unit, and an analog-to-digital conversion unit; the receiving unit is used to receive the echo signal and convert it into a voltage signal; the filtering unit is used to filter the voltage signal; and the analog-to-digital conversion unit is used to convert the filtered voltage signal into the first waveform data.

8. The lidar chip according to claim 1, characterized in that: The processing module includes a digital filtering unit, a dynamic threshold unit, an echo recognition unit, and a measurement unit, and the echo data includes first echo data and second echo data. The digital filtering unit is used to receive digital filtering parameters sent by the communication module, and to filter the first waveform data into second waveform data based on the digital filtering parameters. The dynamic threshold unit is used to receive the dynamic threshold parameters sent by the communication module and perform dynamic threshold calculation on the second waveform data to obtain the first threshold information; The echo identification unit is used to receive the echo identification parameters sent by the communication module, and combine the first threshold information and the second waveform data to obtain the first echo data; The measurement unit is used to receive timing parameters sent by the communication module and measure the first echo data to obtain the second echo data.

9. The lidar chip according to any one of claims 1 to 8, characterized in that: The lidar chip also includes a driving module, which is electrically connected to the communication module; The driving module includes a scanning driving unit, a laser driving unit, and a detection driving unit; the scanning driving unit is used to drive the scanning component, the laser driving unit is used to drive the laser, and the detection driving unit is used to drive the detector.

10. A lidar device, characterized in that: The lidar includes a scanning component, a laser, a detector, and a lidar chip according to any one of claims 1 to 9, wherein the lidar chip is electrically connected to the scanning component, the laser, and the detector, respectively.

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