Signal reading circuit, signal reading method and laser radar

Abstract

The invention provides a signal reading circuit, a signal reading method and a laser radar. The signal reading circuit is used for reading signals of the detector array and comprises a primary bus and a secondary bus; wherein the primary bus comprises a plurality of first signal path sets, and each first signal path set comprises a plurality of first signal paths; the first signal path is connected with the plurality of detectors and is configured to receive electric signals output by the plurality of detectors; the secondary bus comprises one or more second signal path sets, each second signal path set comprises a plurality of second signal paths, and the second signal paths are connected with the first signal path sets and configured to receive the electric signals output by the first signal path sets. By arranging the primary bus and the secondary bus, the electric signals of the plurality of detectors can be independently read out, the design complexity of the signal reading circuit of the detector array is reduced, and the integration level of the circuit is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of optoelectronic detection, and particularly to a signal readout circuit, a signal readout method, and a lidar. Background Art

[0002] A lidar is a radar system that detects the position, speed, and other characteristic quantities of a target by emitting laser beams, and is an advanced detection method that combines laser technology and optoelectronic detection technology. Due to its advantages such as high resolution, good concealment, strong anti-active interference ability, good low-altitude detection performance, small size, and light weight, lidars are widely used in fields such as autonomous driving, traffic communication, unmanned aerial vehicles, intelligent robots, and resource exploration.

[0003] In order to obtain a larger field of view and higher spatial resolution, the number of detectors included in the detector array of a lidar shows an increasing trend. Each time the emitter emits light, it illuminates some or all of the detectors in the detector array. In order to achieve more flexible field of view scanning, independent gating and data output of a single detector is an optional implementation method. If the data of each detector is individually led out through a wire, independent gating of a single detector can be achieved. As the detector array increases, this method will cause the wiring complexity of the signal readout circuit to increase sharply, occupy a large layout area, and is not conducive to the integration and miniaturization of the circuit. Summary of the Invention

[0004] At least to overcome the above technical problems and possible other technical problems, the present disclosure provides a signal readout circuit, a signal readout method, and a lidar, which can achieve independent readout of the electrical signals of multiple detectors, reduce the wiring complexity of the signal readout circuit of the detector array, improve the integration degree of the circuit, and realize the miniaturization of the circuit.

[0005] According to an exemplary embodiment of the present disclosure, a signal readout circuit is provided for reading the signals of a detector array. The detector array includes a plurality of detectors arranged in an array along a first direction and a second direction; the detectors are configured to receive an echo beam and convert it into an electrical signal, where the echo beam is generated after a detection beam is reflected by an object. The signal readout circuit includes a first-level bus and a second-level bus. The first-level bus includes a plurality of first signal path sets, and each first signal path set includes a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and are configured to receive the electrical signals output by the plurality of detectors. The second-level bus includes one or more second signal path sets, and each second signal path set includes a plurality of second signal paths, and the second signal paths are connected to the plurality of first signal path sets and are configured to receive the electrical signals output by the plurality of first signal path sets.

[0006] Optionally, the detector array has a photosensitive surface, the first-level bus is disposed on a side of the detector array away from the photosensitive surface, and the second-level bus is disposed on a side of the first-level bus away from the detector.

[0007] Optionally, the signal readout circuit is configured to receive a first control signal and, according to the first control signal, select one or more detectors to output an electrical signal via the first signal path.

[0008] Optionally, the signal readout circuit is configured to receive a second control signal and, according to the second control signal, select one or more of the first signal path sets to output an electrical signal via the second signal path.

[0009] Optionally, the detector array includes multiple groups of detectors, and one group of detectors in the multiple groups of detectors includes a plurality of the detectors; the first signal paths are respectively connected to the plurality of detectors in different groups of detectors, and the plurality of detectors in the same group of detectors are respectively connected to the plurality of first signal paths.

[0010] Optionally, the signal readout circuit includes multiple groups of first signal path sets, and one group of first signal path sets in the multiple groups of first signal path sets includes a plurality of the first signal path sets; the second signal paths are respectively connected to the plurality of first signal path sets in different groups of first signal path sets, and the plurality of first signal path sets in the same group of first signal path sets are respectively connected to the plurality of second signal paths.

[0011] Optionally, the signal readout circuit includes at least one of the following settings:

[0012] The number of detectors in each group of detectors is determined according to the size of the irradiation area;

[0013] The number of first signal path sets in each group of first signal path sets is determined according to the size of the irradiation area.

[0014] Optionally, the detector is connected to a plurality of the first signal paths; the signal readout circuit is configured to receive a first control signal and, according to the first control signal, select one or more of the first signal paths from the plurality of first signal paths to output the electrical signal of the detector.

[0015] Optionally, the number of the plurality of first signal paths connected to the detector is greater than or equal to the number of irradiation areas in the first direction or the second direction.

[0016] Optionally, the plurality of first signal paths connected to the detector are respectively connected to different second signal path sets.

[0017] According to an exemplary embodiment of the present disclosure, there is also provided a signal readout method for reading signals of a detector array, where the detector array includes a plurality of detectors arranged in an array along a first direction and a second direction; the detectors are configured to receive an echo beam and convert it into an electrical signal, where the echo beam is generated after a detection beam is reflected by an object.

[0018] The signal readout method includes the following steps:

[0019] A step of reading electrical signals output by a plurality of detectors by using a plurality of first signal path sets; where one or more of the first signal path sets include a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and are configured to receive the electrical signals output by the plurality of detectors; and

[0020] A step of reading electrical signals output by one or more of the first signal path sets by using one or more second signal path sets; where one or more of the second signal path sets include a plurality of second signal paths, and the second signal paths are connected to one or more of the first signal path sets and are configured to receive the electrical signals output by one or more of the first signal path sets.

[0021] Optionally, the above signal readout method further includes a step of, in response to receiving a first control signal, gating one or more detectors to output electrical signals via the first signal paths according to the first control signal.

[0022] Optionally, the above signal readout method further includes a step of, in response to receiving a second control signal, gating one or more of the first signal path sets to output electrical signals via the second signal paths according to the second control signal.

[0023] Optionally, in the above signal readout method, the plurality of detectors in the detector array include multiple groups of detectors, the first signal paths are respectively connected to a plurality of detectors in different groups of detectors, and the plurality of detectors in the same group of detectors are respectively connected to a plurality of first signal paths.

[0024] Optionally, in the above signal readout method, the plurality of first signal path sets include multiple groups of first signal path sets, the second signal paths are respectively connected to a plurality of first signal path sets in different groups of first signal path sets, and the plurality of first signal path sets in the same group of first signal path sets are respectively connected to a plurality of second signal paths.

[0025] Optionally, the above signal readout method includes at least one of the following setting manners:

[0026] The number of detectors in each group of detectors is determined according to the size of the illumination area;

[0027] The number of the first signal path sets in each group of the first signal path sets is determined according to the size of the irradiation area.

[0028] Optionally, in the above signal readout method, the detector is connected to a plurality of the first signal paths;

[0029] The signal readout method further includes a step of, in response to receiving a first control signal, selecting one or more of the first signal paths from the plurality of first signal paths according to the first control signal to output the electrical signal of the detector.

[0030] Optionally, in the above signal readout method, the number of the plurality of first signal paths connected to the detector is greater than or equal to the number of irradiation areas in the first direction or the second direction.

[0031] Optionally, in the above signal readout method, the plurality of first signal paths connected to the detector are respectively connected to different second signal path sets.

[0032] According to an exemplary embodiment of the present disclosure, there is also provided a lidar, which includes:

[0033] An optical transmitter array configured to emit detection beams to detect an object;

[0034] A detector array including a plurality of detectors arranged in an array in the first direction and the second direction, the detectors being configured to receive echo beams and convert them into electrical signals, wherein the echo beams are generated after the detection beams emitted by the optical transmitter array are reflected by the object;

[0035] A signal readout circuit connected to the detector array and configured to read out the electrical signals output by the detector array; and

[0036] A signal processing circuit configured to process the signals output by the signal readout circuit;

[0037] Wherein, the signal readout circuit includes a first-level bus and a second-level bus, wherein,

[0038] The first-level bus includes a plurality of first signal path sets, and each first signal path set includes a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and configured to receive the electrical signals output by the plurality of detectors;

[0039] The second-level bus includes one or more second signal path sets, and each second signal path set includes a plurality of second signal paths, and the second signal paths are connected to the plurality of first signal path sets and configured to receive the electrical signals output by the plurality of first signal path sets.

[0040] Through the signal readout circuit, signal readout method, and lidar involved in the present disclosure, independent readout of the electrical signals of multiple detectors can be achieved, the design complexity of the signal readout circuit of the detector array can be reduced, and the integration degree of the circuit can be improved. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will give an exemplary introduction to the drawings required for the description of the embodiments. The drawings in the following description are only the embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation to the present disclosure.

[0042] Figure 1 Shows a schematic structural diagram of the signal readout circuit in some embodiments of the present disclosure.

[0043] Figure 2 Shows a schematic diagram of the detector array in some embodiments of the present disclosure.

[0044] Figure 3 Shows a schematic diagram of the connection structure of the primary bus and the connection structure of the secondary bus in some embodiments of the present disclosure.

[0045] Figure 4 Shows a schematic diagram of the path selection of the primary bus in some embodiments of the present disclosure.

[0046] Figure 5 Shows a schematic diagram of the path selection of the secondary bus in some embodiments of the present disclosure.

[0047] Figure 6 Shows a schematic diagram of the connection structure of a primary bus in some embodiments of the present disclosure.

[0048] Figure 7 Shows a schematic diagram of the connection structure of another primary bus in some embodiments of the present disclosure.

[0049] Figure 8 Shows a schematic diagram of the connection structure of the primary bus and the connection structure of the secondary bus in some embodiments of the present disclosure.

[0050] Figure 9 Shows a schematic diagram of the circuit connection structure of the primary bus in some embodiments of the present disclosure.

[0051] Figure 10A schematic diagram showing the circuit connection structure of the secondary bus in some embodiments of the present disclosure is shown.

[0052] Figure 11 A schematic diagram showing the connection structure between the secondary bus and the signal processing circuit in some embodiments of the present disclosure is shown.

[0053] Figure 12 A schematic diagram showing the path selection of the primary bus in some embodiments of the present disclosure is shown.

[0054] Figure 13 A schematic diagram showing the connection structure of the primary bus in some embodiments of the present disclosure is shown.

[0055] Figure 14 A schematic diagram showing that the detector array includes multiple irradiation regions in some embodiments of the present disclosure is shown.

[0056] Figure 15 A schematic diagram showing the signal flow of the primary bus in some embodiments of the present disclosure is shown.

[0057] Figure 16 A schematic diagram showing the control circuit of the detector in some embodiments of the present disclosure is shown.

[0058] Figure 17 A schematic diagram showing the flowchart of the signal readout method in some embodiments of the present disclosure is shown. Detailed Embodiments

[0059] The following will describe the detailed embodiments of the present disclosure. It should be noted that in the specific description of these embodiments, for the sake of concise description, this specification cannot describe all the features of the actual embodiments in detail. It should be understood that in the actual implementation process of any one embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet the system-related or business-related limitations, various specific decisions are often made, and these will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content of the present disclosure, some design, manufacturing, or production changes based on the technical content disclosed in the present disclosure are just conventional technical means and should not be understood as the content of the present disclosure being insufficient.

[0060] Unless otherwise defined, technical terms or scientific terms used in the claims and the specification shall have the ordinary meanings as understood by those of ordinary skill in the technical field to which this disclosure pertains. The terms "first", "second" and similar terms used in the specification and claims of this patent application of the disclosure do not denote any order, quantity or importance, but are merely used to distinguish different components. The terms such as "a" or "an" do not denote a quantity limitation, but mean that there is at least one. The terms such as "comprising" or "including" mean that the elements or items appearing before "comprising" or "including" cover the elements or items listed after "comprising" or "including" and their equivalent elements, and do not exclude other elements or items. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0061] In this disclosure, unless otherwise explicitly specified and limited, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and diagonally above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and diagonally below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0062] In this disclosure, if there is no special indication, all the embodiments and preferred embodiments mentioned herein may be combined with each other to form new technical solutions. In this disclosure, if there is no special indication, all the technical features and preferred features mentioned herein may be combined with each other to form new technical solutions.

[0063] The embodiments of the disclosure will be described below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only for the purpose of illustrating and explaining the disclosure and are not intended to limit the disclosure.

[0064] Light Detection and Ranging (LiDAR) is a radar system that detects characteristics of an object such as its position and speed by emitting laser beams. LiDAR is also known as laser radar or LADAR. The working principle of LiDAR is to emit a detection signal (such as a laser beam) towards an object, and then compare the received signal (such as an echo) reflected from the object with the detection signal. After appropriate processing, relevant information about the object can be obtained. For example, parameters such as the object's distance, azimuth, altitude, speed, attitude, and even shape. LiDAR can include a transmitting end and a receiving end. The transmitting end projects the detection beam emitted by the transmitter onto the detection field of view after collimating and shaping it through a transmitting optical system. The receiving end receives the echo of the detection beam reflected by the object through a receiving optical system and a receiver. The transmitter can be deployed on a transmitting circuit board or a transmitting chip. The detector can be deployed on a receiving circuit board or a receiving chip. In the present disclosure, LiDAR can be replaced by other active detection devices that measure information such as the position and speed of an object by emitting a signal towards the object and receiving the signal reflected from the object.

[0065] In view of the problems described in the background art section, the present disclosure proposes a signal readout circuit for reading signals from a detector array. The signal readout circuit can include: a first-level bus, a second-level bus. The first-level bus can include multiple first signal path sets. The first signal path set can include multiple first signal paths. The first signal path can be connected to multiple detectors for receiving electrical signals output by the multiple detectors. The second-level bus can include one or more second signal path sets. The second signal path set can include multiple second signal paths. The second signal path can be connected to multiple first signal path sets. The second signal path can receive electrical signals output by the multiple first signal path sets.

[0066] According to the signal readout circuit of the present disclosure, by providing a first-level bus and a second-level bus, independent readout of electrical signals of multiple detectors can be achieved, and the design complexity of the signal readout circuit of the detector array can be reduced, improving the circuit integration.

[0067] See Figure 1 , which shows a schematic structural framework diagram of the signal readout circuit according to an embodiment of the present disclosure. As Figure 1 shown, the receiving end of the LiDAR includes a signal readout circuit 1, a detector array 2, and a signal processing circuit 3. There can be electrical connections between the detector array 2, the signal readout circuit 1, and the signal processing circuit 3 to achieve signal transmission between them.

[0068] Optionally, the detector array, the signal readout circuit, and the signal processing circuit can be arranged in a tiled or stacked manner. For example, the detector array has a photosensitive surface. Along a direction parallel to the photosensitive surface, the signal readout circuit and the signal processing circuit can be arranged on the side of the detector array. For another example, along a direction perpendicular to the photosensitive surface, the detector array, the signal readout circuit, and the signal processing circuit can be stacked in sequence. The stacked arrangement can reduce the wiring area and the packaging difficulty. For example, referring to Figure 1 , the signal readout circuit 1 is arranged on the side of the detector array 2 away from its photosensitive surface, and the signal processing circuit 3 is arranged on the side of the signal readout circuit 1 away from the detector array 2. Optionally, the signal processing circuit can also be arranged on the same layer as the signal readout circuit. For example, both the signal readout circuit and the signal processing circuit are arranged on the side of the detector array 2 away from its photosensitive surface. Optionally, the detector array can be arranged on a detector chip or a detector circuit board. The detector array can include a plurality of detectors arranged in an array along a first direction and a second direction. The first direction and the second direction can be orthogonal directions (for example, referring to Figure 2 , the x-direction and the y-direction in a rectangular coordinate system respectively). Or, the first direction and the second direction can also be non-orthogonal directions. The plurality of detectors can be arranged in a two-dimensional manner. The arrangement of the plurality of detectors can include a matrix array, a hexagonal array, a triangular array, or other arrangements. Different detectors in the detector array can correspond to different spatial fields of view. The two-dimensional detector array can cover a two-dimensional spatial field of view. The detector can receive the echo beam and convert the echo beam into an electrical signal. The echo beam can be generated after the detection beam emitted by the transmitting end of the lidar is reflected by an object.

[0069] In some embodiments, the detector can include a photosensor. The photosensor can include a photodetection circuit, a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or a similar sensing element. In some embodiments, the detector can include one or more photosensors. For example, one detector can include a plurality (such as several to hundreds) of photosensors. A plurality of photosensors in one detector can be gated simultaneously. A plurality of photosensors in one detector can share an output interface. For example, the electrical signals (such as digital signals or analog signals) generated by the plurality of photosensors can be accumulated and then output to the signal readout circuit by the output interface.

[0070] Figure 2 Shows a schematic diagram of a detector array in some embodiments of the present disclosure. As Figure 2As shown, the detector array 200 includes a plurality of detectors 20. The plurality of detectors 20 are arranged in a two-dimensional array along a first direction (e.g., Figure 2 the x direction) and a second direction (e.g., Figure 2 the y direction). Figure 2 A two-dimensional array of M rows and N columns of detectors 20 is shown.

[0071] The signal readout circuit can be electrically connected to the detector array and the signal processing circuit respectively. The signal readout circuit can read the electrical signals of the detector array and transmit the read electrical signals to the signal processing circuit. The signal processing circuit can include, for example, a processor and a memory, etc.

[0072] The signal readout circuit can include a first-level bus and a second-level bus. The first-level bus can be electrically connected to the detector array to receive the electrical signals output by the detectors. The second-level bus can be electrically connected to the first-level bus to receive the electrical signals transmitted by the first-level bus. The second-level bus can be electrically connected to the signal processing circuit to transmit the electrical signals to the signal processing circuit. Optionally, the second-level bus and the first-level bus can be stacked. For example, referring to Figure 1 , the second-level bus 12 is arranged on the side of the first-level bus 11 away from the detector array 2. Optionally, the second-level bus and the first-level bus can be arranged flat. For example, in a plane parallel to the detector array, the second-level bus can be arranged on one side or both sides of the first-level bus.

[0073] In some embodiments, the primary bus may include a plurality of first signal path sets. The first signal path sets may be used to transmit the electrical signals of a row, a column, or a group of detectors in the detector array. The number of the first signal path sets may correspond to the number of rows, columns, or groups of detectors in the detector array. Optionally, different columns, different rows, or different groups in the detector array may correspond to the same number of first signal path sets. For example, the number of the first signal path sets may be an integer multiple of the number of rows, columns, or groups of detectors in the detector array, or the number of the first signal path sets may be a fraction of the number of rows, columns, or groups of detectors in the detector array. For example, if the detectors in the detector array are arranged in M rows and N columns, the number of the first signal path sets may be 1 / 2M, 1 / 3M, 1 / 4M, M, 2M, 3M, 4M, etc., or 1 / 2N, 1 / 3N, 1 / 4N, N, 2N, 3N, 4N, etc. Optionally, different columns, different rows, or different groups in the detector array may also correspond to different numbers of first signal path sets. For example, the number of the first signal path sets may be a non-integer multiple of the number of rows, columns, or groups of detectors in the detector array, or the number of rows, columns, or groups of detectors in the detector array may be a non-integer multiple of the number of the first signal path sets. Hereinafter, an example in which the first signal path sets may be used to transmit the electrical signals of a column or multiple columns of detectors in the detector array will be described.

[0074] In some embodiments, each of the first signal path sets may include a plurality of first signal paths. For example, each of the plurality of first signal path sets may include a plurality of first signal paths. For another example, some of the plurality of first signal path sets may include a plurality of first signal paths, and some of the first signal path sets may also include one first signal path. Optionally, the number of the first signal paths included in different first signal path sets may be the same or different.

[0075] In some embodiments, the first signal path can be connected to multiple detectors. The first signal path can be directly connected to the detector, or the first signal path can also be indirectly connected to the detector. For example, the first signal path can be connected to the detector through devices such as interface circuits, logic elements, and resistors. For example, among the multiple first signal paths in the first signal path set, some first signal paths can be connected to multiple detectors, and some first signal paths can also be connected to one detector. For another example, each first signal path in the first signal path set can be connected to multiple detectors. The number of detectors connected by different first signal paths can be the same or different. The first signal path can receive the electrical signals output by multiple detectors. The electrical signals generated by the detectors can be transmitted via the first signal path. The electrical signals generated by multiple detectors connected to the same first signal path can be transmitted via the first signal path in a time-division manner. For example, the first detector, the fourth detector, and the seventh detector are connected to the first first signal path. The electrical signal generated by the first detector can be transmitted via the first first signal path at the first time, the electrical signal generated by the fourth detector can be transmitted via the first first signal path at the second time, and the electrical signal generated by the seventh detector can be transmitted via the first first signal path at the third time. The electrical signals generated by multiple detectors connected to different first signal paths can be transmitted via these first signal paths in parallel. For example, the first detector is connected to the first first signal path, and the second detector is connected to the second first signal path. The electrical signal generated by the first detector can be transmitted via the first first signal path at the first time, and the electrical signal generated by the second detector can also be transmitted via the second first signal path at the first time. By setting multiple first signal paths and connecting the first signal paths to multiple detectors, it is possible to reduce the number of first signal paths on the premise of ensuring that the electrical signals generated by each detector can be transmitted via the first signal path, and it is also possible to support the electrical signals generated by multiple detectors to be output via the first signal path in parallel.

[0076] In some embodiments, the number of first signal paths included in the first signal path set is related to the number of detectors in one or more columns of detectors corresponding to the first signal path set, and the number of detectors connected to one first signal path. For example, the number of first signal paths and the number of detectors connected to the first signal path are at least such that each detector has a first signal path to which it is connected, so that the electrical signals of each detector can be read out. For example, the first signal path set corresponds to a column of detectors including 8 detectors, and one first signal path is connected to 4 detectors. The number of first signal paths is at least 2.

[0077] In some embodiments, the number of first signal paths in the first signal path set can be determined according to the number of detectors that are simultaneously gated. For example, multiple detectors that need to be simultaneously gated can be connected to different first signal paths, and multiple detectors that do not need to be simultaneously gated can be connected to the same first signal path or different first signal paths. Exemplarily, the first signal path set corresponds to a column of detectors including 8 detectors, where 2 of them will be simultaneously gated. For example, at the first time, the first detector and the second detector are simultaneously gated, at the second time, the third detector and the fourth detector are simultaneously gated, at the third time, the fifth detector and the sixth detector are simultaneously gated, and at the fourth time, the seventh detector and the eighth detector are simultaneously gated. In this case, the first signal path set can include at least 2 first signal paths. For example, the first signal path set can include 2 first signal paths, and each first signal path can be respectively connected to 4 detectors to receive the electrical signals output by these 4 detectors. For example, the first first signal path can be connected to the first detector, the third detector, the fifth detector, and the seventh detector, and the second first signal path can be connected to the second detector, the fourth detector, the sixth detector, and the eighth detector. Another example is that the first signal path set can include 3 first signal paths. The first first signal path can be connected to the first detector, the fourth detector, and the seventh detector, the second first signal path can be connected to the second detector, the fifth detector, and the eighth detector, and the third first signal path can be connected to the third detector and the sixth detector. The above connection methods can all achieve the simultaneous gating of the first detector and the second detector, the third detector and the fourth detector, the fifth detector and the sixth detector, and the seventh detector and the eighth detector.

[0078] In some embodiments, the secondary bus can include one or more second signal path sets. The number of second signal path sets can be determined according to the performance and mode design requirements of the lidar. For example, the number of second signal path sets can be determined according to the scanning mode of the lidar. Another example is that the number of second signal path sets can be determined according to one or more requirements of the lidar's performance such as cost, wiring space, computing power, etc. In some embodiments, the number of second signal path sets can be determined according to the size or number of the illumination areas that are simultaneously gated.

[0079] In some embodiments, the second signal path set may include a plurality of second signal paths. When the number of the second signal path sets is one, the second signal path set may include a plurality of second signal paths. When the number of the second signal path sets is multiple, for example, each of the multiple second signal path sets may include a plurality of second signal paths; for another example, some of the multiple second signal path sets may include a plurality of second signal paths, and some of the second signal path sets may also include one second signal path. Optionally, the number of second signal paths included in different second signal path sets may be the same or different. For example, the first second signal path set includes 4 second signal paths, the second second signal path set includes 4 second signal paths, and the third second signal path set includes 1 second signal path.

[0080] In some embodiments, the second signal path may be connected to a plurality of first signal path sets. The second signal path may be directly connected to the first signal path set, or the second signal path may also be indirectly connected to the first signal path set. For example, the second signal path may be connected to a plurality of first signal path sets through devices such as an interface circuit, a logic element, and a resistor. The second signal path may receive electrical signals output by the plurality of first signal path sets.

[0081] In some embodiments, the second signal path can receive the electrical signals output by the first signal path sets and transmit the electrical signals to the signal processing circuit. For example, among the multiple second signal paths in the second signal path set, some second signal paths can be connected to multiple first signal path sets, and some second signal paths can also be connected to one first signal path set. For another example, each second signal path in the second signal path set can be connected to multiple first signal path sets. The number of first signal path sets connected to different second signal paths can be the same or different. The electrical signals transmitted by the first signal path sets connected to the same second signal path can be transmitted through the second signal path in a time-division manner. For example, the first signal path set and the third signal path set are both connected to the first second signal path. The electrical signal transmitted in the first first signal path set can be transmitted through the second signal path at the first time, and the electrical signal transmitted in the third first signal path set can be transmitted through the second signal path at the second time. The electrical signals transmitted by multiple first signal path sets connected to different second signal paths can be transmitted through these second signal paths in parallel. For example, the first first signal path set is connected to the first second signal path, and the second first signal path set is connected to the second second signal path. The electrical signal transmitted in the first first signal path set can be transmitted through the first second signal path at the first time, and the electrical signal transmitted in the second first signal path set can also be transmitted through the second second signal path at the first time.

[0082] By setting that the second signal path set includes multiple second signal paths and the second signal paths are connected to multiple first signal path sets, it is possible to reduce the number of second signal paths on the premise of ensuring that the electrical signals transmitted by each first signal path set can be transmitted through the second signal path, and it can also support that the electrical signals transmitted by multiple first signal path sets can be output through the second signal path in parallel.

[0083] Figure 3 The figure shows a schematic diagram of the connection structure of the primary bus and the secondary bus in some embodiments of the present disclosure. Refer to Figure 3 , the primary bus 11 includes multiple first signal path sets 30. Taking one column of detectors corresponding to one first signal path set 30 as an example, the number of first signal path sets 30 corresponds to the number of columns of the detectors 20 in the detector array. The first signal path set 30 includes multiple first signal paths 31. The first signal paths 31 are connected to multiple detectors 20 and can receive the electrical signals output by the multiple detectors 20.

[0084] Continue to refer to Figure 3, the secondary bus 12 includes one or more sets of second signal paths 40. The set of second signal paths 40 includes a plurality of second signal paths 41. The second signal paths 41 are connected to the plurality of sets of first signal paths 30 and can receive the electrical signals output by the plurality of sets of first signal paths 30.

[0085] In some embodiments, the signal readout circuit can receive a first control signal and, according to the first control signal, gate one or more detectors. The gated detectors output electrical signals via the first signal paths. The first control signal can be issued by a controller and delivered to the signal readout circuit. The controller can include a control circuit, a processor, etc. The processor can be implemented, for example, by a central processing unit (CPU), a microprocessor, a field programmable gate array (FPGA), or other processing chips, or can be implemented by an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present disclosure. The controller can send the first control signal according to a preset timing. Alternatively, the controller can send the first control signal when receiving an instruction. For example, the controller can send the first control signal when receiving the time information of the light beam emitted by the light emitter or after a period of time after receiving the time information of the light beam emitted by the emitter. For example, the controller can send the first control signal when receiving a detection instruction. The first control signal can include a digital signal or an analog signal (such as current, voltage, etc.). The first control signal can be received by the hardware in the signal readout circuit, and these hardware can be electronic components such as switches, logic gates, selectors, etc.

[0086] In some embodiments, the signal readout circuit may receive a first control signal to perform an action. For example, the hardware in the signal readout circuit may, in response to the first control signal, perform an action of disconnecting or connecting a first signal path. Alternatively, the hardware in the signal readout circuit may, in response to the first control signal, perform an action of the first signal path transmitting or not transmitting the electrical signal generated by the detector (hereinafter also referred to as the detector signal). Or, the hardware in the signal readout circuit may, in response to the first control signal, perform an action of through which one or more first signal paths the electrical signal generated by the detector is transmitted. In some embodiments, the detector may be connected to a first signal path, and the signal readout circuit may, according to the received first control signal, cause the first signal path to transmit the electrical signal generated by the detector, or cause the first signal path not to transmit the electrical signal generated by the detector. In some embodiments, the detector may be connected to multiple first signal paths, and the signal readout circuit may, according to the received first control signal, cause some or all of the multiple first signal paths to transmit the electrical signal generated by the detector, or cause some or all of the multiple first signal paths not to transmit the electrical signal generated by the detector. In some embodiments, the first signal path is connected to multiple detectors, and the signal readout circuit may include multiple pieces of hardware that respectively control the connection or disconnection of the multiple detectors to the first signal path, or respectively control whether the first signal path transmits the electrical signals generated by the multiple detectors. In some embodiments, the above-mentioned hardware may be connected to the detector, and the number of the hardware may correspond to the number of the detectors.

[0087] Figure 4 FIG. shows a schematic diagram of path selection of a primary bus in some embodiments of the present disclosure. As Figure 4 shown, the signal readout circuit includes a first selector 401. The detector 20 is connected to the first selector 401, and the first selector 401 is connected to the first signal path 31. It can also be said that the first selector 401 is provided on the first signal path 31. The electrical signal generated by the detector 20 can be output to the first selector 401. Optionally, the first selector may be connected to one or more detectors. The control logic in the first selector 401 may be as Figure 4 shown by the logic circuit on the right side in FIG. The first selector 401 may receive the first control signal 11C. The first selector 401 may, according to the first control signal 11C, enable the electrical signal 20_out generated by the detector 20 to be output via the first signal path 31. The first selector 401 may also, according to the first control signal 11C, disable the electrical signal 20_out generated by the detector 20 from being output via the first signal path 31.

[0088] In some embodiments, the signal readout circuit can receive a second control signal and, according to the second control signal, select one or more first signal path sets to output an electrical signal via a second signal path. The second control signal can be issued by a controller and delivered to the signal readout circuit. The controller can send the second control signal according to a preset timing sequence. Alternatively, the controller can send the second control signal when receiving an instruction. For example, the controller can send the second control signal when receiving the time information of the light beam emitted by the transmitter or after a period of time since receiving the time information of the light beam emitted by the transmitter. For example, the controller can send the second control signal when receiving a detection instruction. The second control signal can include a digital signal or an analog signal (such as current, voltage, etc.). The second control signal can be received by the hardware in the signal readout circuit, and such hardware can be electronic components such as switches, logic gates, selectors, etc. The signal readout circuit can receive the second control signal to perform the selection of the second signal path. The hardware in the signal readout circuit can respond to the second control signal to perform the action of disconnecting or conducting the second signal path. Alternatively, the hardware in the signal readout circuit can respond to the second control signal to perform the action of whether the second signal path transmits or does not transmit the electrical signal output by the first signal path set. Or, the hardware in the signal readout circuit can respond to the second control signal to perform the action of which or which second signal paths the electrical signal output by the first signal path set is transmitted through. In some embodiments, the first signal path set can be connected to one second signal path, and the signal readout circuit can, according to the received second control signal, cause the second signal path to transmit the electrical signal output by the first signal path set or cause the second signal path not to transmit the electrical signal output by the first signal path set. In some embodiments, the first signal path set can be connected to multiple second signal paths, and the signal readout circuit can, according to the received second control signal, cause some or all of the multiple second signal paths to transmit the electrical signal output by the first signal path set or cause some or all of the multiple second signal paths not to transmit the electrical signal output by the first signal path set. In some embodiments, the second signal path is connected to multiple first signal path sets, and the signal readout circuit can include multiple hardware components to respectively control the conduction or disconnection of the multiple first signal path sets and the second signal path, or respectively control whether the second signal path transmits the electrical signals transmitted by the multiple first signal path sets.

[0089] Figure 5 FIG. shows a schematic diagram of the path selection of a secondary bus in some embodiments of the present disclosure. As Figure 5As shown, the signal readout circuit includes a second selector 501. The first signal path set 30 is connected to the second selector 501, and the second selector 501 is connected to the second signal path 41. Or, it can also be said that the second selector 501 is provided on the second signal path 41. The electrical signal transmitted by the first signal path set 30 can be output to the second selector 501. Optionally, the second selector can be connected to one or more first signal path sets. The control logic in the second selector 501 can be as shown in the logic circuit on the right in Figure 5 . The second selector 501 can receive the second control signal 12C. The second selector 501 can, according to the second control signal 12C, enable the electrical signal 30_out transmitted by the first signal path set 30 to be output via the second signal path 41 (for example, the first signal path set 30 is selected). The second selector 501 can also, according to the second control signal 12C, disable the electrical signal 30_out transmitted by the first signal path set 30 from being output via the second signal path 41.

[0090] In some embodiments, it can be determined whether to send the second control signal to the second selector based on whether the first signal path set needs to be selected, where the second selector is the second selector on the second signal path connected to the first signal path set. For example, in the case where a column of detectors corresponds to a first signal path set as shown in Figure 3 , it can be determined, based on one or more columns of detectors that need to be selected, the one or more first signal path sets corresponding to the one or more columns of detectors, and then send the second control signal to the one or more second selectors connected to the one or more first signal path sets. The one or more second selectors can, in response to receiving the second control signal, enable the electrical signals transmitted by the one or more first signal path sets to be output via the corresponding second signal paths.

[0091] In some embodiments, a second signal path set includes a plurality of second signal paths connected to different first signal path sets. The second selector can, according to the second control signal, implement the selection of a plurality of first signal path sets. Taking the case where one first signal path set corresponds to one column of detectors as an example, one second signal path set can correspond to multiple columns of detectors. The first selector can, according to the first control signal, implement the selection of multiple detectors in one column of detectors. The second selector can, according to the second control signal, implement the selection of multiple columns of detectors. The combination of the first selector and the second selector can implement the selection of a two-dimensional irradiation area.

[0092] In some embodiments, the lidar may have an overall field of view. After the lidar design is completed, the range of the overall field of view can be determined. For example, after determining indicators such as the number of lasers, installation positions, and scanning methods of the lidar, the overall field of view of the lidar can be determined. For instance, the horizontal field of view of a lidar can be 120°, and the vertical field of view can be 30°. This overall field of view can be divided into multiple sub-fields of view. The lidar can independently scan these multiple sub-fields of view. For example, the scanning of multiple sub-fields of view can be performed time-divisionally. For example, the first sub-field of view is scanned at the first time, and the second sub-field of view is scanned at the second time. For example, some of the multiple sub-fields of view can be scanned in parallel. For example, the first sub-field of view and the second sub-field of view are scanned at the first time. For example, the multiple sub-fields of view can be grouped, and parallel detection is performed for the sub-fields of view in the same group, and time-division detection is performed for the sub-fields of view in different groups. For example, the first sub-field of view and the second sub-field of view are scanned at the first time, and the third sub-field of view and the fourth sub-field of view are scanned at the second time.

[0093] A sub-field of view can correspond to an illumination area on the detector array, and the illumination areas on the detector array corresponding to different sub-fields of view can be different. An illumination area on the detector array can cover a certain range of the detector array. For example, an illumination area can cover a 2*3 detector array, and the size of this illumination area can be considered to be the size of 6 detector arrays. The sizes of different illumination areas on the detector array can be the same or different. Generally, all the illumination areas together can at least cover the overall field of view.

[0094] For an object within a sub-field of view, the echo formed by the reflection of the object can be incident on the detectors covered by an illumination area. The lidar can gate the detectors covered by this illumination area. For example, the lidar can provide a suitable bias voltage for the detectors covered by this illumination area to make these detectors in a state where they can respond to optical signals, and at the same time control the signal readout circuit connected to these detectors to conduct, so that the electrical signals generated by these detectors in response to optical signals can be transmitted to the signal processing circuit through the signal readout circuit. Based on this electrical signal, the signal processing circuit can obtain the object information within this sub-field of view and achieve the detection of this sub-field of view. During the operation of the lidar, independent scans can be performed on multiple sub-fields of view. Each time, detection can be performed on one sub-field of view, or, simultaneously, parallel detection can be performed on multiple sub-fields of view, or, time-division grouping detection can be performed on multiple sub-fields of view. The lidar can only gate the detectors within one illumination area (hereinafter also referred to as gating the illumination area) at the same time, or, the lidar can also gate the detectors within multiple illumination areas at the same time.

[0095] By scanning these sub - fields of view, the lidar can achieve the detection of the overall field of view. For example, the lidar can scan all the sub - fields of view in sequence. During the sequential scanning process, the detectors in the irradiated area of the detector array are gradually gated until all the detectors in the entire irradiated area have completed the detection of the echo beam. It can be considered that one detection of the overall field of view of the lidar has been completed. The lidar can output a frame of point cloud based on the electrical signals output by the detectors. In some embodiments, a frame of point cloud can be generated for the overall field of view of the lidar, or a frame of point cloud can be generated for a partial field of view within the overall field of view. For example, in the scenario of detecting an area of interest, one or more sub - fields of view corresponding to the area of interest can be scanned to generate a frame of point cloud. The area of interest can be a fixed field - of - view area. For example, it can be the forward field of view, such as the horizontal field - of - view range is from - 60° to 60° and the vertical field - of - view range is from - 5° to 5°. Another example is that it can be the lateral field of view, such as the horizontal field - of - view range is from 20° to 60° and the vertical field - of - view range is from - 5° to 10°. The area of interest can also be a non - fixed field - of - view area, such as a dynamic area of interest determined based on detected objects.

[0096] An irradiated area can cover a certain range of the detector array. For example, an irradiated area can cover m * n detectors, where m and n are integers greater than or equal to 1 respectively. The size of this irradiated area can be considered as the size of m * n detector arrays. During the operation of the lidar for overall field - of - view scanning, the detectors covered by an irradiated area are gated simultaneously to receive the echo beam and generate response signals. When reading the electrical signals output by the detector array, an irradiated area can be regarded as the smallest unit. The multiple detectors covered by an irradiated area can have independent signal paths to enable the electrical signals of the multiple detectors covered by an irradiated area to be output independently and simultaneously. Multiple non - simultaneously gated irradiated areas can share signal paths, achieving the effect of reducing the number of signal paths. For example, the first irradiated area is gated at the first time, and the second irradiated area is gated at the second time. The first irradiated area and the second irradiated area can share the same signal path. The signal output through this shared signal path at the first time can be determined as the electrical signal generated by the detectors within the first irradiated area, and the signal output through this shared signal path at the second time can be determined as the electrical signal generated by the detectors within the second irradiated area without confusion.

[0097] In some embodiments, the detector array includes multiple groups of detectors, and one group of detectors may include multiple detectors. In some embodiments, one group of detectors may include multiple adjacent detectors or multiple non - adjacent detectors. In some embodiments, for a two - dimensional detector array arranged along a first direction and a second direction, the multiple detectors covered by an illumination area along the first direction and the second direction can be regarded as the smallest group gated in that direction. For example, when an illumination area can cover detectors of m rows * n columns, the detectors in one column can be divided into groups in units of m. For example, the 0th to m - 1th detectors are the first group, and the mth to 2m - 1th detectors are the second group. For example, when an illumination area can cover detectors of m rows * n columns, the detectors in one column of the detector array can also be divided into groups in units of a number greater than m. For example, the 0th to m + 1th detectors are the first group, and the m + 2th to 2m + 3th detectors are the second group. Optionally, each group of detectors in the multiple groups of detectors may include multiple detectors. Alternatively, some groups of detectors in the multiple groups of detectors may include multiple detectors, and some groups of detectors may also include one detector. Optionally, the number of detectors included in different groups of detectors may be the same or different. It can be understood that the division of the detector groups can be a virtual division, and there is no requirement for physical separation of different groups in terms of hardware structure and software processing.

[0098] In some embodiments, the first signal path is respectively connected to multiple detectors in different groups of detectors, and multiple detectors in the same group of detectors are respectively connected to multiple first signal paths. As an example, when an irradiation area can cover detectors in m rows * n columns, a group of detectors can include m detectors in one column of detectors, so that different irradiation areas can correspond to different groups of detectors. In this case, the m detectors in the same group are respectively connected to m first signal paths, and each of the m first signal paths can be connected to multiple detectors in multiple different groups of detectors. In this way, multiple detectors within the same irradiation area can be connected to different first signal paths, and the detectors within the same irradiation area can output electrical signals in parallel via these first signal paths. Moreover, multiple detectors in different irradiation areas can be connected to the same first signal path, and the multiple detectors in different irradiation areas can output electrical signals via the same first signal path at different times. In some embodiments of the present disclosure, by connecting the first signal path to multiple detectors in different groups of detectors respectively, and connecting multiple detectors in the same group of detectors to multiple first signal paths respectively, a gating unit based on the irradiation area can be realized, enabling multiple detectors within the range of the irradiation area to be gated and output electrical signals simultaneously without data confusion. At the same time, the number of first signal paths can be reduced, the design complexity of the signal readout circuit can be lowered, and it can better meet the requirement of the narrow wiring space of the integrated chip. Additionally, when dividing the detectors in one column into groups of m detectors, it can also support the scanning mode of irradiation areas with the number of rows of detectors less than m. For example, when a group of detectors includes 8 detectors, the lidar can also support the scanning mode of irradiation areas with a size of p rows * q columns (where p ≤ 8, and p and q are positive integers).

[0099] The following will combine Figure 6 and Figure 7 to illustrate an example of the connection structure of the primary bus.

[0100] Figure 6 FIG. shows a schematic diagram of the connection structure of a primary bus in some embodiments of the present disclosure. As Figure 6 shown, in this example, for multiple detectors 20 in the same column (e.g., the i-th column), they are grouped longitudinally into groups of m detectors 20 each. For the sake of illustration, in Figure 6 the detectors 20 within a group are numbered from 1 to m. For the Figure 2 detector array of M rows * N columns shown, i ∈ [0, N - 1). It can be understood that the numbering of the detectors is only an example, and in actual applications, it is not necessarily required to number the detectors. The numbering here is only for the sake of illustration and is not intended to limit the scope of the present disclosure.

[0101] In some embodiments, detectors at the same position in different groups of detectors can be set with the same number, or it can be considered that multiple detectors with the same number in different groups are at the same position in these different groups. Detectors with the same number in each group of detectors can be connected to the same first signal path. In other words, detectors at the same position in different groups of detectors can be connected to the same first signal path. Detectors with different numbers in the same group of detectors can be connected to different first signal paths. Multiple groups of detectors can be arranged sequentially in the first direction and / or the second direction. For example Figure 6 as shown, the first group of detectors, the second group of detectors, and the third group of detectors are arranged sequentially in the second direction. Optionally, each group of detectors can also be a column, a row, or a small detector array of m rows * n columns.

[0102] Referring to Figure 6 , taking a group of detectors including m rows * 1 column as an example, for the detectors 20 in the i-th column, the detector numbers of detectors at the same position in different groups can be the same. For example, the numbers of the first detectors from top to bottom in the k-th group and the (k + 1)-th group are 1, the numbers of the second detectors are 2,..., the numbers of the j-th detectors are j,..., and the numbers of the m-th detectors are m. The detector 20 numbered 1 in the k-th group and the detector 20 numbered 1 in the (k + 1)-th group are both connected to the first signal path 31[i][1], the detector 20 numbered 2 in the k-th group and the detector 20 numbered 2 in the (k + 1)-th group are both connected to the first signal path 31[i][2],..., the detector 20 numbered j in the k-th group and the detector 20 numbered j in the (k + 1)-th group are both connected to the first signal path 31[i][j],..., and the detector 20 numbered m in the k-th group and the detector 20 numbered m in the (k + 1)-th group are both connected to the first signal path 31[i][m]. In the same group of detectors, such as the multiple detectors 20 in the k-th group and the (k + 1)-th group, can be respectively connected to multiple first signal paths 31[i][1], 31[i][2],..., 31[i][j],..., 31[i][m]. Thus, it can be realized that multiple detectors in the same group of detectors can output electrical signals in parallel via multiple first signal paths. For the detectors 20 in the i-th column, the first signal path set 30 includes the first signal paths 31[i][1], 31[i][2],..., 31[i][j],..., 31[i][m]. Similarly, detectors in different columns can correspond to different first signal path sets 30, and multiple first signal path sets 30 can be obtained.

[0103] It should be noted that the grouping method of the detectors in the above first-level bus is only an example, and the present disclosure is not limited to this grouping method. As long as the first signal path is respectively connected to multiple detectors in different groups of detectors, and multiple detectors in the same group of detectors are respectively connected to multiple first signal paths, any other grouping method can also be adopted. In some embodiments, for the detectors in the same column, only some of the detectors can be grouped, without grouping all the detectors in the same column. In some embodiments, the detectors in the same row can also be grouped. In some embodiments, the detectors in each column or each row of the detector array can be grouped (for example, grouping the detectors in all columns or rows), or only some columns or rows of detectors can be grouped. In some embodiments, it is not limited to grouping one column or one row, but a group of detectors including multiple detectors in the row and column directions can be used as a group.

[0104] In some embodiments, the number of detectors in each group of detectors can be determined according to the size of the irradiation area.

[0105] In some embodiments, the number of first signal path sets in each group of first signal path sets can be determined according to the size of the irradiation area.

[0106] For example, Figure 7 shows a schematic diagram of the connection structure of another first-level bus in some embodiments of the present disclosure. As Figure 7 shown, a group of detectors including multiple (for example, 2 rows * 2 columns) detectors in the row and column directions is used as a group. The corresponding detectors in different groups are connected to the first signal path 31. Figure 7 In it, the upper left detectors 20A in different groups are all connected to the first signal path 31A, the lower left detectors 20B are all connected to the first signal path 31B, the upper right detectors 20C are all connected to the first signal path 31C, and the lower right detectors 20D are all connected to the first signal path 31D. The 4 detectors in the same group are respectively connected to the 4 first signal paths 31A, 31B, 31C, and 31D. The first signal path set 30 corresponding to these two columns of detectors includes 4 first signal paths 31A, 31B, 31C, and 31D. The remaining detectors in the detector array can also be connected to the first signal path in the manner of the example, and multiple first signal path sets constitute the first-level bus connected to the detector array.

[0107] The above Figure 6 , Figure 7 connection structure of the first-level bus is only an example, and other connection structures of the first-level bus that meet the concept of the present disclosure are also within the scope of the present disclosure.

[0108] In some embodiments, the signal readout circuit includes multiple sets of first signal path sets. One set of first signal path sets in the multiple sets of first signal path sets includes multiple first signal path sets. In some embodiments, one set of first signal path sets may include multiple adjacent first signal path sets or may include multiple non - adjacent first signal path sets. The second signal paths are respectively connected to multiple first signal path sets in different sets of first signal path sets, and multiple first signal path sets in the same set of first signal path sets are respectively connected to multiple second signal paths. As an example, when an illumination area can cover detectors of m rows * n columns, one set of first signal path sets may include n first signal path sets, and different illumination areas may correspond to different sets of first signal path sets. In this case, the n first signal path sets in the same set are respectively connected to n second signal paths, and each of the n second signal paths may be connected to multiple first signal path sets in multiple different sets of first signal path sets. In this way, multiple first signal path sets corresponding to multiple columns of detectors within the same illumination area can be connected to different second signal paths, and multiple first signal path sets corresponding to the same illumination area can output electrical signals in parallel via these second signal paths. Also, multiple first signal path sets corresponding to different illumination areas can be connected to the same second signal path, and multiple first signal path sets corresponding to different illumination areas can output electrical signals via the same second signal path at different times.

[0109] In some embodiments of the present disclosure, by respectively connecting the second signal paths to multiple first signal path sets in different sets of first signal path sets, and respectively connecting multiple first signal path sets in the same set of first signal path sets to multiple second signal paths, a gating unit based on the illumination area can be realized, enabling multiple detectors within the range of the illumination area to be gated and output electrical signals simultaneously without data confusion. At the same time, the number of second signal paths can be reduced, and the design complexity and wiring difficulty of the signal readout circuit can be lowered. Additionally, when divided into groups of n first signal path sets, it can also support the scanning mode of illumination areas with the number of columns of detectors covered less than n. For example, when one set of first signal path sets includes 6 first signal path sets, the lidar can also support the scanning mode of illumination areas of size p rows * q columns (where q ≤ 6, and p and q are positive integers).

[0110] In some embodiments, the signal readout circuit can implement the scanning modes of two - dimensional illumination areas and one - dimensional illumination areas, and can also support the scanning modes of illumination areas of different sizes simultaneously, enabling the lidar to achieve a more flexible detection method to adapt to different application scenarios and the customized requirements of customers.

[0111] Figure 8 An example of the connection structure of the primary bus and the connection structure of the secondary bus is shown. Taking the case where the detector array includes 8 rows * 8 columns of detectors and one irradiation area can cover 2 rows * 2 columns of detectors as an example, in combination with Figure 8 it will be described.

[0112] Figure 8 In the example of, the 8 detectors in the first column can be divided into four groups of detectors 20G1, 20G2, 20G3, and 20G4 in the way of every 2 detectors as a group. The first detectors in the four groups of detectors 20G1, 20G2, 20G3, and 20G4 are all connected to the first signal path 31[0][1], and the second detectors in the four groups of detectors 20G1, 20G2, 20G3, and 20G4 are all connected to the first signal path 31[0][2]. The 2 detectors in the same group of detectors are respectively connected to the first signal paths 31[0][1] and 31[0][2]. The first signal path set 30 includes the first signal paths 31[0][1] and 31[0][2]. The same connection is made for other columns. The 8 columns of detectors can correspond to 8 first signal path sets 30.

[0113] Continuing to refer to Figure 8 , the 8 first signal path sets 30 are divided into four groups of first signal path sets 30G1, 30G2, 30G3, and 30G4 in the way of every two as a group. The first signal path set 30 in the four groups of first signal path sets 30G1, 30G2, 30G3, and 30G4 is all connected to the second signal path 41[1], and the second signal path set 30 in the four groups of first signal path sets 30G1, 30G2, 30G3, and 30G4 is all connected to the second signal path 41[2]. The 2 first signal path sets in the same group of first signal path sets can be respectively connected to the second signal paths 41[1] and 41[2]. The second signal path set 40 includes the second signal paths 41[1] and 41[2].

[0114] In addition, the grouping method of the first signal path set in the above signal readout circuit is only an example, and the present disclosure is not limited to this grouping method. As long as it satisfies that the second signal paths are respectively connected to multiple first signal path sets in different groups of first signal path sets, and the multiple first signal path sets in the same group of first signal path sets are respectively connected to multiple second signal paths, any other grouping method can also be adopted.

[0115] The above Figures 6 to 8 The example of the connection structure of the primary bus and the connection structure of the secondary bus shown only schematically shows the connection relationship. Next, in combination with Figure 9 and Figure 10, which illustrates an exemplary circuit connection structure of one of the primary bus and the secondary bus in some embodiments of the present disclosure.

[0116] As Figure 9 shown, in the primary bus, the detector 20 is connected to the first selector 401. In some embodiments, the first selector 401 may adopt the structure of any of the foregoing first selectors, for example Figure 4 the first selector 401 shown. The detector array includes multiple groups of detectors. Figure 9 The k-th group and the (k + 1)-th group of detectors among them are shown. The detectors 20 in different groups (such as the k-th group and the (k + 1)-th group) in the multiple groups of detectors are respectively connected to the first signal path 31 after passing through their respective first selectors 401. Detectors with the same position (or the same number) in different groups of detectors may be connected to the same first signal path. For example Figure 9 the first detector in the k-th group and the first detector in the (k + 1)-th group in Figure 9 are connected to the same first signal path 31. In some embodiments, multiple detectors may be connected to the same first signal path by using a logic operator, so as to enable an electric signal of different detectors to be transmitted time-divisionally through one first signal path. For example, as Figure 9 shown, the logic operator may be a logic OR gate. The combination of the first selector and the logic operator can make the data transmitted to the second signal path through the first signal path be the electric signal generated by the selected detector when any detector is selected. Multiple detectors in the same group of detectors are respectively connected to different first signal paths. The first signal path set includes multiple first signal paths connected to multiple detectors in the same group of detectors. The first signal path set can realize the parallel output of the electric signals of multiple detectors in a group of detectors and realize the simultaneous selection of multiple detectors. The number of detectors that can be simultaneously selected is less than or equal to the number of detectors in a group of detectors. By configuring the first control signal corresponding to the moving timing of the irradiation area and using the primary bus circuit structure as Figure 9 shown, it is possible to output the electric signals of the detectors covered by the irradiation area from the first signal path set as the irradiation area moves on the detector array. By adopting the circuit structure as Figure 9 shown, the number of logic gates passed by different detectors is the same, which can make the delay between the transmission of the electric signals of different detectors basically the same.

[0117] As Figure 10 shown, in the secondary bus, the first signal path set 30 is connected to the second selector 501. In some embodiments, the second selector 501 may adopt the structure of any of the foregoing second selectors, for example Figure 5 the second selector 501 shown. Multiple first signal path sets 30 may be divided into multiple groups. Figure 10The jth group and the j+1th group of first signal path sets are illustrated in FIG. The first signal path sets 30 in different groups of first signal path sets (e.g., the jth group and the j+1th group) are connected to the second signal path 41 after passing through their respective second selectors 501. The first signal path sets with the same position (or the same number) in different groups of first signal path sets can be connected to the same second signal path. For example Figure 10 The first first signal path set of the jth group and the first first signal path set of the j+1th group are connected to the same second signal path 41. In some embodiments, multiple first signal path sets can be connected to the same second signal path using a logic operator to achieve that one second signal path can transmit electrical signals of different first signal path sets in time sharing. For example, Figure 10 As shown, the logic operator can be a logic OR gate. The second selector combined with the logic operator can make it possible that when any one of the first signal path sets is selected, the data transmitted to the signal processing circuit via the second signal path is the electrical signal transmitted by the selected first signal path set. In this way, the independent selection of multiple first signal path sets is achieved. Since the first signal path can achieve independent selection of a single detector, combined with the second signal path, the first signal path set can be independently selected, and the independent selection of any detector in the two-dimensional detector array can be achieved. The electrical signal generated by each detector can be transmitted to the signal processing circuit via the signal readout circuit independently and without interference.

[0118] In some embodiments, multiple first signal path sets in the same group of first signal path sets can be connected to different second signal paths. The second signal path set includes multiple second signal paths, which are respectively connected to multiple first signal path sets in the same group of first signal path sets. The second signal path set can realize the parallel output of electrical signals of multiple first signal path sets in a group of first signal path sets, and realize the simultaneous gating of multiple first signal path sets. The number of first signal path sets that can be simultaneously gated is less than or equal to the number of first signal path sets in a group of first signal path sets. Since the first signal path set can realize the simultaneous gating of multiple detectors (for example, m), combined with the second signal path set, it can realize the simultaneous gating of multiple first signal path sets (for example, n), and it can realize the simultaneous gating of multiple detectors distributed in two dimensions, such as a detector array of m rows * n columns (where m and n are positive integers); it can also realize the simultaneous gating of multiple detectors distributed in one dimension, such as the simultaneous gating of multiple detectors of m rows * 1 column or 1 row * n columns. In addition, using, for example Figure 9 , Figure 10For the structure of the signal readout circuit shown, the number of logic gates through which data passes between different detectors and the signal processing circuit is the same, which can keep the delay between the transmission of electrical signals of different detectors basically the same.

[0119] In some embodiments, when it is necessary to implement the gating of a large illumination area or the gating of multiple discrete illumination areas, multiple second signal path sets can be set. A set of first signal path sets is connected to multiple second signal paths in a second signal path set. Taking one set of first signal path sets corresponding to one column of detectors as an example, multiple columns of detectors can be gated through one second signal path set. For example, a second signal path set includes 4 second signal paths and can gate 4 columns of detectors. For instance, when an illumination area covers 8 columns of detectors, one second signal path set can gate 4 of them, and another second signal path set can gate the other 4, enabling the gating of detectors in the illumination area covering 8 columns. Also, for example, when there are two discrete illumination areas on the detector array, each illumination area can cover 4 columns of detectors. One second signal path set can gate the 4 columns of the first illumination area, and another second signal path set can gate the 4 columns of the second illumination area, achieving the gating of detectors in two discrete illumination areas. The number of second signal path sets can be set according to parameters such as the number of detectors covered by the illumination area, the number of second signal paths in a second signal path set, and the number of illumination areas.

[0120] In some embodiments, the data of the first signal path set can be sent to multiple second signal path sets. For example, the electrical signals transmitted by multiple first signal paths are sent to the second signal paths of multiple second signal path sets. For example, the electrical signal transmitted by a first signal path can be sent to the second signal paths of multiple second signal path sets simultaneously. For example, the electrical signals sent to the second signal paths of multiple second signal path sets can be the same data. This can reduce the wiring quantity of the first signal paths in one - level bus.

[0121] In some embodiments, multiple second signal path sets may have the same structure, or some second signal path sets may have different structures from other second signal path sets. For example, the number of second signal paths included in different second signal path sets may be the same or partially different. For another example, in different second signal path sets, the connection structure between the second signal paths and the first signal path set may be the same or partially different. For still another example, in different second signal path sets, the number of first signal path sets that can be selected in parallel may be the same or partially different. In some embodiments, the lines connecting multiple second signal path sets to the signal processing circuit may be distributed in different orientations of the signal readout circuit. For example, the first second signal path set is connected to the signal processing circuit along a first direction, and the second second signal path set is connected to the signal processing circuit along the opposite direction of the first direction. For another example, the first second signal path set is connected to the signal processing circuit along a first direction, and the second second signal path set is connected to the signal processing circuit along a second direction.

[0122] Figure 11 FIG. shows a schematic diagram of the connection structure between a secondary bus and a signal processing circuit in some embodiments of the present disclosure. Referring to Figure 11 , the secondary bus 12 includes multiple second signal path sets 40_1, 40_2, 40_3, 40_4. The second signal path sets 40_1 and 40_3 are connected to the signal processing circuit 3 along the Figure 11 trace direction on the left side of the current view, and the second signal path sets 40_2 and 40_4 are connected to the signal processing circuit 3 along the Figure 11 trace direction on the right side of the current view. In some embodiments, physically adjacent second signal path sets may be connected to the signal processing circuit along different directions. This can reduce the trace density and processing difficulty. Of course, the present disclosure is not limited thereto. The second signal path sets 40_1 to 40_n can be routed along any different directions or along the same direction.

[0123] In the foregoing embodiments, it is illustrated that one detector may be connected to one first signal path, and whether the electrical signal of the detector is transmitted via the first signal path is determined by a first control signal. In some alternative embodiments, one detector may also be connected to multiple first signal paths. The signal readout circuit may receive the first control signal and, according to the received first control signal, select one or more first signal paths from multiple first signal paths to output the electrical signal of the detector. One detector may have multiple independent output paths.

[0124] Figure 12 FIG. shows a schematic diagram of the path selection of a primary bus in some embodiments of the present disclosure. As Figure 12As shown, the signal readout circuit includes a first selector 401. The detector 20 is connected to the first selector 401. The first selector 401 is connected to a first signal path 31_S1 and a first signal path 31_S2. Or, it can also be said that the first selector 401 is disposed on the first signal path 31_S1 and the first signal path 31_S2. Figure 12 The first selector 401 shown is a 2-way selector implemented by two logic AND gates. In other embodiments, the first selector 401 may also include switches or other logic gate circuits. The electrical signal generated by the detector 20 can be output to the first selector 401. The control logic in the first selector 401 can be as shown in the logic circuit on the right in Figure 12 . The first selector 401 can receive a first control signal 11C_S1 and a first control signal 11C_S2. In other embodiments, the first control signal 11C_S1 and the first control signal 11C_S2 can also be implemented by a single first control signal. For example, the first control signal can carry signals for controlling the outputs of two logic gates. For instance, the first control signal includes multi-bit data. The first selector 401 can cause the electrical signal 20_out generated by the detector 20 to be output via the first signal path 31_S1 according to the first control signal 11C_S1. The first selector 401 can also cause the electrical signal 20_out generated by the detector 20 not to be output via the first signal path 31_S1 according to the first control signal 11C_S1. The first selector 401 can cause the electrical signal 20_out generated by the detector 20 to be output via the first signal path 31_S2 according to the first control signal 11C_S2. The first selector 401 can also cause the electrical signal 20_out generated by the detector 20 not to be output via the first signal path 31_S2 according to the first control signal 11C_S2.

[0125] After passing through the Figure 12 structure, by configuring the first control signal, the data transmission of the detector signal 20_out to the first signal path 31 can include the following 4 optional modes.

[0126] Mode 1): Neither the first signal path 31_S1 nor the first signal path 31_S2 transmits the detector signal 20_out;

[0127] Mode 2): The first signal path 31_S1 controlled by the first control signal 11C_S1 transmits the detector signal 20_out;

[0128] Mode 3): The first signal path 31_S2 controlled by the first control signal 11C_S2 transmits the detector signal 20_out;

[0129] Mode 4): Both the first signal path 31_S1 and the first signal path 31_S2 transmit the detector signal 20_out.

[0130] Figure 13 FIG. shows a schematic diagram of the connection structure of the primary bus in some embodiments of the present disclosure. Referring to Figure 13 , the signals of the detector 20 are simultaneously sent to two first signal paths 31_S1 and 31_S2. For ease of illustration, the two first signal paths 31_S1 and 31_S2 are separately split and shown, as shown in the left and right parts of Figure 13 . The first signal path set 30_S1 includes a plurality of first signal paths 31_S1. The first signal path set 30_S1 controls the gating of the detector through the first control signal 11C_S1. The first signal path set 30_S2 includes a plurality of first signal paths 31_S2. The first signal path set 30_S2 controls the gating of the detector through the first control signal 11C_S2. The two first signal path sets 30_S1 and 30_S2 can support the electrical signal reading of the detectors covered by two irradiation regions. For example, Figure 13 in the kth group of detectors, the electrical signal can be output via the first signal path set 30_S1, and the detectors in the k + 1th group can output the electrical signal via the first signal path set 30_S2. Since the first signal path set 30_S1 and the first signal path set 30_S2 are independent of each other, the detectors in the kth group and the k + 1th group can output electrical signals in parallel. Optionally, the detectors in the kth group and the k + 1th group can be continuously distributed or discretely distributed. In some embodiments, one detector can also be connected to more than two first signal paths, for example, 3 or 4 or more. Correspondingly, more first signal path sets are provided in the signal reading circuit. By connecting one detector to multiple first signal paths, the gating of a larger irradiation region or the parallel gating of discrete multiple irradiation regions can be achieved.

[0131] Figure 14 FIG. shows an example in which the detector array in some embodiments of the present disclosure includes multiple irradiation regions. As shown in Figure 14 , the irradiation region Q1 and the irradiation region Q2 are adjacently arranged. In some embodiments, the irradiation region Q1 and the irradiation region Q2 may also be non-adjacently arranged. Taking the situation shown in Figure 14 as an example, it is assumed that the sizes of the irradiation region Q1 and the irradiation region Q2 in the first direction correspond to the number of detectors in a group of detectors. For example, a group of detectors includes m detectors, and the irradiation region Q1 and the irradiation region Q2 also each include m rows of detectors. It is assumed that the irradiation region Q1 corresponds to the kth group of detectors, and the irradiation region Q2 corresponds to the k + 1th group of detectors.

[0132] Figure 15A schematic diagram showing the signal flow of a primary bus in some embodiments of the present disclosure is referred to Figure 14 and Figure 15 , the kth group of detectors corresponding to the irradiation area Q1 transmits an electrical signal via the first signal path set 30_S2, and the (k + 1)th group of detectors corresponding to the irradiation area Q2 transmits an electrical signal via the first signal path set 30_S1. By configuring the first control signal fed to the first selector 401, simultaneous gating of the two groups of detectors covered by the irradiation area Q1 and the irradiation area Q2 can be achieved. Optionally, by configuring the first control signal, the two groups of detectors covered by the irradiation area Q1 and the irradiation area Q2 can also be gated separately at different times.

[0133] In some embodiments, the number of the plurality of first signal paths connected to the detectors is greater than or equal to the number of irradiation areas in the first direction or the second direction. When the plurality of detectors in the first direction correspond to the first signal path set, the number of the plurality of first signal paths connected to the detectors is greater than or equal to the number of irradiation areas in the first direction. When the plurality of detectors in the second direction correspond to the first signal path set, the number of the plurality of first signal paths connected to the detectors is greater than or equal to the number of irradiation areas in the second direction. For example, referring to Figure 13 , one detector is connected to 2 first signal paths, and the gating of two irradiation areas in the first direction as shown in Figure 14 can be achieved, or one irradiation area in the first direction can also be achieved. When designing the lidar, the number of the plurality of first signal paths connected to the detectors can be set according to the number of parallel scans of the irradiation areas.

[0134] In some embodiments, the plurality of first signal paths connected to the detectors can be respectively connected to different second signal path sets. For example, as shown in Figure 13 , the first signal path 31_S1 connected to a certain detector 20 can be connected to the second signal path in the first second signal path set, and the first signal path 31_S2 connected to the detector 20 can be connected to the second signal path in the second second signal path set. The gating of two two-dimensional irradiation areas can be further achieved through these two different second signal path sets. The gating of each two-dimensional irradiation area can be, for example, referred to the manner described above regarding Figures 1 to 10 .

[0135] In some embodiments, the plurality of first signal paths connected to the detectors can be routed in different directions. Correspondingly, the different second signal paths connected to the plurality of first signal paths can be arranged in different orientations of the detector array. For example, referring to Figure 13 , the two first signal paths 31_S1 and 31_S2 connected to the detector respectively pass through Figure 13Below and above the current view are connected to a second signal path. In some embodiments, the multiple first signal paths to which the detectors are connected may run in the same direction. Correspondingly, different second signal paths connected to the multiple first signal paths may be arranged in the same orientation of the detector array.

[0136] In some embodiments, the detectors in the detector array may be controlled to turn on for detecting the echo beam. For example, in response to the light emitter emitting a detection beam, the controller controls the detector to start detecting the echo beam. For another example, the controller controls the detector to start detecting the echo beam according to the preset time configuration information. In some embodiments, the detectors in the detector array may be continuously turned on or may be turned on within the detection time window corresponding to the detector. For example, the detector may be continuously turned on during the period when the lidar detects the overall field of view, which can reduce the design difficulty and complexity of the detector control circuit and control algorithm. Or, the detector is turned on when the irradiated area is covered and not turned on when the irradiated area is not covered, which can reduce interference and improve the signal-to-noise ratio. In some embodiments, the detector may be turned on by applying an appropriate bias voltage to the detector, and the detector in the on state can receive the optical signal and generate an electrical signal in response to the optical signal. In some embodiments, the controller may turn on the detector according to the gating signal. Optionally, the gating signal may include the row information and column information of the position where the detector is located. Optionally, the gating signal may include the number information of the detector.

[0137] Figure 16 shows a schematic diagram of the control circuit of the detector in some embodiments of the present disclosure. Referring to Figure 16 , the detector control circuit may include a power supply HV, a resistor R, a ground terminal, and a controller 301. The controller 301 may control the switch SW to close in response to the gating signal, so that the voltage difference across the detector 20 reaches the required bias voltage, and the detector 20 is turned on.

[0138] According to another exemplary embodiment of the present disclosure, a signal reading method is further provided for reading the signals of the detector array. The signal reading method may be applied to the signal reading circuit of any embodiment of the present disclosure. Figure 17 shows a flowchart of the signal reading method involved in some embodiments of the present disclosure. As Figure 17 shown, the signal reading method may include steps S1 and S2.

[0139] Step S1: A step of reading the electrical signals output by a plurality of detectors by using a plurality of first signal path sets. One or more first signal path sets include a plurality of first signal paths. The first signal paths are connected to a plurality of detectors and can receive the electrical signals output by the plurality of detectors.

[0140] Step S2: A step of using one or more second signal path sets to read the electrical signals output by a plurality of first signal path sets. The one or more second signal path sets include a plurality of second signal paths, and the second signal paths are connected to the plurality of first signal path sets and can receive the electrical signals output by the plurality of first signal path sets.

[0141] In some embodiments, the signal reading method may further include a step of, in response to receiving a first control signal, gating one or more detectors to output electrical signals via a first signal path according to the first control signal.

[0142] In some embodiments, the signal reading method may further include a step of, in response to receiving a second control signal, gating one or more first signal path sets to output electrical signals via a second signal path according to the second control signal.

[0143] In some embodiments, a detector may be connected to a plurality of first signal paths; the signal reading method may further include a step of, in response to receiving a first control signal, selecting one or more first signal paths from the plurality of first signal paths to output the electrical signals of the detector according to the first control signal.

[0144] According to the signal reading method of the present disclosure, by using a plurality of first signal path sets, the electrical signals output by a plurality of detectors can be read. By using one or more second signal path sets, the electrical signals output by the plurality of first signal path sets can be read. It is possible to read the electrical signals of a plurality of detectors in the first direction and the second direction respectively, and the signal reading speed of the detector array can be improved.

[0145] According to another exemplary embodiment of the present disclosure, a lidar is further provided, which includes a light emitter array, a detector array, a signal reading circuit, and a signal processing circuit. The light emitter array can emit detection beams to detect an object. The detector array includes a plurality of detectors arranged in an array in a first direction and a second direction. The detectors can receive the echo beams and convert them into electrical signals, where the echo beams are generated after the detection beams emitted by the light emitter array are reflected by the object. The signal reading circuit is connected to the detector array and can read the electrical signals output by the detector array. The signal reading circuit can adopt the signal reading circuit in any embodiment of the present disclosure. The signal processing circuit can process the signals output by the signal reading circuit. For example, it can accumulate and store the electrical signals output by the detectors, analyze the waveform information of the electrical signals, calculate the arrival time of the echo beams, the reflectivity information of the object, etc., or generate point cloud data. The signal processing circuit may include, for example, a processor and a memory.

[0146] According to the lidar of the present disclosure, by adopting the structure of the signal readout circuit of the present disclosure, the signal readout speed of the detector array in the lidar can be improved, and the integration degree of the lidar can be improved, realizing the miniaturization of the lidar.

[0147] In some embodiments, the optical transmitter array may include one or more optical transmitters. The optical transmitter may include a laser emission circuit, vertical-cavity surface-emitting lasers (VCSELs), edge-emitting lasers (EELs), distributed feedback lasers (DFBs), fiber lasers, or similar devices.

[0148] In some embodiments, the processor may be implemented by a central processing unit (CPU), a microprocessor, a field programmable gate array (FPGA), or other processing chips, or may be implemented by an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0149] In some embodiments, the memory may include an in-system memory or an out-of-system memory. In some embodiments, the memory may include a random access memory (RAM), or may also include a non-volatile memory. In some embodiments, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0150] The present disclosure has been described in detail, but the above embodiments are only examples among all embodiments, and the present disclosure is not limited thereto. The present disclosure can freely combine the various embodiments within the scope of the invention, or modify any constituent elements of the various embodiments, or omit any constituent elements of the various embodiments.

Claims

1. A signal readout circuit for reading signals of a detector array, characterized in that, The detector array includes a plurality of detectors arranged in an array along a first direction and a second direction; the detectors are configured to receive an echo light beam and convert it into an electrical signal, wherein the echo light beam is generated after the detection light beam is reflected on an object; The signal readout circuit includes: a primary bus and a secondary bus; wherein, The primary bus includes a plurality of first signal path sets, and the first signal path sets include a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and configured to receive electrical signals output by the plurality of detectors; The secondary bus includes one or more second signal path sets, the second signal path sets include multiple second signal paths, the second signal paths are connected to multiple first signal path sets, and are configured to receive electrical signals output by multiple first signal path sets.

2. The signal readout circuit according to claim 1, wherein: The detector array has a photosensitive surface, the primary bus is arranged on a side of the detector array away from the photosensitive surface, and the secondary bus is arranged on a side of the primary bus away from the detector.

3. The signal readout circuit according to claim 1, wherein: The signal readout circuit is configured to receive a first control signal and select one or more detectors to output an electrical signal via the first signal path according to the first control signal.

4. The signal readout circuit according to claim 1 or 3, characterized in that: The signal readout circuit is configured to receive a second control signal and select one or more sets of the first signal paths to output an electrical signal via the second signal path according to the second control signal.

5. The signal readout circuit according to claim 1, wherein: The detector array includes multiple groups of detectors, and one group of detectors in the multiple groups of detectors includes multiple detectors; the first signal path is respectively connected to the multiple detectors in different groups of detectors, and the multiple detectors in the same group of detectors are respectively connected to multiple first signal paths.

6. The signal readout circuit according to claim 5, characterized in that: The signal readout circuit includes multiple groups of first signal path sets, one group of the multiple groups of first signal path sets includes multiple first signal path sets, the second signal path is respectively connected to multiple first signal path sets in different groups of first signal path sets, and multiple first signal path sets in the same group of first signal path sets are respectively connected to multiple second signal paths.

7. The signal readout circuit according to claim 6, wherein, Include at least one of the following settings: The number of detectors in each detector group is determined according to the size of the irradiated area; The number of first signal path sets in each group of first signal path sets is determined according to the size of the irradiation area.

8. The signal readout circuit according to claim 1, wherein: The detector is connected to a plurality of the first signal paths; the signal readout circuit is configured to receive a first control signal and, according to the first control signal, select one or more of the first signal paths from the plurality of the first signal paths to output the electrical signal of the detector.

9. The signal readout circuit according to claim 8, wherein the number of the plurality of first signal paths connected to the detector is greater than or equal to the number of irradiation regions in the first direction or the second direction.

10. The signal readout circuit according to claim 8, wherein the plurality of first signal paths connected to the detector are respectively connected to different second signal path sets.

11. A signal readout method for reading signals of a detector array, characterized in that, The detector array includes a plurality of detectors arranged in an array in the first direction and the second direction; the detector is configured to receive an echo beam and convert it into an electrical signal, wherein the echo beam is generated after the detection beam is reflected by an object. The signal readout method includes the following steps: a step of reading the electrical signals output by a plurality of detectors by using a plurality of first signal path sets; wherein, one or more of the first signal path sets include a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and are configured to receive the electrical signals output by the plurality of detectors; and a step of reading the electrical signals output by the plurality of first signal path sets by using one or more second signal path sets; wherein, one or more of the second signal path sets include a plurality of second signal paths, and the second signal paths are connected to the plurality of first signal path sets and are configured to receive the electrical signals output by the plurality of first signal path sets.

12. The signal readout method according to claim 11, wherein it further includes a step of, in response to receiving a first control signal, gating one or more detectors to output an electrical signal via the first signal path according to the first control signal.

13. The signal readout method according to claim 11 or 12, wherein it further includes a step of, in response to receiving a second control signal, gating one or more of the first signal path sets to output an electrical signal via the second signal path according to the second control signal.

14. A lidar, characterized in that, including: an optical transmitter array configured to emit a detection beam to detect an object; a detector array including a plurality of detectors arranged in an array in the first direction and the second direction, the detector being configured to receive an echo beam and convert it into an electrical signal, wherein the echo beam is generated after the detection beam emitted by the optical transmitter array is reflected by an object; a signal readout circuit connected to the detector array and configured to read out the electrical signal output by the detector array; and a signal processing circuit configured to process the signal output by the signal readout circuit; wherein, the signal readout circuit includes a first-level bus and a second-level bus, wherein, The primary bus includes a plurality of first signal path sets, and each first signal path set includes a plurality of first signal paths; the first signal paths are connected to a plurality of detectors and are configured to receive the electrical signals output by the plurality of detectors. The secondary bus includes one or more second signal path sets, and each second signal path set includes a plurality of second signal paths; the second signal paths are connected to the plurality of first signal path sets and are configured to receive the electrical signals output by the plurality of first signal path sets.

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