Laser transmitter module, lidar and lidar control method

Abstract

The present disclosure describes laser transmitter modules, lidar, and lidar control methods. A transmitter module for a lidar is provided, the transmitter module comprising: a laser chip comprising a plurality of lasing cavities; a laser drive chip comprising a plurality of first switches, the laser drive chip connected to the laser chip, the laser drive chip configured to drive the laser chip to emit laser light, at least one of the plurality of first switches connected to at least one of the plurality of lasing cavities, and the first switch configured to be turned on or turned off; and a second switch, the second switch configured to be connected to the laser drive chip, wherein, when the second switch is turned on, the lasing cavity connected to the first switch configured to be turned on emits laser light.

Description

Technical Field

[0001] This disclosure generally relates to lidar, and more specifically to a laser emitter module, lidar, and corresponding lidar control method capable of controlling a laser chip. Background Technology

[0002] LiDAR uses a transmitter module to emit laser light and a receiver module to receive the echo, thus detecting objects. The laser transmitter module includes a laser chip and a laser driver module, whereby the laser driver module is connected to the laser chip to drive the laser chip to emit laser light.

[0003] like Figure 1 As shown, the laser chip 10 includes one or more lasers 12, and each laser 12 includes multiple parallel-connected light-emitting cavities 14. The driving module 20 includes a switch 22 and a driver 24, with the switch 22 turned on in response to a signal provided by the driver 24. Thus, the laser chip 10 can emit laser light in response to the driving module 20. Because the laser chip 10 causes multiple light-emitting cavities 14 to emit laser light simultaneously in response to the driving module 20, the laser chip 10 becomes the smallest driven unit.

[0004] Therefore, in order to improve the scanning method and performance of lidar, a driving scheme that can independently control each laser or light-emitting point is needed. Summary of the Invention

[0005] This disclosure describes a transmitter module for lidar, a lidar, and a control method for the lidar. On one hand, in the implementation of this disclosure, the light-emitting cavity included in the laser chip can serve as the smallest driven unit, thereby enabling independent control of each light-emitting point included in the laser chip. This allows for precise driving of the laser chip, improving the performance of the lidar. On the other hand, the implementation of this disclosure facilitates a compact layout of the transmitter module in the lidar, making it suitable for small radar system applications. Furthermore, it offers lower manufacturing costs and allows for easy expansion of the transmitter module through stacking with the laser chip.

[0006] In a first aspect of this disclosure, a transmitter module for a lidar is provided, characterized in that it comprises: a laser chip including a plurality of light-emitting cavities; a laser driver chip including a plurality of first switches, the laser driver chip being connected to the laser chip and configured to drive the laser chip to emit laser light, at least one of the plurality of first switches being connected to at least one of the plurality of light-emitting cavities and the first switches being configured to be on or off; and a second switch being configured to be connected to the laser driver chip, wherein when the second switch is on, the light-emitting cavity connected to the first switch configured to be on emits laser light.

[0007] As described in the first aspect above, the transmitter module is characterized in that the lidar further includes a receiver module, the receiver module including a plurality of receivers configured to receive echoes, wherein the light-emitting cavity corresponds to one or more of the plurality of receivers, and the on or off state of the first switch is determined at least based on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

[0008] The transmitter module according to any one of the first aspects above, wherein the laser chip is a vertical cavity surface-emitting laser chip.

[0009] The transmitter module according to any one of the first aspects above is characterized in that the first switch is implemented as a Si-MOS switch.

[0010] The transmitter module according to any one of the first aspects above is characterized in that the second switch is implemented as a GaN switch.

[0011] The transmitter module according to any one of the first aspects is characterized in that a plurality of the first switches are connected in parallel, and the plurality of parallel first switches are connected in series with the second switch.

[0012] The transmitter module according to any one of the first aspects above is characterized in that the transmitter module includes a plurality of second switches, wherein the second switches are connected in series with a portion of the plurality of first switches.

[0013] In a second aspect of this disclosure, a lidar is provided, characterized in that it comprises: a transmitter module configured to emit a laser beam, the transmitter module including: a laser chip including a plurality of light-emitting cavities; a laser driver chip including a plurality of first switches connected to the laser chip and configured to drive the laser chip to emit laser light, at least one of the plurality of first switches being connected to at least one of the plurality of light-emitting cavities; and a second switch configured to be connected to the laser driver chip; and a receiver module including a plurality of receivers configured to receive echoes, wherein the light-emitting cavities correspond to one or more of the plurality of receivers; and a controller configured to output a signal to the transmitter module to control the on or off of the plurality of first switches and the second switch.

[0014] As described in the second aspect above, the lidar is characterized in that the signal includes a first signal and a second signal, the first switch is configured to be turned on or off in response to the first signal, and the second switch is configured to be turned on or off in response to the second signal.

[0015] When the second switch is turned on, the light-emitting cavity connected to the first switch configured to be turned on emits laser light.

[0016] The lidar according to any one of the second aspects above is characterized in that the first signal of the first switch is determined at least based on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

[0017] The lidar according to any one of the second aspects above is characterized in that the first switch is implemented as a Si-MOS switch.

[0018] The lidar according to any one of the second aspects above is characterized in that the second switch is implemented as a GaN switch.

[0019] The lidar according to any one of the second aspects above is characterized in that the laser chip is a vertical cavity surface-emitting laser chip.

[0020] The lidar according to any one of the second aspects above is characterized in that the plurality of first switches are connected in parallel, and the plurality of parallel first switches are connected in series with the second switch.

[0021] In a third aspect of this disclosure, a method for controlling a lidar as described in the second aspect above is provided, the method comprising: determining the signal based at least on an echo received by the receiver module; and outputting the signal to the transmitter module by a controller.

[0022] The method according to the third aspect above is characterized in that the signal includes a first signal and a second signal, and the method further includes: outputting the first signal to the laser driving chip, wherein in response to the first signal, the first switch is configured to be turned on or off; and outputting the second signal to the second switch, wherein in response to the second signal, the second switch is configured to be turned on or off, wherein when the second switch is turned on, the light-emitting cavity connected to the first switch configured to be turned on emits laser light.

[0023] The method according to any one of the third aspects above is characterized in that the method further comprises: determining the first signal based at least on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

[0024] The method according to any one of the third aspects above is characterized in that the first switch is configured to be on or off before the second switch is turned on. Attached Figure Description

[0025] Some implementations of this disclosure will be described below by way of example only and with reference to the accompanying drawings. In the drawings, every identical or nearly identical component shown throughout the various figures may be denoted by the same reference numerals. For clarity, not every component is labeled in each figure. In the drawings:

[0026] Figure 1 An example of a laser chip driving scheme is shown;

[0027] Figure 2 Examples of transmitter modules for lidar according to some embodiments of the present disclosure are shown;

[0028] Figure 3 A schematic diagram of another transmitter module example for lidar according to some embodiments of the present disclosure is shown;

[0029] Figure 4 A schematic diagram of an example of a lidar according to some embodiments of the present disclosure is shown; and

[0030] Figure 5 A flowchart illustrating an example of a lidar control method according to some embodiments of the present disclosure is shown. Detailed Implementation

[0031] The present disclosure will be further described below with reference to the embodiments. The accompanying drawings are for illustration only and are schematic diagrams, not actual pictures, and should not be construed as limiting the present patent. In order to better illustrate the embodiments of the present disclosure, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the actual size of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0032] References to "one embodiment," "implementation," "example embodiment," etc., in the specification indicate that the described embodiment may include specific features, structures, or characteristics, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is believed that the influence of such feature, structure, or characteristic on such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge of those skilled in the art.

[0033] For the purposes of this disclosure, the phrase "A and / or B" means (A), (B), or (A and B). For the purposes of this disclosure, the phrase "A, B, and / or C" means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).

[0034] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] The following describes, with reference to the accompanying drawings, an example of a transmitter module for lidar provided according to a partial embodiment of this disclosure.

[0036] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of objects. Also known as laser radar or LADAR, its working principle involves emitting a detection signal (e.g., a laser beam) towards an object, then comparing and processing the received signal reflected back from the object (e.g., an echo) with the emitted signal to determine relevant information about the object. This information includes parameters such as distance, azimuth, height, velocity, attitude, and shape. A LiDAR system can include a transmitter and a receiver. The transmitter can collimate and shape the emitted light using a transmitting optical system before projecting it into the detection field of view. The receiver can receive the echo signal reflected back from the object using a receiving optical system and a receiver. The transmitter can be deployed on a transmitting circuit board or a transmitting chip, and the detector can be deployed on a receiving circuit board or a receiving chip. In this disclosure, the LiDAR can be replaced by other active detection devices that measure the position, velocity, and other information of an object by emitting signals towards it and receiving signals reflected back from it.

[0037] This disclosure discloses a transmitter module for lidar, comprising: a laser chip including a plurality of light-emitting cavities; a laser driver chip including a plurality of first switches connected to the laser chip and configured to drive the laser chip to emit laser light, wherein at least one of the plurality of first switches is connected to at least one of the plurality of light-emitting cavities and the first switches are configured to be on or off; and a second switch configured to be connected to the laser driver chip, wherein when the second switch is on, the light-emitting cavity connected to the first switch configured to be on emits laser light. The lidar transmitter module of this disclosure allows for precise driving of the laser chip by using one or more light-emitting cavities included in the laser chip as the smallest driven unit. Furthermore, the at least one first switch of the lidar transmitter module provided by this disclosure can be integrated into the laser driver chip, which facilitates a compact layout of the transmitter module in lidar, is suitable for small radar system applications, has low manufacturing costs, and is easily expandable through stacking with the laser chip.

[0038] Figure 2 A schematic block diagram of an example of a transmitter module 20 for lidar according to some embodiments of the present disclosure is shown.

[0039] In some embodiments of this disclosure, the transmitter module 20 for lidar may include a laser chip 22, which may include multiple light-emitting cavities (e.g., Figure 2The light-emitting cavities shown are 222A-222F. The light-emitting cavity can be a resonant cavity structure that generates and amplifies laser light. Although... Figure 2 Six light-emitting cavities are shown, but those skilled in the art should understand that this disclosure is not limited thereto. The laser chip 22 may include any number of light-emitting cavities, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100 or more.

[0040] In some embodiments of this disclosure, the transmitter module 20 for a lidar may further include a laser driver chip 24 connected to a laser chip 22, and configured to drive the laser chip 22 to emit a laser. In some embodiments of this disclosure, the laser driver chip 24 may include a plurality of first switches (e.g., Figure 2 The first switches 242A-242D shown are connected to at least one of the plurality of first switches 242A-242D in the laser driver chip 24, and at least one of the plurality of light-emitting cavities 222A-222F in the laser chip 22. For example, as shown in the figure. Figure 2 As shown, the first switch 242A is connected to the light-emitting cavity 222B, the first switch 242B is connected to the light-emitting cavities 222C and 222D, and the first switch 242C is connected to the light-emitting cavities 222E and 222F. Although Figure 2 Four first switches are shown, but those skilled in the art should understand that this disclosure is not limited to this, and the laser driver chip 24 may include any number of first switches, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100, or more. Furthermore, those skilled in the art should understand that the connection method between the first switches and the light-emitting cavity is not limited to... Figure 2 As shown in the diagram, for example, the first switch can be connected to a... Figure 2 The diagram shows multiple light-emitting cavities, or two or more different first switches that can be connected to the same light-emitting cavity. In some embodiments, one of the multiple first switches is configured to be on or off; in other embodiments, at least some of the multiple first switches are configured to be on or off; in still other embodiments, each of the multiple first switches is configured to be on or off. For example, Figure 2The first switch 242A shown can be configured to be on, and the first switches 242B-242D can be configured to be off; in some other light-emitting modes (not shown), the first switches 242A and 242B are configured to be on, and the first switches 242C and 242D are configured to be off; in still other light-emitting modes (not shown), the first switches 242A-242D are all configured to be on or off.

[0041] In some embodiments of this disclosure, the transmitter module 20 for a lidar may further include a second switch 26 configured to connect to a laser driver chip 24, enabling control of the laser driver chip 24. In some embodiments of this disclosure, when the second switch 26 is turned on, a light-emitting cavity connected to the first switch configured to be turned on emits laser light. For example, in some emission modes, such as... Figure 2 As shown, when the first switch 242A is configured to be on, and when the second switch 26 is on, the light-emitting cavity 222B connected to the first switch 242A emits laser light; in some other light-emitting modes, when the first switches 242A and 242B are configured to be on, and when the second switch 26 is on, the light-emitting cavity 222B connected to the first switch 242A, as well as the light-emitting cavities 222C and 222D connected to the first switch 242B, emit laser light; in still other light-emitting modes, when all of the first switches 242A-242D are configured to be on, and when the second switch 26 is on, the light-emitting cavity 222B connected to the first switch 242A, the light-emitting cavities 222C and 222D connected to the first switch 242B, and the light-emitting cavities 222E and 222F connected to the first switch 242C all emit laser light.

[0042] In the transmitter module 20 for lidar disclosed herein, a two-stage switch is used to precisely drive the light-emitting cavity in the laser chip, thereby achieving higher resolution and further reducing the power consumption of the laser chip.

[0043] Figure 3 The illustration is a schematic diagram of an example of a transmitter module (e.g., transmitter module 30) for lidar according to some embodiments of the present disclosure.

[0044] In some embodiments of this disclosure, the transmitter module 30 includes a laser chip 32, a laser driver chip 34 connected to the laser chip 32, and a second switch 36. In some embodiments of this disclosure, the second switch 36 may be disposed outside the laser chip 34. In other embodiments of this disclosure, the second switch 36 may be integrated into the laser chip 34.

[0045] In some embodiments of this disclosure, the laser chip 32 includes a plurality of light-emitting cavities 301, which can be divided into a plurality of different light-emitting regions (e.g., Figure 3 As shown, the light-emitting areas 322A, 322B, 322C, etc., may include one or more light-emitting cavities 301. It should be noted that, although... Figure 3 The diagram shows that each light-emitting region includes six light-emitting cavities, but this disclosure is not limited to this. A light-emitting region may include any number of light-emitting cavities, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100, or more. Furthermore, those skilled in the art should understand that although... Figure 3 The diagram shows that each light-emitting region includes the same number of light-emitting cavities, but this disclosure is not limited thereto. The light-emitting regions may also be implemented such that at least a portion of the light-emitting regions include a different number of light-emitting cavities than the remaining light-emitting regions.

[0046] In some embodiments of this disclosure, a light-emitting region may include multiple light-emitting cavities connected in parallel; in other embodiments of this disclosure, a light-emitting region may include multiple light-emitting cavities connected in series.

[0047] In some embodiments of this disclosure, the laser chip 32 may be implemented as a vertical-cavity surface-emitting laser (VCSEL) chip, and the semiconductor resonant cavity of the VCSEL chip may serve as the light-emitting cavity 301 as referred to in this disclosure.

[0048] In some embodiments of this disclosure, for example Figure 3 As shown, the laser driver chip 34 includes first switches 342A-342C. In some embodiments of this disclosure, the first switches 342A-342C can be connected in parallel, with first switch 342A connected to the first light-emitting region 322A of the laser chip 32, first switch 342B connected to the second light-emitting region 322B of the laser chip 32, and first switch 342C connected to the third light-emitting region 322C of the laser chip 32. Since the light-emitting regions 322A-322C include one or more light-emitting cavities 301, for example... Figure 3As shown, a first switch 324A is connected to six light-emitting cavities 301 in light-emitting region 322A, a first switch 324B is connected to six light-emitting cavities 301 in light-emitting region 322B, and a first switch 324C is connected to six light-emitting cavities 301 in light-emitting region 322C. Therefore, light-emitting region 322A can be controlled by configuring the first switch 324A to be on or off, thereby driving the six light-emitting cavities 301 in light-emitting region 322A to emit laser light; light-emitting region 322B can be controlled by configuring the first switch 324B to be on or off, thereby driving the six light-emitting cavities 301 in light-emitting region 322B to emit laser light; and light-emitting region 322C can be controlled by configuring the first switch 324C to be on or off, thereby driving the six light-emitting cavities 301 in light-emitting region 322C to emit laser light.

[0049] In some embodiments of this disclosure, since the first switches 324A-324C are connected to one or more light-emitting cavities 301 in the laser chip 32, the peak current flowing through the first switches is relatively small when the one or more light-emitting cavities 301 are operating. Therefore, a smaller-sized switching device can be used. Based on this, the first switches 324A-324C can be integrated onto the laser driver chip, and the connection between the first switches 324A-324C and the corresponding one or more light-emitting cavities 301 in the laser chip 32 is achieved through inter-chip connections. As an example of an implementation, silicon MOS (Si-MOS) switches can be used to implement the first switches 324A-324C.

[0050] In some embodiments of this disclosure, for example Figure 3 As shown, the transmitter module 30 for the lidar may further include a second switch 36, which can be configured to connect to the laser driver chip 34 to achieve overall control of the laser chip 32. In some embodiments of this disclosure, the second switch 36 may be further connected to one or more of a plurality of first switches 324A-324C. For example, as Figure 3 As shown, the second switch 36 can be configured to connect to the three first switches 324A-324C. With the first switches 324A-324C configured to be on or off, control of the entire laser chip can be achieved by turning the second switch 36 on and off. In some emission modes, for example... Figure 3 The first switches 324A and 324C shown are configured to be on and the first switch 324B is configured to be off. When the second switch is on, the six light-emitting cavities 301 in the light-emitting area 322A connected to the first switch 324A and the six light-emitting cavities 301 in the light-emitting area 322C connected to the first switch 324C emit lasers; the six light-emitting cavities in the light-emitting area 322B connected to the first switch 324B do not emit lasers.

[0051] In some implementations of this disclosure, since the second switch 36 is connected to the laser driver chip 34 to achieve overall control of the laser chip 32, the peak current flowing through the second switch is relatively large (e.g., in some emission modes, the peak current flowing through the second switch can be as high as 100-200 amperes (A)). Therefore, it is required to select a switching device with stronger current carrying capacity and lower loss to implement the second switch. In some implementations of this disclosure, the second switch can be implemented using a fast switch. As an example of implementation, a gallium nitride (GaN) switch can be used to implement the second switch 36 according to this disclosure. As an example, the gallium nitride switch can include a GaN-based power transistor, which has a faster response speed, stronger current carrying capacity, and lower loss compared to Si-based transistors.

[0052] Because the second switch has a faster response speed, the requirement for the response speed of the first switch can be reduced. In some embodiments of this disclosure, the first switch can be implemented using a slow switch. When configuring the emission mode, ample time (e.g., hundreds of nanoseconds) can be obtained to configure the on or off state of the first switch. After configuring the first switch, laser pulse emission can be achieved by turning on the second switch. Configuring the second switch to the off state can control the laser to stop emitting light. The faster response speed of the second switch is beneficial for controlling the waveform of the laser pulses emitted by the laser.

[0053] As used in this disclosure, fast switching may refer to a switching device with a fast response time (e.g., several nanoseconds or tens of nanoseconds) (e.g., GaN switch), while slow switching may refer to a switching device with a slow response time (e.g., hundreds of nanoseconds or more) (e.g., Si-MOS switch).

[0054] Although the above description refers to a single laser chip, those skilled in the art will appreciate that expansion to multiple laser chips can be achieved using the connection means between the laser chip and the laser driver chip. In cases where a lidar includes multiple laser chips or where a laser chip includes multiple lasers, in some embodiments of this disclosure, one or more sets of parallel first switches and one or more sets of second switches can be provided for each laser chip (or each laser). The set of parallel first switches is integrated into the laser driver chip and can be implemented as a silicon MOS switch, while the second switches can be implemented as GaN switches outside the laser driver chip.

[0055] This disclosure also proposes a lidar capable of precisely driving a laser chip. In some embodiments, the lidar may include a mechanically rotating lidar; in other embodiments, the lidar may include a solid-state lidar; and in still other embodiments, the lidar may include a semi-solid-state lidar, which may include a scanning device, such as a rotating mirror, a galvanometer mirror, or a MEMS mirror. Figure 4 A schematic diagram of an example of a lidar 40 according to some embodiments of the present disclosure is shown. For example... Figure 4 As shown, the lidar 40 includes a transmitter module 42, a receiver module 44, and a controller 46. Those skilled in the art will understand that the various "modules" described in the embodiments of this disclosure may include, wholly or partially, one or more physical components. As another embodiment, a "module" may include one or more hardware components and one or more software components. For example, the transmitter module may include light-emitting circuitry, a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, or similar light-emitting devices. For example, the receiver module may include light-receiving circuitry, a photodiode, a single-photon avalanche diode (SPAD), an avalanche photodiode (APD), a charge-coupled device (CCD), a complementary metal-oxide-semiconductor (CMOS) sensor, etc. Furthermore, those skilled in the art will understand that the "controller" described in the embodiments of this disclosure may be implemented as a processor, a computer, or any form of hardware component. As another embodiment, the "controller" may include one or more hardware components and one or more software components.

[0056] In some embodiments of this disclosure, the transmitter module 42 is configured to emit a beam of light. For example... Figure 4 As shown, the transmitter module 42 includes a laser chip 422, which includes multiple light-emitting cavities 42221-4222. N (where N represents an integer greater than 1); laser driver chip 424, which includes multiple first switches 42421-4242 M (where M represents an integer greater than 1); and a second switch 426 configured to connect to the laser driver chip 424. According to an implementation of this disclosure, the laser driver chip 424 is connected to the laser chip 422, and the laser driver chip 424 is configured to drive the laser chip 422 to emit laser light. For example... Figure 4 As shown, in some implementations of this disclosure, the first switch 42421 in the laser driver chip 422 is connected to the light-emitting cavity 42221 in the laser chip 422, and the first switch 42422 is connected to the light-emitting cavities 42223 and 42224.

[0057] Transmitter module 42 is similar to the one described above. Figure 2 The described transmitter module 20, reference Figure 3 The transmitter module 30 described herein will not be further described. The number of light-emitting cavities included in the laser chip 42, the number of first switches included in the laser driver chip 424, and the connection between the first switches and the light-emitting cavities are not limited to... Figure 4 As shown, the laser chip 42 may include other numbers of light-emitting cavities, the laser driver chip 424 may include other numbers of first switches, and the first switches may be connected to other numbers of light-emitting cavities, and different first switches may be connected to the same or different light-emitting cavities.

[0058] like Figure 4 As shown, receiver module 44 includes multiple receivers 4421-442. K (where K represents an integer greater than 1), these multiple receivers 4421-442 K It is configured to receive echoes. It should be noted that, although... Figure 4 The diagram shows receiver module 44 including thirty-six receivers, but this disclosure is not limited thereto. The receiver module may include more or fewer receivers, such as 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100, or more. In some embodiments of this disclosure, one of the plurality of light-emitting cavities 422A-422N of the laser chip 42 is connected to a plurality of receivers 4421-442. K One of the multiple light-emitting cavities 422A-422N of the laser chip 42 corresponds to one of the multiple receivers 4421-442. In other embodiments of this disclosure, one of the multiple light-emitting cavities 422A-422N of the laser chip 42 corresponds to one of the multiple receivers 4421-442. K In some other embodiments of this disclosure, multiple light-emitting cavities 422A-422N of the laser chip 42 correspond to multiple receivers 4421-442. K One of the receivers corresponds to this. For example, such as... Figure 4The light-emitting cavity 42221 shown corresponds to the receiver 4421. As another example, the light-emitting cavity 42222 corresponds to receivers 4422 and 4423. As yet another example, the light-emitting cavities 42223 and 42224 correspond to receiver 4423. It should be noted that the correspondence between the light-emitting cavity and the receiver means that the echo generated by the light emitted by the laser's light-emitting cavity is received by the receiver. For example, receiver 4421 receives the echo generated by the laser emitted by its corresponding light-emitting cavity 42221; receivers 4422 and 4423 both receive the echo generated by the laser emitted by their corresponding light-emitting cavity 42222; and receiver 4423 receives the echo generated by the laser emitted by its corresponding light-emitting cavities 42223 and 42224. Furthermore, it should be noted that this disclosure is not limited to the correspondence described in the above examples. One light-emitting cavity can correspond to any number of receivers. For example, one light-emitting cavity can correspond to 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100, or more receivers; or, any number of light-emitting cavities can correspond to one receiver. For example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 25, 40, 100, or more light-emitting cavities can correspond to one receiver. As an example, a single-photon avalanche diode (SPAD) chip includes multiple SPAD receivers, and the laser includes multiple light-emitting cavities. A single laser corresponds to 40 receivers, and each light-emitting cavity corresponds to one or more of these 40 receivers. Additionally, in some embodiments of this disclosure, different light-emitting cavities can correspond to the same or different receivers. In other embodiments of this disclosure, different receivers may correspond to the same or different light-emitting cavities.

[0059] like Figure 4 As shown, controller 46 is connected to transmitter module 42 and configured to output signals to transmitter module 42. In some implementations of this disclosure, controller 46 can control a plurality of first switches 42421-4242 by outputting signals to transmitter module 42. M And the second switch 426 is turned on or off.

[0060] In some implementations of this disclosure, the controller 46 may output a first signal to the transmitter module 42 to control the first switches 42421-4242. M The first switch 426 can be turned on or off, and a second signal can be output to the transmitter module 32 to control the on or off of the second switch 426. For example, the first switch 42421-4242 MIn response to a first signal, the second switch 426 is configured to be turned on or off, and in response to a second signal, the light-emitting cavity connected to the first switch configured to be turned on emits laser light.

[0061] In some implementations of this disclosure, the first switch 42421-4242 M The first signal is determined at least based on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch. In some implementations of this disclosure, the controller 46 may be connected to the receiver module 44 and configured to be based on receivers 4421-442 K The received echo determines the first signal. As an example, the first signal provided by controller 46 to first switch 42421 may be based on the echo received by receivers 4422 and 4423, and first switch 42421 may be configured to be on or off in response to the first signal. As another example, the first signal provided to first switch 42422 may be based on the echo received by receiver 4423, and first switch 42422 may be configured to be on or off in response to the first signal.

[0062] This disclosure also proposes a method for controlling a lidar according to this disclosure (e.g., referred to above). Figure 4 The method described for lidar 40). Next, we turn to... Figure 5 This disclosure describes a lidar control method 500 in some embodiments.

[0063] like Figure 5As shown, method 500 begins at block 502, where a signal is determined at least based on the echo received by the receiver, and the transmitter module emits a beam under the control of this signal. In some implementations of this disclosure, the operation performed at block 502 may further include: at block 5022, outputting an initial control signal to the transmitter module. In some implementations of this disclosure, a portion of the first switches are configured to be turned on in response to the initial control signal, while the remaining first switches are configured to be turned off in response to the initial control signal, and a second switch is configured to be turned on in response to the initial signal, thereby causing the light-emitting cavity connected to the first switch configured to be turned on to emit laser light. In other embodiments of this disclosure, all the first switches are configured to be turned on in response to the initial control signal, and the second switch is configured to be turned on in response to the initial control signal, thereby causing the entire transmitter module (or the corresponding laser chip) to emit a beam. In some implementations of this disclosure, the operation performed at block 502 may further include: at block 5024, processing the echo received by the receiver module to determine, at least based on the echo, the signal to be provided to the transmitter module. In some implementations of this disclosure, when a portion of the first switches are configured to conduct in response to an initial control signal, and a second switch is configured to conduct in response to an initial signal, the light-emitting cavities connected to the configured-on first switches emit laser light, and the receivers corresponding to these light-emitting cavities receive the corresponding echoes. In other implementations of this disclosure, when all the first switches are configured to conduct in response to an initial control signal, and a second switch is configured to conduct in response to an initial control signal, all receivers corresponding to the entire transmitter module can receive the corresponding echoes.

[0064] Subsequently, method 500 proceeds to block 504, where a signal is output to the transmitter module. In some embodiments of this disclosure, the signal determined and output in method 500 may include a first signal and a second signal, and the operation performed at block 504 may further include: at block 5042, outputting a first signal to the laser driver chip, in response to the first signal, configuring a plurality of first switches to be turned on or off; and at block 5044, outputting a second signal to a second switch, in response to the second signal, configuring a second switch to be turned on or off. In some embodiments of this disclosure, when the second switch is turned on, the light-emitting cavity connected to the first switch configured to be turned on emits laser light.

[0065] In some embodiments of this disclosure, the operation performed at block 5024 may further include: at 5024a, determining the first signal based at least on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

[0066] In some embodiments of this disclosure, the first switch is configured to be on or off before the second switch is turned on. Therefore, a slow-response switch can be used to implement the first switch, and a faster-response switch can be used to implement the second switch. This allows the slow-response characteristic of the slow switch to be utilized, enabling the first switch to be configured to be on or off first (because the slow switch reacts slowly, it will not immediately turn on after being configured, thus providing ample time for configuration), and the second switch to be configured after the first switch is configured. This further reduces manufacturing costs and shortens the lidar configuration time. Configuring the second switch to the off state can control the laser to stop emitting light. The faster response speed of the second switch is beneficial for controlling the waveform of the laser pulses emitted by the lidar.

[0067] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the controller may include any system / module having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a microprocessor. The program code can be implemented using a high-level procedural programming language or an object-oriented programming language to communicate with the controller.

[0068] One or more aspects of at least one implementation may be implemented by representational instructions stored on a machine-readable medium representing various logic in a processor, which, when read by a machine, cause the machine to produce logic for performing the techniques described herein.

[0069] The preferred embodiments of this disclosure have been described in detail above. However, it should be understood that various embodiments and modifications can be adopted without departing from the broad scope of this disclosure. Those skilled in the art can make many modifications and variations based on the concept of this disclosure without creative effort. Therefore, any technical solutions that can be obtained by those skilled in the art based on the concept of this disclosure through logical analysis, reasoning, or limited experimentation on the basis of the prior art should fall within the protection scope defined by the claims of this disclosure.

Claims

1. A transmitter module for lidar, characterized in that, include: Laser chip, comprising multiple light-emitting cavities; A laser driver chip includes a plurality of first switches, the laser driver chip is connected to the laser chip, the laser driver chip is configured to drive the laser chip to emit laser light, and at least one of the plurality of first switches is connected to at least one of the plurality of light-emitting cavities. as well as A second switch is configured to be connected to the laser driver chip, wherein the first switch is configured to be on or off before the second switch is turned on, and when the second switch is turned on, the light-emitting cavity connected to the first switch configured to be on emits laser light.

2. The transmitter module as described in claim 1, characterized in that, The lidar also includes a receiver module comprising a plurality of receivers configured to receive echoes, wherein a light-emitting cavity corresponds to one or more of the plurality of receivers, and the on or off state of the first switch is determined at least based on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

3. The transmitter module as described in claim 1, characterized in that, The laser chip is a vertical cavity surface-emitting laser chip.

4. The transmitter module as described in claim 1, characterized in that, The first switch is implemented as a Si-MOS switch.

5. The transmitter module as described in claim 1, characterized in that, The second switch is implemented as a GaN switch.

6. The transmitter module as described in claim 1, characterized in that, Multiple first switches are connected in parallel, and the multiple parallel first switches are connected in series with the second switch.

7. The transmitter module as claimed in claim 1, characterized in that, The transmitter module includes a plurality of second switches, wherein the second switches are connected in series with a portion of the plurality of first switches.

8. A lidar, characterized in that, include: A transmitter module, configured to emit a beam, includes: Laser chip, comprising multiple light-emitting cavities; A laser driver chip includes a plurality of first switches, the laser driver chip being connected to a laser chip, the laser driver chip being configured to drive the laser chip to emit laser light, and at least one of the plurality of first switches being connected to at least one of the plurality of light-emitting cavities; and A second switch, configured to be connected to the laser driver chip; and A receiver module comprising a plurality of receivers configured to receive echoes, wherein a light-emitting cavity corresponds to one or more of the plurality of receivers; and The controller is configured to output signals to the transmitter module to control the on or off state of the plurality of first switches and second switches. The first switch is configured to be on or off before the second switch is turned on. When the second switch is turned on, the light-emitting cavity connected to the first switch configured to be on emits laser light.

9. The lidar as described in claim 8, characterized in that, The signals include a first signal and a second signal, wherein the first switch is configured to be turned on or off in response to the first signal, and the second switch is configured to be turned on or off in response to the second signal.

10. The lidar as described in claim 9, characterized in that, The first signal of the first switch is determined at least based on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

11. The lidar as described in claim 8, characterized in that, The first switch is implemented as a Si-MOS switch.

12. The lidar as described in claim 8, characterized in that, The second switch is implemented as a GaN switch.

13. The lidar as described in claim 8, characterized in that, The laser chip is a vertical cavity surface-emitting laser chip.

14. The lidar as described in claim 8, characterized in that, The plurality of first switches are connected in parallel, and the plurality of parallel first switches are connected in series with the second switch.

15. A method for controlling a lidar as claimed in claim 8, the method comprising: The signal is determined at least based on the echo received by the receiver module; The signal is output to the transmitter module.

16. The method as described in claim 15, characterized in that, The signal includes a first signal and a second signal, and the method further includes: The first signal is output to the laser driver chip, and in response to the first signal, the first switch is configured to be turned on or off; and The second signal is output to the second switch, and in response to the second signal, the second switch is configured to be turned on or off. When the second switch is turned on, the light-emitting cavity connected to the first switch configured to be turned on emits laser light.

17. The method as described in claim 16, characterized in that, The method further includes: determining the first signal based at least on the echo received by the receiver corresponding to the light-emitting cavity connected to the first switch.

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