Receiver and transmitter for lidar, lidar, and terminal device

Abstract

The invention relates to a receiver and a transmitter for a laser radar, the laser radar and a terminal device. A receiver includes a plurality of detection areas including a first detection area, a second detection area, and other detection areas. The first detection area and the second detection area are located at different positions in the first direction. The first detection area and the second detection area are located at different positions in the second direction. The first direction is perpendicular to the second direction. The distance between the first detection area and the second detection area is smaller than or equal to the distance between the first detection area and other detection areas.

Description

Technical Field

[0001] This disclosure relates to the field of photoelectric detection, and more specifically to a receiver and transmitter for lidar, lidar, and terminal equipment. Background Technology

[0002] LiDAR is a radar system that uses laser beams to detect the position, velocity, and other characteristics of objects. Due to its advantages such as high resolution, strong resistance to active interference, good detection performance, small size, and light weight, lidar is widely used in fields such as autonomous driving, transportation communication, drones, intelligent robots, and resource exploration.

[0003] The angular resolution of a lidar system is determined by the focal length of its optical system and the channel spacing between the transmitter and receiver. One channel of the transmitter corresponds to one or more light-emitting areas, and one channel of the receiver corresponds to one or more detection areas. The arrangement of the light-emitting areas of the transmitter and the detection areas of the receiver affects the angular resolution of the lidar. Summary of the Invention

[0004] The purpose of this disclosure is to overcome the above and / or other problems in the prior art by providing a receiver and transmitter for lidar that facilitates flexible adjustment of the lidar's angular resolution.

[0005] According to a first aspect of this disclosure, a receiver for a lidar is provided. The receiver includes: a plurality of detection areas, including a first detection area, a second detection area, and other detection areas, wherein the first detection area and the second detection area are located at different positions in a first direction, and the first detection area and the second detection area are located at different positions in a second direction, the first direction being perpendicular to the second direction, and the distance between the first detection area and the second detection area is less than or equal to the distance between the first detection area and the other detection areas.

[0006] Optionally, the receiver further includes a third detection area and a fourth detection area. The third detection area and the fourth detection area are located at different positions in the first direction. The third detection area and the fourth detection area are located at the same position in the second direction.

[0007] Optionally, the receiver further includes a fifth detection area and a sixth detection area. The fifth and sixth detection areas are located at different positions in the first direction, and at the same position in the second direction. The positions of the fifth and sixth detection areas in the second direction differ from the positions of the third and fourth detection areas in the second direction.

[0008] Optionally, the receiver includes a first region and a second region. The first and second detection regions are located in the first region, and the third and fourth detection regions are located in the second region. The light received in the first region is closer to the center of the lidar's field of view than the light received in the second region.

[0009] Optionally, the receiver includes multiple sets of detection areas. Each set of detection areas includes one or more detectors. Each detector includes one or more detection areas.

[0010] Optionally, the plurality of detection region sets includes a first detection region set. The first detection region set includes at least two detection regions. The at least two detection regions of the first detection region set are arranged along a third direction. This third direction is different from the first direction and the second direction.

[0011] Optionally, the multi-detection area set further includes a second detection area set. The second detection area set includes at least two detection areas. The at least two detection areas of the second detection area set are arranged along the first direction. The light received by the first detection area set is closer to the center of the lidar's field of view than the light received by the second detection area set.

[0012] Optionally, the multi-detection region set includes a third detection region set. The third detection region set includes at least two detection regions. The at least two detection regions of the third detection region set are arranged along a fourth direction. This fourth direction is different from the third third direction. The light received by the first detection region set is closer to the center of the lidar's field of view than the light received by the third detection region set.

[0013] Optionally, the angle between the fourth direction and the first direction is smaller than the angle between the third direction and the first direction.

[0014] Optionally, the angle between the fourth direction and the second direction is greater than the angle between the third direction and the second direction.

[0015] Optionally, the one or more detectors include a fourth set of detection regions. The fourth set of detection regions includes at least two detection regions. The at least two detection regions of the fourth set of detection regions are arranged along a fifth direction. The fifth direction is different from both the third and fourth directions. The light received by the third set of detection regions is closer to the center of the lidar's field of view than the light received by the fourth set of detection regions.

[0016] Optionally, the angle between the fifth direction and the first direction is smaller than the angle between the fourth direction and the first direction.

[0017] Optionally, the angle between the fifth direction and the second direction is greater than the angle between the fourth direction and the second direction.

[0018] According to a second aspect of this disclosure, a transmitter for a lidar is provided. The transmitter includes: a plurality of light-emitting regions, the plurality of light-emitting regions including a first light-emitting region, a second light-emitting region, and other light-emitting regions, wherein the first light-emitting region and the second light-emitting region are located at different positions in a first direction, the first light-emitting region and the second light-emitting region are located at different positions in a second direction, the first direction being perpendicular to the second direction, and the distance between the first light-emitting region and the second light-emitting region is less than or equal to the distance between the first light-emitting region and the other light-emitting regions.

[0019] Optionally, the emitter further includes a third light-emitting region and a fourth light-emitting region. The third light-emitting region and the fourth light-emitting region are located at different positions in the first direction. The third light-emitting region and the fourth light-emitting region are located at the same position in the second direction.

[0020] Optionally, the emitter further includes a fifth light-emitting region and a sixth light-emitting region. The fifth and sixth light-emitting regions are located at different positions in the first direction. The fifth and sixth light-emitting regions are located at the same position in the second direction. The positions of the fifth and sixth light-emitting regions in the second direction differ from the positions of the third and fourth light-emitting regions in the second direction.

[0021] Optionally, the transmitter includes a first region and a second region. The first and second light-emitting regions are located in the first region, and the third and fourth light-emitting regions are located in the second region. The light emitted from the first region is closer to the center of the lidar's field of view than the light emitted from the second region.

[0022] Optionally, the emitter includes multiple sets of emitting regions. Each set of emitting regions includes one or more lasers. The lasers include one or more emitting regions.

[0023] Optionally, the set of multiple luminescent regions includes a first set of luminescent regions. The first set of luminescent regions includes at least two luminescent regions. The at least two luminescent regions of the first set of luminescent regions are arranged along a third direction. This third direction is different from the first direction and the second direction.

[0024] Optionally, the set of multiple emitting regions further includes a second set of emitting regions. The second set of emitting regions includes at least two emitting regions. The at least two emitting regions of the second set of emitting regions are arranged along the first direction. The light emitted by the first set of emitting regions is closer to the center of the lidar's field of view than the light emitted by the second set of emitting regions.

[0025] Optionally, the set of multiple emitting regions includes a third set of emitting regions. The third set of emitting regions includes at least two emitting regions. The at least two emitting regions of the third set are arranged along a fourth direction. This fourth direction is different from the third third direction. The light emitted by the first set of emitting regions is closer to the center of the lidar's field of view than the light emitted by the third set of emitting regions.

[0026] Optionally, the angle between the fourth direction and the first direction is smaller than the angle between the third direction and the first direction.

[0027] Optionally, the angle between the fourth direction and the second direction is greater than the angle between the third direction and the second direction.

[0028] Optionally, the one or more light-emitting lasers include a fourth set of light-emitting regions. The fourth set of light-emitting regions includes at least two light-emitting regions. The at least two light-emitting regions of the fourth set of light-emitting regions are arranged along a fifth direction. The fifth direction is different from both the third and fourth directions. The light emitted by the third set of light-emitting regions is closer to the center of the lidar's field of view than the light emitted by the fourth set of light-emitting regions.

[0029] Optionally, the angle between the fifth direction and the first direction is smaller than the angle between the fourth direction and the first direction.

[0030] Optionally, the angle between the fifth direction and the second direction is greater than the angle between the fourth direction and the second direction.

[0031] According to a third aspect of this disclosure, a lidar is provided, comprising at least one of a receiver and a transmitter as described above.

[0032] According to a fourth aspect of this disclosure, a terminal device is provided, including the lidar as described above. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the embodiments of the present disclosure to explain the disclosure and do not constitute a limitation thereof. In the drawings:

[0034] Figure 1A structural block diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown.

[0035] Figure 2 A structural block diagram of an exemplary vehicle system consistent with some embodiments of this disclosure is shown.

[0036] Figure 3 An example of the channel layout for a lidar is shown.

[0037] Figure 4 Another example of the channel layout for a lidar is shown.

[0038] Figure 5 A schematic diagram of the distribution of multiple regions in a receiver or transmitter for a lidar, consistent with some embodiments of this disclosure, is shown.

[0039] Figure 6 A schematic diagram of the distribution of multiple regions in a receiver or transmitter for a lidar, consistent with some embodiments of this disclosure, is shown.

[0040] Figure 7A An exemplary schematic diagram is shown illustrating the differentiation of a first directional angular resolution in a receiver or transmitter for lidar, consistent with some embodiments of this disclosure.

[0041] Figure 7B Exemplary graphs are shown showing the channel spacing values ​​and vertical angular resolution corresponding to different selected values ​​of rotation angle consistent with some embodiments of this disclosure.

[0042] Figure 8 A schematic diagram of the distribution of multiple regions in a receiver or transmitter for a lidar, consistent with some embodiments of this disclosure, is shown.

[0043] Figure 9 A schematic diagram of the distribution of multiple regions in a receiver or transmitter for a lidar, consistent with some embodiments of this disclosure, is shown.

[0044] Figure 10 A schematic diagram of the distribution of multiple regions in a receiver or transmitter for a lidar, consistent with some embodiments of this disclosure, is shown in a fifth exemplary embodiment.

[0045] Figure 11 An example of a channel arrangement in a receiver or transmitter for lidar that is consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0046] The embodiments of this disclosure will be described below. It should be noted that, in order to provide a concise description of these embodiments, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, changes may occur from one embodiment to another to achieve specific objectives. Furthermore, it is also understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content of this disclosure, some design, manufacturing, or production modifications based on the technical content disclosed in this disclosure are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0047] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar words used in this patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar words mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0048] Unless otherwise specified, all embodiments mentioned herein can be combined to form new technical solutions. Furthermore, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0049] In this disclosure, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: the presence of only "A", the presence of only "B", and the presence of both "A" and "B", where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: the presence of only "A", the presence of only "B", the presence of only "C", the presence of both "A" and "B", the presence of both "A" and "C", the presence of both "B" and "C", and the presence of both "A", "B", and "C", where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this disclosure indicates an "or" relationship between the related objects before and after the symbol. In this disclosure, the term "at least one A or B" has the same meaning as "A or B" described above. The term "at least one A, B or C" has the same meaning as "A, B or C" above.

[0050] LiDAR (Light Detection and Ranging) is a remote sensing technology that uses laser light to measure distances and create three-dimensional (3D) images of objects and landscapes. During object detection, the LiDAR emits a laser beam; upon encountering an object, the laser is reflected from the object's surface; the reflected light (called an echo) is received by the LiDAR and converted into an electrical signal. The LiDAR processes this electrical signal to determine information about the object, such as its distance, position, or velocity. The LiDAR system 110 can also be configured to create a real-time 3D model of the environment, which can be represented as a point cloud. A point cloud is a collection of 3D data points representing the surfaces of objects, structures, and the environment within a specific area. Each data point in the point cloud can be defined by its X, Y, and Z coordinates in space, representing its position in 3D space. Using point clouds, vehicles can accurately identify the positions of objects on the road, such as cars, pedestrians, and / or cyclists.

[0051] In some examples, LiDAR can generate point clouds, which simplifies and simplifies the processing of driver assistance algorithms. LiDAR provides high-resolution 3D vision for vehicles (such as intelligent vehicles), working in conjunction with cameras and radar to enhance the vehicle's perception capabilities to handle more complex road conditions (such as dark environments or unknown objects on highways). LiDAR can further provide high-performance automotive-grade LiDAR solutions, ensuring safer and smarter driver assistance, such as L2+ assisted driving. When configured, LiDAR can be widely used in passenger cars and commercial vehicles equipped with advanced driver assistance systems (ADAS) and / or autonomous driving (automated transportation). LiDAR can also be applied to any suitable end device, such as drones or robots. For example, LiDAR can support robotic applications such as delivery robots and logistics robots.

[0052] In some examples, LiDAR can be configured as a long-range LiDAR sensor with a long detection range, such as from hundreds of meters to thousands of meters. Long-range LiDAR sensors can detect and classify objects at long distances. They can be mounted on the roof of a vehicle (e.g., the front and / or rear roof) to provide an unobstructed view of the road ahead and / or behind, and to detect objects at greater distances, which is very useful for highway driving and early detection of distant objects.

[0053] In some examples, LiDAR can be configured as a short-range LiDAR sensor with a shorter detection range, such as a few meters to tens of meters around the LiDAR, but a wider field of view (FOV), such as 60 degrees to 360 degrees horizontally. The wider FOV allows for the detection of nearby objects and provides a more comprehensive view of the surrounding environment / objects. Short-range LiDAR sensors can be mounted near or to the side of the vehicle's headlights to improve perception and assist in lane keeping and / or lane changing maneuvers.

[0054] In some examples, the lidar can be configured as a mid-range lidar sensor. Mid-range lidar sensors strike a balance between long-range and short-range lidar sensors in terms of detection range (e.g., from a few meters to several hundred meters) and field of view (e.g., from 30 degrees to 180 degrees horizontally). Mid-range lidar sensors can be mounted on the front bumper, side panels, or rear bumper to detect objects near the vehicle, making them suitable for parking and detecting nearby objects while driving in urban environments.

[0055] In some examples, a lidar system with multiple lidar sensors is deployed around the vehicle, with each lidar configured to have different detection ranges and fields of view to cover the area around the vehicle. In some embodiments, the lidar system includes one or more near-range lidar sensors and one or more mid-range lidar sensors. By combining lidar sensors at different locations on the vehicle, the lidar system can provide a comprehensive view of the environment. Data from these lidar sensors can be processed with data from other sensors, such as cameras and / or millimeter-wave radar, to make real-time decisions for safe and efficient autonomous driving. The combination of lidar sensors with different detection ranges, fields of view, and locations achieves a balance between long-range visibility and near-range object detection, while also considering aesthetics and cost.

[0056] In some examples, multiple lidar sensors are activated in a lidar system. In some embodiments, multiple lidar sensors are activated or deactivated depending on different scenarios or requirements. For example, when the vehicle is traveling at high speeds (e.g., above 40 mph), one or more short-range lidar sensors may be deactivated, while one or more long-range and mid-range lidar sensors may be activated. As another example, when the vehicle is traveling at lower speeds (e.g., below 40 mph), one or more long-range lidar sensors may be deactivated, while one or more short-range and mid-range lidar sensors may be activated. This effectively saves energy and extends the lifespan of the lidar system.

[0057] Figure 1 An example structural block diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 1 The lidar 100 includes a laser emitting system 110, a laser receiving system 120, and a control and processing system 130. Optionally, the lidar 100 also includes a scanning system 140. The scanning system 140 may include a rotating optical engine, a rotating reflector, a reciprocating oscillating mirror or galvanometer (e.g., a MEMS mirror, a Galvo mirror, etc.), and other components that can direct the laser beam to different locations in the environment.

[0058] The laser emitting system 110 emits a laser beam. Upon encountering an object 10, the laser beam is reflected from the surface of the object 10, forming an echo that returns to the lidar 100. The laser receiving system 120 receives the reflected echo and converts it into an electrical signal. This signal is pre-processed to determine echo data, such as the echo reception time, and provided to the control and processing system 130. The control and processing system 130 processes the echo data to determine information about the object 10, such as its distance, position, or velocity. This process is repeated multiple times to create an accurate, real-time 3D environment map, such as a point cloud. Computers in terminal devices such as vehicles can use the point cloud for safe navigation.

[0059] The laser emitting system 110 includes a driving circuit, a laser, and an emitting optics. The laser emits laser light under the drive of the driving circuit, and the laser light exits through the emitting optics. The laser may include a semiconductor laser, such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or other semiconductor lasers capable of generating laser light. In some embodiments, the laser may also include a fiber laser. The laser emits laser light at a wavelength of 905 nm, 940 nm, or 1550 nm; the laser may also emit laser light at other wavelengths. The driving circuit may include a driver-integrated circuit, such as an analog chip or a digital-analog hybrid chip.

[0060] The laser receiving system 120 includes a receiving optics and a receiver. The receiving optics collects the echo reflected from an object and focuses the echo onto the receiver. The receiver uses the photoelectric effect to convert the echo into an electrical signal. The receiver may include a single-photon detector, such as an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM). The lidar 100 may also include a preprocessing circuit. This preprocessing circuit may include digitization circuitry, such as an analog-to-digital converter (ADC), which converts analog signals into digital signals for use with the control and processing system 130. Alternatively, the preprocessing circuit may include a time-to-digital converter (TDC); the echo is detected by the receiver and converted into an electrical signal, which is then provided to the TDC. Based on the received electrical signal, the TDC can determine the time information (e.g., a timestamp) of the echo and convert the time information into a digital signal for use with the control and processing system 130. The preprocessing circuit may also include analog front-end circuitry for channel selection and analog signal amplification. In some embodiments, the preprocessing circuit may be implemented as a system-on-chip (SOC) or an application-specific integrated circuit (ASIC). The transmitting and receiving optics include, for example, one or more optical devices such as lenses / lens groups, mirrors, filters, beam splitters, apertures, and homogenizers. The transmitting and receiving optics may be independently configured or may be fully or partially multiplexed.

[0061] The control and processing system 130 may include an information processing circuit and a light source control circuit. The information processing circuit processes electrical signals to determine information about the object. For example, the information processing circuit may include: an Application-Specific Integrated Circuit (ASIC), or a circuit implemented with a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), or a Microcontroller Unit (MCU), or a Digital Signal Processor (DSP). Another example is a Central Processing Unit (CPU). The light source control circuit sends control signals to the excitation source to control the excitation source to drive the laser to emit light, achieving pulsed laser emission. For example, the light source control circuit can send timing signals to control the laser emission timing. Furthermore, the light source control circuit can add pulse coding functionality by controlling one or more of the pulse interval, pulse intensity, and pulse width, thereby enhancing the anti-interference capability of the lidar. The light source control circuit and the information processing circuit can be integrated together, for example, integrated into a main control chip, or they can each be independent or partially independent chips. When the lidar 100 includes a scanning system 140, the control and processing system 130 can also include a scanning control circuit for controlling the scanning system. The scanning control circuit can be integrated with one or all of the light source control circuit and the information processing circuit; for example, the scanning control circuit, the light source control circuit, and the information processing circuit can be integrated into a main control chip; or they can each be independent or partially independent chips. In some embodiments, the control and processing system 130 can be implemented as a system-on-a-chip (SOC) or an application-specific integrated circuit (ASIC).

[0062] In applications, lidar can be installed on terminal devices to transmit the detected sensing data. The terminal devices then use this data to perform one or more functions, such as analysis, decision-making, or control. Terminal devices include, for example, vehicles, ships, aircraft (e.g., flying vehicles or drones), and robots (e.g., industrial robots or home robots).

[0063] Figure 2 A structural block diagram of an exemplary vehicle system consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 2The vehicle system 200 includes a sensor system 202, a perception system 204, a planning system 206, and a control system 208. The vehicle system 200 may possess autonomous capabilities, for example, having at least one function, characteristic, device, and / or similar device that enables the vehicle to operate partially or fully without human intervention, including but not limited to fully autonomous vehicles (e.g., abandoning reliance on human intervention), highly autonomous vehicles (e.g., abandoning reliance on human intervention in certain situations), and / or similar devices. The sensor system 202 includes one or more devices, such as lidar 202a, radar 202b, camera 202c, sonar 202d, global positioning system (GPS) 202e, and inertial measurement unit (IMU) 202f. Lidar 202a may include lidar sensors, such as long-range lidar sensors, mid-range lidar sensors, or short-range lidar sensors. In some embodiments, the sensor system 202 uses one or more devices included in the sensor system 202 to generate environment-related data. The data generated by the sensor system 202 can be used by one or more systems to observe the environment in which the vehicle is located.

[0064] In some examples, the perception system 204 receives data associated with at least one object in the environment and classifies the at least one object. In some examples, the perception system 204 receives image data (e.g., point clouds) associated with objects captured by at least one lidar sensor. In such examples, the perception system 204 classifies objects based on groupings of objects (e.g., bicycles, vehicles, traffic signs, pedestrians and / or the like). In some embodiments, the perception system 204 transmits data related to object classification to the planning system 206.

[0065] In some examples, the planning system 206 receives destination-related data and generates data related to at least one route or trajectory along which a vehicle can travel towards the destination. In some embodiments, the planning system 206 periodically or continuously receives data from the sensing system 204 and updates the route or trajectory based on the data generated by the sensing system 204.

[0066] In some examples, control system 208 receives data associated with at least one trajectory from planning system 206, and control system 208 controls the operation of the vehicle. In some embodiments, control system 208 includes steering control system 208a and powertrain control system 208b. Control system 208 can control the operation of steering control system 208a and powertrain control system 208b according to the received trajectory. In some embodiments, powertrain control system 208b receives control signals from control system 208 to start, stop, accelerate, decelerate, turn left, turn right, or perform similar operations on the vehicle. Steering control system 208a is configured to receive control signals from control system 208 to turn one or more wheels of the vehicle. In some examples, when the trajectory includes a left turn, control system 208 transmits control signals to cause steering control system 208a to adjust the direction.

[0067] Figure 3 An example of a channel arrangement for a lidar is shown, in which multiple channels 30 are arranged along the y-direction. A lidar can have transmitting channels and receiving channels. Transmitting channels may correspond to one or more emitting regions in the transmitter. Receiving channels may correspond to one or more detection regions in the receiver. In the following text, the term "channel" may refer to either a transmitting channel or a receiving channel. With a predetermined focal length and channel spacing, the interval between the y-direction fields of view corresponding to adjacent channels 30 (e.g., the angle between the centers of the emitting / detecting regions of adjacent channels in space in the y-direction after passing through the optical system) is 0.4°, thereby achieving a y-direction angular resolution of 0.4° for the lidar. With such a channel arrangement, when the focal length of the lidar's optical system changes or when a larger or smaller y-direction angular resolution is required, the size of each channel 30 and the spacing between adjacent channels 30 need to be redesigned according to the new focal length or required resolution, resulting in significant manpower, material resources, and time costs.

[0068] A solution for staggered arrangement of multiple rows of optoelectronic devices is proposed, which can improve the angular resolution of lidar. (Reference) Figure 4 This shows that by Figure 3A smaller vertical angular resolution can be achieved by adding one or more columns of channels 40 to the channel arrangement shown. For example, when the added channel 40 overlaps with channel 30 by 50% in the y-direction, the y-direction angular resolution of the lidar can be 0.2°. However, this solution has limited flexibility in adjusting the angular resolution, only allowing for proportional allocations such as half or one-third. Furthermore, if the number of added columns of channels 40 is large, the overall width of the channel array in the x-direction will be larger, occupying more PCB area and causing a certain decrease in the optical performance of channels far from the optical axis. As lidar sizes decrease and focal lengths shorten, channel spacing also decreases, but due to limitations in PCB manufacturing processes, the spacing between two columns of channels cannot be continuously reduced. To address this, this disclosure proposes a new channel arrangement that allows for flexible adjustment of angular resolution. In this disclosure, one or more emitting areas of the transmitter represent one channel of the transmitter, and one or more detection areas of the receiver represent one channel of the receiver.

[0069] According to some embodiments of this disclosure, a receiver for a lidar is provided. The receiver includes multiple detection areas. The multiple detection areas include a first detection area, a second detection area, and other detection areas. The first and second detection areas are located at different positions in a first direction. The first and second detection areas are located at different positions in a second direction. The first direction is perpendicular to the second direction. The distance between the first and second detection areas is less than or equal to the distance between the first detection area and the other detection areas.

[0070] According to other embodiments of this disclosure, a transmitter for a lidar is provided. The transmitter includes multiple light-emitting regions. The multiple light-emitting regions include a first light-emitting region, a second light-emitting region, and other light-emitting regions. The first and second light-emitting regions are located at different positions in a first direction. The first and second light-emitting regions are located at different positions in a second direction. The first direction is perpendicular to the second direction. The distance between the first and second light-emitting regions is less than or equal to the distance between the first and other light-emitting regions.

[0071] See Figure 5 The diagram illustrates a schematic distribution of multiple regions in a receiver 300 or transmitter 400 for a lidar, consistent with some embodiments of this disclosure, according to a first exemplary embodiment. For brevity, when describing the receiver 300, ... Figure 5 The area shown is used to represent the photosensitive area, while when describing the emitter 400, Figure 5 The area shown is used to represent the luminous area.

[0072] Receiver 300 may include multiple detection areas. The multiple detection areas may include detection area 301, detection area 302, and other detection areas. Figure 5 The receiver 300 shown includes eight detection zones for illustrative purposes only, and this disclosure is not intended to limit the specific number of detection zones included in the receiver 300.

[0073] Detection areas 301 and 302 may be located at different positions in a first direction (e.g., the y-direction). For example, the center of detection area 301 may have coordinate y1 in the y-direction, and the center of detection area 302 may have coordinate y2 in the y-direction, where y1 ≠ y2. Detection areas 301 and 302 may also be located at different positions in a second direction (e.g., the x-direction). For example, the center of detection area 301 may have coordinate x1 in the x-direction, and the center of detection area 302 may have coordinate x2 in the x-direction, where x1 ≠ x2. The first direction may be perpendicular to the second direction. For example, the x-direction may be horizontal, and the y-direction may be vertical. The distance between detection areas 301 and 302 may be less than or equal to the distance between detection area 301 and other detection areas. In other words, detection area 302 is the detection area closest to detection area 301. In some embodiments, the distance between detection area 301 and detection area 302 may be less than or equal to the distance between detection area 302 and other detection areas, so that detection area 301 is also the detection area closest to detection area 302. The distance between detection area A and detection area B may be characterized, for example, by the distance between the center of detection area A and the center of detection area B.

[0074] In some embodiments, adjacent detection regions 301 and 302 in the receiver 300 are located at different positions in the first and second directions. Therefore, the detection angles corresponding to detection regions 301 and 302 of the receiver 300 can be flexibly configured by setting the positions of detection regions 301 and 302 in the first and second directions. Some embodiments can achieve flexible adjustment of the angular resolution (the interval between the detection angles corresponding to detection regions 301 and 302).

[0075] In some embodiments of this disclosure, the receiver may include a multiple set of detection regions. For example, Figure 5The receiver 300 shown may include a set of detection regions 31 and a set of detection regions 32. Each set of detection regions may include one or more detectors. Detectors may include photodiodes, photodiode arrays, APDs, APD arrays, SPADs, SPAD arrays, SiPMs, or SiPM arrays. Detectors may include one or more detection regions. Taking detection region set 31 as an example, detection region set 31 may include one detector that provides detection regions 301 and 302 for independently readable data; or, detection region set 31 may include at least two detectors, one providing detection region 301 and the other providing detection region 302.

[0076] In some embodiments, the set of detection regions may include at least two detection regions arranged along a third direction, which is different from the first and second directions. For example, the set of detection regions 31 may include detection region 301 and detection region 302, which may be arranged along the o direction.

[0077] In some embodiments, the set of detection regions may include a collection of multiple discrete detectors. In other embodiments, the set of detection regions may include one or more detectors integrated on a chip, for example, implemented as a detector chip.

[0078] The emitter 400 may include multiple light-emitting areas. The multiple light-emitting areas may include light-emitting area 401, light-emitting area 402, and other light-emitting areas. Figure 5 The transmitter 400 shown includes eight light-emitting regions for illustrative purposes only, and this disclosure is not intended to limit the specific number of light-emitting regions included in the transmitter 400.

[0079] Light-emitting regions 401 and 402 can be located at different positions in a first direction (e.g., the y-direction). For example, the center of light-emitting region 401 can have coordinate y1 in the y-direction, and the center of light-emitting region 402 can have coordinate y2 in the y-direction, where y1 ≠ y2. Light-emitting regions 401 and 402 can also be located at different positions in a second direction (e.g., the x-direction). For example, the center of light-emitting region 401 can have coordinate x1 in the x-direction, and the center of light-emitting region 402 can have coordinate x2 in the x-direction, where x1 ≠ x2. The first direction can be perpendicular to the second direction. For example, the x-direction can be horizontal, and the y-direction can be vertical. The distance between light-emitting regions 401 and 402 can be less than or equal to the distance between light-emitting region 401 and other light-emitting regions. In other words, light-emitting region 402 is the light-emitting region closest to light-emitting region 401. In some embodiments, the distance between light-emitting regions 401 and 402 may be less than or equal to the distance between light-emitting regions 402 and other light-emitting regions, thus light-emitting region 401 is also the light-emitting region closest to light-emitting region 402. The distance between light-emitting region A and light-emitting region B can be characterized by the distance between the center of light-emitting region A and the center of light-emitting region B.

[0080] In some embodiments, adjacent light-emitting regions 401 and 402 in the emitter 400 can be located at different positions in the first and second directions. Therefore, the laser emission angles corresponding to the light-emitting regions 401 and 402 of the emitter 400 can be flexibly configured by setting their positions in the first and second directions. Some embodiments can achieve flexible adjustment of the angular resolution (the interval between the laser emission angles corresponding to the light-emitting regions 401 and 402).

[0081] In some embodiments of this disclosure, the emitter may include a plurality of sets of light-emitting regions. For example, Figure 5 The transmitter 400 shown may include a set of light-emitting regions 41 and a set of light-emitting regions 42. Each set of light-emitting regions may include one or more lasers. The lasers may include VCSELs, EELs, or fiber lasers. A laser may include one or more light-emitting regions. Taking the set of light-emitting regions 41 as an example, the set of light-emitting regions 41 may include one laser that provides independently emitting regions 401 and 402; or, the set of light-emitting regions 41 may include at least two lasers, one laser providing emitting region 401 and the other laser providing emitting region 402.

[0082] In some embodiments, the set of light-emitting regions may include at least two light-emitting regions, which are arranged along a third direction. The third direction is different from the first and second directions. For example, the set of light-emitting regions 41 may include light-emitting region 401 and light-emitting region 402, which may be arranged along the o-direction.

[0083] In some embodiments, the set of light-emitting regions may include a collection of multiple discrete lasers. In other embodiments, the set of light-emitting regions may include one or more lasers integrated on a chip, for example, implemented as a laser chip.

[0084] See Figure 6 The diagram illustrates a schematic distribution of multiple regions in a receiver 500 or transmitter 600 for a lidar, consistent with some embodiments of this disclosure, according to a second exemplary embodiment. For brevity, when describing the receiver 500, ... Figure 6 The area shown is used to represent the photosensitive area, while in describing the emitter 600, Figure 6 The area shown represents the light-emitting area. Several details of the second exemplary embodiment are similar to those of the first exemplary embodiment, and will not be repeated here. The following mainly describes the special features of the second exemplary embodiment.

[0085] Receiver 500 may include the above-mentioned Figure 5 The receiver 300 is described as having detection areas 301, 302, and other detection areas. The receiver 500 may also include detection areas 501 and 502.

[0086] like Figure 6 As shown, detection areas 501 and 502 may be located at different positions in a first direction (e.g., the y-direction) and at the same position in a second direction (e.g., the x-direction). For example, the center of detection area 501 may have coordinate y3 in the y-direction, and the center of detection area 502 may have coordinate y4 in the y-direction, where y3 ≠ y4. The centers of detection areas 501 and 502 may have the same coordinate x3 in the x-direction.

[0087] In some embodiments, receiver 500 may include a first region and a second region. Detection region 301 and detection region 302 may be located in the first region. Detection region 501 and detection region 502 may be located in the second region. The light received in the first region is closer to the center of the lidar's field of view than the light received in the second region.

[0088] In some embodiments, the receiver's multiple detection region sets may further include a set of at least two detection regions arranged along a first direction. For example, the detection region set 51 may include at least detection region 501 and detection region 502, which may be arranged along the y-direction.

[0089] When the detection region set 31 and the detection region set 51 have the same configuration (e.g., formed by the same detectors or detector arrays), the detection region set 31 and the detection region set 51 can achieve different angular resolutions.

[0090] In other embodiments, the detection region set 31 and the detection region set 51 may also have different configurations. For example, the detection region set 31 and the detection region set 51 may have different detector types. Alternatively, the detection region set 31 and the detection region set 51 may have different numbers of detectors. Or, the spacing between adjacent detectors in the detection region set 31 may be different from the spacing between adjacent detectors in the detection region set 51.

[0091] Figure 7A Exemplary schematic diagrams illustrating the differences in how receivers or transmitters for lidar achieve a first directional angular resolution, consistent with some embodiments of this disclosure, are shown. Taking the distance L between the centers of the detection regions in detection region set 31 and detection region set 51 as an example, the detection regions in detection region set 51 are arranged along the y-direction, and their channel spacing D1 is equal to the distance L between the centers of the detection regions; the detection regions in detection region set 31 are arranged along the o-direction, and their channel spacing D2 depends on the rotation angle α of the o-direction relative to the x-direction, D2 = L × sinα. Assuming that the channel spacing D1 of detection region set 51, combined with the focal length of the receiving lens, can achieve a y-direction angular resolution of 0.4°, the y-direction angular resolution of detection region set 31 can be set by selecting the rotation angle α of the arrangement direction o of the detection regions in detection region set 31 relative to the x-direction. Figure 7B Exemplary graphs are shown showing channel spacing values ​​and angular resolution in a first direction (e.g., vertical direction) corresponding to different selected values ​​of rotation angle consistent with some embodiments of this disclosure. In this example, taking L as 300 μm as an example, it can be seen from the graph that as the rotation angle α changes from small to large, the angular resolution in the y-direction that can be achieved by the detection area set 31 also gradually increases.

[0092] Some embodiments can use the same type of set of detection regions (the same type of detector or an array of detectors with the same size and detector distribution) to achieve differentiation in the receiver's angular resolution in the first direction (y direction).

[0093] In some embodiments, since the y-direction angular resolution of the detection region set 31 is higher than that of the detection region set 51, the detection region set 31 can be configured such that the light received by it is closer to the region of interest (ROI) of the lidar's field of view than the light received by the detection region set 51, which helps to improve the resolution of the ROI of the lidar's field of view. For example, the ROI of the lidar's field of view may include the center of the lidar's field of view.

[0094] Transmitter 600 may include the above-mentioned Figure 5 The emitter 400 is described as having light-emitting regions 401, 402, and others. The emitter 600 may also include light-emitting regions 601 and 602.

[0095] like Figure 6 As shown, the light-emitting regions 601 and 602 can be located at different positions in a first direction (e.g., the y-direction) and at the same position in a second direction (e.g., the x-direction). For example, the center of the light-emitting region 601 can have coordinate y3 in the y-direction, and the center of the light-emitting region 602 can have coordinate y4 in the y-direction, where y3 ≠ y4. The centers of the light-emitting regions 601 and 602 can have the same coordinate x3 in the x-direction.

[0096] In some embodiments, the transmitter 600 may include a first region and a second region. Light-emitting regions 601 and 602 may be located in the first region. Light-emitting regions 601 and 602 may be located in the second region. The light emitted from the first region is closer to the center of the lidar's field of view than the light emitted from the second region.

[0097] In some embodiments, the set of multiple light-emitting regions of the emitter may further include a set of at least two light-emitting regions arranged along a first direction. For example, the set of light-emitting regions 61 may include at least light-emitting region 601 and light-emitting region 602, and light-emitting regions 601 and 602 may be arranged along the y-direction.

[0098] When the light-emitting region set 41 and the light-emitting region set 61 have the same configuration (e.g., formed by the same laser or laser array), the light-emitting region set 41 and the light-emitting region set 61 can achieve different angular resolutions.

[0099] In other embodiments, the light-emitting region set 41 and the light-emitting region set 61 may also have different configurations. For example, the light-emitting region set 41 and the light-emitting region set 61 may have different laser types. Alternatively, the light-emitting region set 41 and the light-emitting region set 61 may have different numbers of lasers. Alternatively, the spacing between adjacent lasers in the light-emitting region set 41 may be different from the spacing between adjacent lasers in the light-emitting region set 61.

[0100] See Figure 7A Taking the distance L between the centers of the light-emitting regions in light-emitting region set 41 and light-emitting region set 61 as an example, the light-emitting regions in light-emitting region set 61 are arranged along the y-direction, and their channel spacing D1 is equal to the distance L between the centers of the light-emitting regions; the light-emitting regions in light-emitting region set 41 are arranged along the o-direction, and their channel spacing D2 depends on the rotation angle α of the o-direction relative to the x-direction, D2 = L × sinα. Assuming that the channel spacing D1 of light-emitting region set 61, combined with the focal length of the transmitting lens, can achieve a y-direction angular resolution of 0.4°, the y-direction angular resolution of light-emitting region set 41 can be set by selecting the rotation angle α of the arrangement direction o of the light-emitting regions in light-emitting region set 41 relative to the x-direction. See also... Figure 7B The graph shows the channel spacing and y-direction angular resolution corresponding to different selections of the rotation angle α for this example. In this example, taking L as 300 μm as an example, it can be seen from the graph that as the rotation angle α changes from small to large, the y-direction angular resolution achievable by the luminescent region set 41 also gradually increases.

[0101] Some embodiments can use the same type of set of emitting regions (the same type of laser or a laser array with the same size and laser distribution) to achieve differentiation in the emitter's angular resolution in the first direction (y direction).

[0102] In some embodiments, since the y-direction angular resolution of the light-emitting region set 31 is higher than that of the light-emitting region set 51, the light-emitting region set 31 can be configured such that the light emitted by it is closer to the region of interest in the lidar's field of view than the light emitted by the light-emitting region set 51. For example, the region of interest in the lidar's field of view may include the center of the lidar's field of view.

[0103] See Figure 8 The diagram illustrates a distribution of multiple regions in a receiver 700 or transmitter 800 for a lidar, consistent with some embodiments of this disclosure, according to a third exemplary embodiment. For brevity, when describing the receiver 700, ... Figure 8 The area shown is used to represent the photosensitive area, while when describing the emitter 800, Figure 8The area shown represents the light-emitting area. Several details of the third exemplary embodiment are the same as those of the first or second exemplary embodiments, and will not be repeated here. The following mainly describes the special features of the third exemplary embodiment.

[0104] Receiver 700 may include the above-mentioned Figure 5 The receiver 700 is described with detection areas 301, 302, and other detection areas. The receiver 700 may also include the areas described above. Figure 6 The receiver 500 is described as having detection areas 501 and 502.

[0105] Receiver 700 may further include detection area 701 and detection area 702. As shown in FIG7, detection area 701 and detection area 702 may be located at different positions in a first direction (e.g., the y-direction) and at the same position in a second direction (e.g., the x-direction). For example, the center of detection area 701 may have coordinate y5 in the y-direction, and the center of detection area 702 may have coordinate y6 in the y-direction, where y5 ≠ y6. The positions of detection area 701 and detection area 702 in the second direction (e.g., the y-direction) may differ from the positions of detection area 501 and detection area 502 in the second direction. For example, the centers of detection area 501 and detection area 502 may have the same coordinate x3 in the x-direction, and the centers of detection area 701 and detection area 702 may have the same coordinate x4 in the x-direction, where x3 ≠ x4.

[0106] Transmitter 800 may include the above-mentioned Figure 5 The emitter 400 is described as having light-emitting regions 401, 402, and others. The emitter 800 may also include the aforementioned light-emitting regions. Figure 6 The luminescent regions 601 and 602 in the described emitter 600.

[0107] The emitter 800 may also include a light-emitting area 801 and a light-emitting area 802. For example... Figure 8As shown, luminous regions 801 and 802 can be located at different positions in a first direction (e.g., the y-direction) and at the same position in a second direction (e.g., the x-direction). For example, the center of luminous region 801 can have coordinate y5 in the y-direction, and the center of luminous region 802 can have coordinate y6 in the y-direction, where y5 ≠ y6. The positions of luminous regions 801 and 802 in the second direction (e.g., the y-direction) can differ from the positions of luminous regions 601 and 602 in the second direction. For example, the centers of luminous regions 601 and 602 can have the same coordinate x3 in the x-direction, and the centers of luminous regions 801 and 802 can have the same coordinate x4 in the x-direction, where x3 ≠ x4.

[0108] See Figure 9 The diagram illustrates a distribution of multiple regions in a receiver 900 or transmitter 1000 for a lidar, consistent with some embodiments of this disclosure, according to a fourth exemplary embodiment. For brevity, when describing the receiver 900, ... Figure 9 The area shown is used to represent the photosensitive area, while when describing the emitter 1000, Figure 9 The area shown represents the light-emitting area. Several details of the third exemplary embodiment are the same as those of the first, second, or third exemplary embodiments, and will not be repeated here. The following mainly describes the special features of the fourth exemplary embodiment.

[0109] Receiver 900 may include the above-mentioned Figure 5 The receiver 300 is described as having a detection region 301, a detection region 302, and other detection regions. The set of detection regions 31 may include at least detection regions 301 and 302, which may be arranged along a third direction (e.g., the o direction).

[0110] The receiver 900 may also include a set of detection regions 91. The set of detection regions 91 may include at least detection regions 901 and 902, which may be arranged along a fourth direction (e.g., the p direction).

[0111] In some embodiments, the third direction may be different from the fourth direction. For example, the angle βp of the fourth direction (e.g., the p direction) relative to the first direction (e.g., the y direction) is smaller than the angle βo of the third direction (e.g., the o direction) relative to the first direction (e.g., the y direction). For example, the angle αp of the fourth direction (e.g., the p direction) relative to the second direction (e.g., the x direction) is larger than the angle αo of the third direction (e.g., the o direction) relative to the second direction (e.g., the x direction).

[0112] In some embodiments, since the angular resolution of the detection region set 31 in a first direction (e.g., the y-direction) is higher than that of the detection region set 91 in the first direction (e.g., the y-direction), the detection region set 31 can be configured such that the light received therefrom is closer to the region of interest (ROI) of the lidar's field of view than the light received by the detection region set 91, which helps to improve the resolution of the ROI of the lidar's field of view. For example, the ROI of the lidar's field of view may include the center of the lidar's field of view.

[0113] Transmitter 1000 may include the above-mentioned... Figure 5 The emitter 400 is described as having light-emitting regions 401, 402, and others. The set of light-emitting regions 41 may include at least light-emitting regions 401 and 402, which may be arranged along a third direction (e.g., the o direction).

[0114] The emitter 1000 may also include a set of light-emitting regions 101. The set of light-emitting regions 101 may include at least light-emitting regions 1001 and 1002, which may be arranged along a fourth direction (e.g., the p direction).

[0115] In some embodiments, the third direction may be different from the fourth direction. For example, the angle βp of the fourth direction (e.g., the p direction) relative to the first direction (e.g., the y direction) is smaller than the angle βo of the third direction (e.g., the o direction) relative to the first direction (e.g., the y direction). For example, the angle αp of the fourth direction (e.g., the p direction) relative to the second direction (e.g., the x direction) is larger than the angle αo of the third direction (e.g., the o direction) relative to the second direction (e.g., the x direction).

[0116] In some embodiments, since the angular resolution of the emitting region set 41 in a first direction (e.g., the y-direction) is higher than that of the emitting region set 101 in the first direction (e.g., the y-direction), the emitting region set 41 can be configured such that the light emitted by it is closer to the region of interest (ROI) of the lidar's field of view than the light emitted by the emitting region set 101, which helps to improve the resolution of the ROI of the lidar's field of view. For example, the ROI of the lidar's field of view may include the center of the lidar's field of view.

[0117] See Figure 10 This illustration shows a schematic diagram of the distribution of multiple regions in a receiver 1100 or transmitter 1200 for a lidar, consistent with some embodiments of this disclosure, in a fifth exemplary embodiment. For brevity, when describing the receiver 1100, Figure 10 The area shown is used to represent the photosensitive area, while in describing the emitter 1200, Figure 10The area shown represents the light-emitting area. Several details of the third exemplary embodiment are similar to those of the first, second, third, or fourth exemplary embodiments, and will not be repeated here. The following mainly describes the special features of the fifth exemplary embodiment.

[0118] Receiver 1100 may include the above-mentioned information. Figure 5 The receiver 300 is described as having a detection region 301, a detection region 302, and other detection regions. The set of detection regions 31 may include at least detection regions 301 and 302, which may be arranged along a third direction (e.g., the o direction).

[0119] Receiver 1100 may also include a set of detection regions 91. The set of detection regions 91 may include at least detection regions 901 and 902, which may be arranged along a fourth direction (e.g., the p direction).

[0120] Receiver 1100 may also include a set of detection regions 111. The set of detection regions 111 may include at least detection regions 1101 and 1102, which may be arranged along a fifth direction (e.g., the q direction).

[0121] In some embodiments, the fifth direction may be different from the third and fourth directions. For example, the angle βq of the fifth direction (e.g., the q direction) relative to the first direction (e.g., the y direction) is smaller than the angle βp of the fourth direction (e.g., the p direction) relative to the first direction (e.g., the y direction). For example, the angle αq of the fifth direction (e.g., the q direction) relative to the second direction (e.g., the x direction) is larger than the angle αp of the fourth direction (e.g., the p direction) relative to the second direction (e.g., the x direction).

[0122] In some embodiments, since the angular resolution of the detection region set 91 in a first direction (e.g., the y-direction) is higher than that of the detection region set 111 in the first direction (e.g., the y-direction), the detection region set 91 can be configured such that the light received by it is closer to the region of interest (ROI) of the lidar's field of view than the light received by the detection region set 111, which helps to improve the resolution of the ROI of the lidar's field of view. For example, the ROI of the lidar's field of view may include the center of the lidar's field of view.

[0123] See Figure 11 The illustration shows an example of a channel arrangement in a receiver or transmitter for a lidar system consistent with some embodiments of this disclosure. The receiver or transmitter may include a set of channels 50. The set of channels 50 may include a plurality of channels 50 arranged along the o-direction. Figure 11The diagram shows eight sets of channels 50, each set comprising four channels 50, for illustrative purposes only. This disclosure is not intended to limit the number of channel sets contained in a receiver or transmitter, or the number of channels in each set. (The diagram shows channels 50 and...) Figure 3 When the channels 30 shown are identical and the focal lengths of the optical systems are consistent, the y-direction angular resolution of the lidar can be flexibly adjusted by setting the angle of the o-direction relative to the x-direction or y-direction. For example, the angle of the o-direction relative to the x-direction or y-direction can be set such that the set of channels 50 can achieve a y-direction angular resolution of 0.2° for the lidar, which is higher than... Figure 3 The y-direction angular resolution achieved by the set of channels 30 shown is doubled. Furthermore, due to PCB manufacturing limitations, the spacing between adjacent channel sets must exceed a minimum limit. Figure 11 The channel layout shown is compared to Figure 4 The channel arrangement shown allows the multiple sets of channels 50 to have a smaller span in the x-direction, which helps to reduce the x-direction size of the receiver or transmitter.

[0124] This concludes the description of a receiver and transmitter for lidar, lidar, and terminal device according to the present disclosure. The receiver for lidar of the present disclosure employs adjacent detection areas located at different positions in a first direction and a second direction. Therefore, by setting the positions of the adjacent detection areas in the first and second directions, the detection angles corresponding to the adjacent detection areas of the receiver can be flexibly configured, thereby achieving flexible adjustment of the angular resolution (the interval between the detection angles corresponding to adjacent detection areas). The transmitter for lidar of the present disclosure employs adjacent light-emitting areas located at different positions in a first direction and a second direction. Therefore, by setting the positions of the adjacent light-emitting areas in the first and second directions, the detection angles corresponding to the adjacent light-emitting areas of the receiver can be flexibly configured, thereby achieving flexible adjustment of the angular resolution (the interval between the laser emission angles corresponding to adjacent light-emitting areas).

[0125] Optionally, the receiver for lidar disclosed herein can employ the same type of set of detection regions (the same type of detector or a detector array with the same size and detector distribution) to achieve differentiated design of the receiver's angular resolution in the first direction. For example, the set of detection regions may include multiple detection regions extending along a direction. Multiple such sets of detection regions can be arranged at different locations on the receiver, and the extension directions of the detection regions in the sets at different locations have different angles relative to the first direction, so that the sets of detection regions at different locations on the receiver have different detection angular resolutions.

[0126] Optionally, the transmitter for lidar disclosed herein can employ the same type of emitting region set (the same type of laser or a laser array with the same size and laser distribution) to achieve differentiated design of the transmitter's angular resolution in the first direction. For example, the emitting region set may include multiple emitting regions extending along a direction, and multiple such emitting region sets can be arranged at different positions of the transmitter, such that the extending directions of the emitting regions in the emitting region sets at different positions have different angles relative to the first direction, so that the emitting region sets at different positions of the transmitter have different emission angular resolutions.

[0127] In the lidar disclosed herein, the arrangement of the emitting regions in the transmitter and the arrangement of the detection regions in the receiver can have a correspondence that satisfies the following requirement: the field of view of each emitting region corresponds to the field of view of at least one detection region, so that at least a portion of the first beam emitted by each emitting region can return to the corresponding detection region after being reflected by an object in space.

[0128] It should be noted that the above description is illustrative and not restrictive. Any modifications, equivalent substitutions, improvements, etc., made to the embodiments of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A receiver for a lidar, comprising: a plurality of detection regions, the plurality of detection regions comprising a first detection region, a second detection region, and other detection regions, wherein the first and second detection regions are located at different positions in a first direction, the first and second detection regions are located at different positions in a second direction, the first direction is perpendicular to the second direction, a distance between the first and second detection regions is less than or equal to a distance between the first and other detection regions.

2. The receiver of claim 1, wherein, the receiver further comprising: a third detection region and a fourth detection region, wherein the third and fourth detection regions are located at different positions in the first direction, the third and fourth detection regions are located at the same position in the second direction.

3. The receiver of claim 2, wherein, the receiver further comprising: a fifth detection region and a sixth detection region, wherein the fifth and sixth detection regions are located at different positions in the first direction, the fifth and sixth detection regions are located at the same position in the second direction, the fifth and sixth detection regions are located at different positions in the second direction than the third and fourth detection regions.

4. The receiver of claim 2, wherein, the receiver comprising a first region and a second region, wherein the first and second detection regions are located in the first region and the third and fourth detection regions are located in the second region, wherein the first region receives light closer to a center of a field of view of the lidar than the second region.

5. The receiver of claim 1, wherein, the receiver comprising a plurality of detection region sets, each detection region set comprising one or more detectors, the detectors comprising one or more detection regions.

6. The receiver of claim 5, wherein, the plurality of detection region sets comprising a first detection region set, the first detection region set comprising at least two detection regions, the at least two detection regions of the first detection region set being arranged along a third direction, the third direction being different from the first direction and the second direction.

7. The receiver of claim 6, wherein: the plurality of detection region sets further comprising a second detection region set, the second detection region set comprising at least two detection regions, the at least two detection regions of the second detection region set being arranged along the first direction, the first detection region set receives light closer to a center of a field of view of the lidar than the second detection region set.

8. The receiver of claim 6, wherein: the plurality of detection region sets comprising a third detection region set, the third detection region set comprising at least two detection regions, the at least two detection regions of the third detection region set being arranged along a fourth direction, the fourth direction being different from the third direction, the first detection region set receives light closer to a center of a field of view of the lidar than the third detection region set.

9. The receiver of claim 8, wherein, an angle of the fourth direction relative to the first direction is less than an angle of the third direction relative to the first direction.

10. The receiver of claim 8, wherein, An angle of the fourth direction relative to the second direction is greater than an angle of the third direction relative to the second direction. 11.The receiver of claim 8, wherein, The one or more detector sets include a fourth set of detection regions, the fourth set of detection regions including at least two detection regions, the at least two detection regions of the fourth set of detection regions arranged along a fifth direction, the fifth direction being different from the third direction and the fourth direction, The third set of detection regions receives light closer to a center of a field of view of the lidar than the fourth set of detection regions.

12. The receiver of claim 11, wherein, An angle of the fifth direction relative to the first direction is less than an angle of the fourth direction relative to the first direction.

13. The receiver of claim 11, wherein, An angle of the fifth direction relative to the second direction is greater than an angle of the fourth direction relative to the second direction. 14.A transmitter for a lidar, comprising: a plurality of light emitting regions, the plurality of light emitting regions including a first light emitting region, a second light emitting region, and other light emitting regions, wherein the first light emitting region and the second light emitting region are located at different positions in a first direction, the first light emitting region and the second light emitting region are located at different positions in a second direction, the first direction is perpendicular to the second direction, a distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

15. The transmitter of claim 14, wherein, The transmitter further comprises: a third light emitting region and a fourth light emitting region, wherein the third light emitting region and the fourth light emitting region are located at different positions in the first direction, the third light emitting region and the fourth light emitting region are located at the same position in the second direction.

16. The transmitter of claim 15, wherein, The transmitter further comprises: a fifth light emitting region and a sixth light emitting region, wherein the fifth light emitting region and the sixth light emitting region are located at different positions in the first direction, the fifth light emitting region and the sixth light emitting region are located at the same position in the second direction, the position of the fifth light emitting region and the sixth light emitting region in the second direction is different from the position of the third light emitting region and the fourth light emitting region in the second direction.

17. The transmitter of claim 15, wherein, The transmitter comprises a first region and a second region, wherein the first light emitting region and the second light emitting region are located in the first region and the third light emitting region and the fourth light emitting region are located in the second region, wherein light emitted by the first region is closer to a center of a field of view of the lidar than light emitted by the second region.

18. The transmitter of claim 14, wherein, The transmitter comprises a plurality of sets of light emitting regions, each set of light emitting regions including one or more lasers, the lasers including one or more light emitting regions.

19. The transmitter of claim 18, wherein, The plurality of sets of light emitting regions includes a first set of light emitting regions, the first set of light emitting regions including at least two light emitting regions, the at least two light emitting regions of the first set of light emitting regions arranged along a third direction, the third direction being different from the first direction and the second direction. 20.The transmitter of claim 19, wherein, The multiple light emitting region set further includes a second light emitting region set, the second light emitting region set including at least two light emitting regions, the at least two light emitting regions of the second light emitting region set being arranged along the first direction, The light rays emitted by the first light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the second light emitting region set.

21. The transmitter of claim 19, wherein The multiple light emitting region set includes a third light emitting region set, the third light emitting region set including at least two light emitting regions, the at least two light emitting regions of the third light emitting region set being arranged along a fourth direction, the fourth direction being different from the third direction, The light rays emitted by the first light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the third light emitting region set.

22. The transmitter of claim 21, wherein, An angle of the fourth direction relative to the first direction is smaller than an angle of the third direction relative to the first direction.

23. The transmitter of claim 21, wherein, An angle of the fourth direction relative to the second direction is larger than an angle of the third direction relative to the second direction.

24. The transmitter of claim 21, wherein The one or more light emitting lasers include a fourth light emitting region set, the fourth light emitting region set including at least two light emitting regions, the at least two light emitting regions of the fourth light emitting region set being arranged along a fifth direction, the fifth direction being different from the third direction and the fourth direction, The light rays emitted by the third light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the fourth light emitting region set.

25. The transmitter of claim 24, wherein, An angle of the fifth direction relative to the first direction is smaller than an angle of the fourth direction relative to the first direction.

26. The transmitter of claim 24, wherein, An angle of the fifth direction relative to the second direction is larger than an angle of the fourth direction relative to the second direction.

27. A lidar comprising at least one of: The receiver of any one of claims 1-14; and The transmitter of any one of claims 15-26.

28. A terminal device comprising the lidar of claim 27.

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