Preprocessing circuit, laser receiving device, laser radar and carrier

Abstract

The invention discloses a preprocessing circuit, a laser receiving device, a laser radar and a carrier. The preprocessing circuit is used for the laser radar and comprises a first conversion circuit and a second conversion circuit. The first conversion circuit is configured to be connected with at least one detector of the laser radar, perform first sampling on an output signal of the at least one detector, and convert a first signal obtained by the first sampling into first echo data; the first sampling is performed based on a sampling period. The second conversion circuit is configured to be connected with the at least one detector, perform second sampling on an output signal of the at least one detector and convert a second signal obtained by the second sampling into second echo data, and the second sampling is performed based on a sampling trigger event; the sampling trigger event includes a magnitude of the output signal reaching or exceeding a first threshold.

Description

Technical Field

[0001] This disclosure relates to the field of optical detection technology, and more particularly to a preprocessing circuit, a laser receiving device, a lidar, and a carrier. Background Technology

[0002] Optical detection technology uses light as a medium to detect objects. Lasers, compared to ordinary light sources, possess characteristics such as monochromaticity and good directionality, making them widely used for object detection. For example, LiDAR (Light Detection and Ranging) uses lasers to detect objects and has found applications in fields such as autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. However, the detection performance of LiDAR still needs improvement in its applications. Summary of the Invention

[0003] This disclosure provides a preprocessing circuit, a laser receiving device, a lidar, and a carrier to improve the detection performance of the lidar.

[0004] In a first aspect, a preprocessing circuit is provided for a lidar system. The preprocessing circuit includes: a first conversion circuit configured to connect to at least one detector of the lidar system, performing a first sampling on the output signal of the at least one detector, and converting the first sampled first signal into first echo data, wherein the first sampling is based on a sampling period; and a second conversion circuit configured to connect to the at least one detector, performing a second sampling on the output signal of the at least one detector, and converting the second sampled second signal into second echo data, wherein the second sampling is based on a sampling trigger event, wherein the sampling trigger event includes the magnitude of the output signal reaching or exceeding a first threshold.

[0005] By incorporating first and second conversion circuits with different sampling logics in the preprocessing circuit, different sampling logics are applied to the same detector or detector group, resulting in different sampling results. These different sampling results can be converted into first and second echo data and provided to subsequent circuits. In this way, subsequent circuits can obtain more diverse echo data, utilizing this diversity to improve the lidar's environmental adaptability and thus enhance its detection performance.

[0006] Optionally, the first echo data is used to determine the first echo parameters, and the second echo data is used to determine the second echo parameters.

[0007] Optionally, when the lidar is in the first operating mode, both the first conversion circuit and the second conversion circuit are in operation; when the lidar is in the second operating mode, only one of the first conversion circuit and the second conversion circuit is in operation.

[0008] Optionally, when the lidar is in the second operating mode, the second conversion circuit is in operation.

[0009] Optionally, the second conversion circuit is coupled to the first reference signal, which is used to characterize the first threshold, and the second sampling is used to output a second signal when the magnitude of the output signal reaches the first reference signal; the second echo data includes the digital signal converted by the second signal.

[0010] Optionally, the second conversion circuit is coupled to multiple reference signals of different sizes, which are used to characterize multiple thresholds, wherein one reference signal is used to characterize one threshold, the multiple reference signals include a first reference signal, and the multiple thresholds include the first threshold.

[0011] Optionally, the second conversion circuit includes a first conversion sub-circuit, which includes a comparator, a sampling circuit, and a decoding circuit. The comparator includes a first input terminal, a second input terminal, and an output terminal. The first input terminal is used to couple the output signal of at least one detector, and the second input terminal is used to couple a reference signal. The sampling circuit is connected to the output terminal of the comparator and performs a second sampling when the signal output from the comparator flips. The decoding circuit is connected to the sampling circuit and decodes the second signal sampled by the sampling circuit to obtain a digital signal.

[0012] Optionally, the first conversion circuit includes a digital sampling accumulation circuit or an analog-to-digital conversion circuit.

[0013] Optionally, the preprocessing circuit further includes a processing circuit configured to receive the first echo data and the second echo data, process one or both of the first echo data and the second echo data, and determine the echo information.

[0014] Optionally, the processing circuit is configured to determine a first echo parameter based on the first echo data; and when the first echo parameter is greater than a parameter threshold, to determine echo information using the second echo data; or, when the first echo parameter is less than a parameter threshold, to determine echo information using the first echo data; or, when the first echo parameter is equal to a parameter threshold, to determine echo information using one or both of the first echo data and the second echo data.

[0015] In a second aspect, a laser receiving device is provided for use in lidar, the laser receiving device comprising: at least one detector; and a preprocessing circuit as provided in the first aspect, connected to the at least one detector.

[0016] Thirdly, a signal processing method is provided, comprising: receiving first echo data or second echo data; processing one or both of the first echo data or second echo data to determine echo information; wherein the first echo data is obtained by converting a first signal, the first signal is obtained by first sampling the output signal of at least one detector of a lidar, the first sampling being based on a sampling period; the second echo signal is obtained by converting a second signal, the second signal is obtained by second sampling the output signal of at least one detector, the second sampling being based on a sampling trigger event, the sampling trigger event including the magnitude of the output signal reaching or exceeding a first threshold.

[0017] Optionally, processing one or all of the first echo data or the second echo data to determine echo information includes: determining a first echo parameter based on the first echo data; determining echo information using the second echo data when the first echo parameter is greater than a parameter threshold; or determining echo information using the first echo data when the first echo parameter is less than a parameter threshold; or determining echo information using one or all of the first echo data or the second echo data when the first echo parameter is equal to a parameter threshold.

[0018] Fourthly, a lidar is provided, comprising: at least one detector; a preprocessing circuit as provided in the first aspect, connected to the at least one detector; and a processor connected to the preprocessing circuit, configured to receive data output by the preprocessing circuit and determine point cloud data of the lidar based on the data output by the preprocessing circuit; wherein the data output by the preprocessing circuit includes first echo data and second echo data, or includes echo information.

[0019] Fifthly, a carrier is provided, comprising: a main body; and a lidar as provided in the fourth aspect, mounted on the main body.

[0020] Optionally, the vehicle includes a vehicle. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the following description of the embodiments will be provided as examples. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure.

[0022] Figure 1 An example block diagram of a lidar consistent with some embodiments of this disclosure is shown.

[0023] Figure 2An example block diagram of a preprocessing circuit consistent with some embodiments of this disclosure is shown.

[0024] Figure 3 An example block diagram of another preprocessing circuit consistent with some embodiments of this disclosure is shown.

[0025] Figure 4 An example diagram is shown illustrating a second sampling of the detector's output signal, consistent with some embodiments of this disclosure.

[0026] Figure 5 An example block diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown.

[0027] Figure 6 An example graph is shown that is consistent with some embodiments of this disclosure, showing a curve obtained by digitally sampling and accumulating the output of a detector.

[0028] Figure 7 A structural example diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown.

[0029] Figure 8 A structural example diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown.

[0030] Figure 9 A flowchart illustrating a signal processing method consistent with some embodiments of this disclosure is shown.

[0031] Figure 10 A structural example diagram of a signal processing apparatus consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0032] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0033] To keep the drawings simple, only the parts related to the corresponding embodiments are shown schematically in each figure, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, some structures or parts are schematically drawn in the figures, and there may be more or fewer similar structures or parts in reality.

[0034] LiDAR (Light Detection and Ranging) uses laser light as a medium for object detection and has found applications in many fields. For example, LiDAR can be used in autonomous driving, industrial manufacturing, drones, robot recognition, geographic mapping, and environmental monitoring. Autonomous driving, also known as automated driving or assisted driving, includes any level of automated driving, such as L1-L5. In applications, LiDAR can be mounted on vehicles to provide them with perception data, such as point cloud data, enabling the vehicles to perform one or more functions such as analysis, decision-making, or control. Vehicles include, but are not limited to, vehicles, manufacturing terminals, ships, aircraft (such as flying vehicles or drones), robots (such as industrial robots or home robots), or surveying equipment.

[0035] LiDAR can include, but is not limited to, mechanical LiDAR, semi-solid-state LiDAR, or solid-state LiDAR. Semi-solid-state LiDAR can include, but is not limited to, microelectromechanical system (MEMS) LiDAR, rotating mirror LiDAR, tilting mirror LiDAR, or prism LiDAR; solid-state LiDAR can include, but is not limited to, optical phase array (OPA) LiDAR, or flash LiDAR. When a vehicle is equipped with multiple LiDARs, the types of LiDARs can be the same or different.

[0036] Figure 1 An example block diagram of a lidar system consistent with some embodiments of this disclosure is shown. Please refer to... Figure 1 The lidar 100 includes a laser emitting circuit 110, a laser receiving circuit 120, an optical system 130, and a control and processing system 150. The laser emitting circuit 110 emits a laser beam, which is then traced by the optical system 130 before being emitted. When the emitted laser encounters an object, it is reflected back to the lidar 100; this reflected light is called an echo. The echo is then traced by the optical system 130 and directed to the laser receiving circuit 120. The laser receiving circuit 120 receives the echo and converts it into an electrical signal. The echo data obtained based on the electrical signal is provided to the control and processing system 150. The control and processing system 150 processes the echo data to obtain sensing data (e.g., point cloud data). The control and processing system 150 sends the sensing data to a vehicle, which can use the sensing data to perform one or more functions such as analysis, decision-making, or control.

[0037] The laser emitting circuit 110 includes, for example, a driving circuit 111 and a laser 112. Driven by the driving circuit 111, the laser 112 emits laser light, which exits through the optical system 130. The laser 112 may include, for example, a semiconductor laser, a fiber laser, or other types of lasers. Semiconductor lasers may include, for example, laser emitting circuits, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), distributed feedback lasers (DFBs), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of laser.

[0038] The laser receiving circuit 120 includes, for example, a detector 121. The optical system 130 can focus the echo reflected from the object onto the photosensitive surface of the detector 121; the detector 121 can convert the optical signal into an electrical signal using the photoelectric effect. Optionally, the laser receiving circuit 120 may also include a gating circuit 123. The gating circuit 123 can select some or all of the detectors 121, and the selected detectors 121 are in a state that can respond to optical signals and convert the echo into an electrical signal. The detector 121 includes, for example, a photodetector circuit, a PIN photodiode (PINPD), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), or similar devices. The above are merely examples, and the embodiments disclosed herein do not limit the type of detector.

[0039] The laser receiving circuit 120 may further include a preprocessing circuit 140. Preprocessing may include one or more of the following: amplification, filtering, or sampling. Preprocessing can be implemented by the preprocessing circuit 140. The preprocessing circuit 140 may include one or more of the following: an amplification circuit, a filtering circuit, or a sampling circuit. The amplification circuit may include an amplifier, which can amplify the electrical signal converted by the detector. The filtering circuit may include a filter, which is used to filter out noise or interference. The sampling circuit can sample the electrical signal output by the detector to obtain echo data.

[0040] The optical system 130 includes, for example, a transmitting optical element and a receiving optical element. The transmitting optical element, along the emission path of the laser, can shape the laser emitted by the laser 112 and adjust the laser's exit path. The receiving optical element, along the receiving path of the laser, can collect the echo reflected back from the object and converge the echo onto the photosensitive surface of the detector 121. For example, the transmitting optical element may include one or more optical elements such as a transmitting lens, a mirror, a homogenizer, or a beam splitter. For example, the receiving optical element may include one or more optical elements such as a receiving lens, a mirror, a filter, or a beam splitter (or beam splitter). The transmitting and receiving optical elements can be independent, partially multiplexed, or fully multiplexed. For example, a lidar may include independent transmitting and receiving optical elements, such as independent transmitting and receiving lenses. For example, a lidar may include optical elements shared by the transmitting and receiving optical paths, such as a beam splitter, for separating the transmitting and receiving optical paths. For example, a lidar may include a shared lens for shaping the coaxial beam in the transmitting and receiving optical paths.

[0041] The control and processing system 150 can process the echo data to obtain sensing data. The control and processing system 150 can also send control signals to the drive circuit 111 to control the drive circuit 111 to drive the laser 112 to emit laser light. The control and processing system 150 can also send control signals to the gating circuit 123 to control the gating circuit 123 to select some or all of the detectors 121. In some embodiments of this disclosure, the control and processing system 150 may include one or more processors. Processors include, but are not limited to, hardware circuits implemented with application-specific integrated circuits (ASICs), programmable logic devices (PLDs), microcontroller units (MCUs), microprocessor units (MPUs), digital signal processors (DSPs), or central processing units (CPUs). Hardware circuits implemented with PLDs may include, for example, field-programmable gate arrays (FPGAs). When the control and processing system 150 includes multiple processors, the types of processors can be the same or different; for example, the control and processing system 150 may include an MCU and an FPGA; or, the control and processing system 150 may include an MCU, an FPGA, and a CPU; or, the control and processing system 150 may include an MCU, a DSP, and an FPGA; or, the control and processing system 150 may include a CPU and an FPGA, and so on. When the control and processing system 150 includes multiple processors, these processors can be configured separately, partially integrated, or fully integrated. For example, the control and processing system 150 can be implemented as a system-on-chip (SOC) or an ASIC.

[0042] Optionally, the lidar 100 may further include a scanning system 160. Taking a mechanical lidar or a semi-solid-state lidar as an example, the scanning system 160 may include a scanner and a driver. The driver can drive the scanner to rotate, enabling the laser to scan one or all of the vertical or horizontal field of view. For example, the laser is emitted through the scanner, and the rotation of the scanner can change the emission path of the laser. Alternatively, the laser echo can be incident on the scanner and guided to the light receiving path. This disclosure does not limit the type of scanner, and may include, but is not limited to, rotating mirrors, tilting mirrors, galvanometers, or other components that can direct the laser to different directions in the environment. Furthermore, the scanning system 160 may include a rotating platform; one or more of a laser emitting circuit, a laser receiving circuit, or an optical system may be mounted on the rotating platform, and as the rotating platform rotates, one or all of the vertical or horizontal field of view can be scanned. When the lidar 100 includes the scanning system 160, the control and processing system 150 can also control the movement of the scanning system 160.

[0043] In some embodiments, the lidar 100 may not include a scanning system. The lidar may not include mechanical rotating components. For example, the lidar 100 includes multiple lasers 112 and multiple detectors 121. The multiple lasers 112 and multiple detectors 121 are arranged in a two-dimensional array. The lasers emitted by the lasers 112 at different positions in the two-dimensional array are emitted at different angles after passing through the optical system 130, thereby realizing two-dimensional scanning by the lidar.

[0044] During the detection process, changes in the environment can affect the detection performance of lidar. For example, the lidar detector may enter a saturation state in a strong light environment, causing the output signal to fail to accurately reflect the echo, thus affecting the lidar's detection performance. The following explanation uses SPAD as an example.

[0045] SPADs possess high sensitivity and can operate under weak lighting conditions, even detecting the presence of single photons. However, under strong lighting conditions, excessive photons enter the SPAD, causing it to saturate. In saturation, the SPAD's photon response capability reaches its limit, and the output electrical signal may not increase in tandem with the increase in echo intensity. At this point, the SPAD's output electrical signal can no longer accurately reflect the true situation of the echo, leading to a decline in the detection performance of the lidar.

[0046] In some embodiments of this disclosure, the light response capability of a SPAD array can be improved by increasing the number of SPADs in the laser receiving circuit. The SPAD array may include multiple subsets of SPADs. For example, the electrical signal output by one subset of SPADs can be used to acquire echo information at a certain angle. While some SPADs in the subset are in dead time after being triggered by photons, other SPADs can still respond to photons. The total current output by the SPAD subset or the number of triggers reflects the light intensity. However, the number of SPADs that can be configured within the limited internal space of a lidar is finite. The number of configurable SPAD subsets or the number of SPADs included in a SPAD subset is also finite. Increasing the number of SPADs can only alleviate detector saturation caused by strong light to a certain extent, but the detection performance of the lidar still needs improvement.

[0047] This disclosure provides several solutions, including preprocessing circuits, laser receiving devices, signal processing methods and devices, lidar, and carriers, which can improve the adaptability of lidar to the environment and enable lidar to have better detection performance in different environments.

[0048] The following description is in conjunction with the accompanying drawings.

[0049] Figure 2 An example block diagram of a preprocessing circuit consistent with some embodiments of this disclosure is shown. Please refer to... Figure 2 The preprocessing circuit 200 can be used in lidar, and includes a first conversion circuit 210 and a second conversion circuit 220, both connected to the lidar detector. The first conversion circuit 210 performs a first sampling on the detector's output signal, converting the first sampled signal into first echo data; the first sampling is based on a sampling period. The second conversion circuit 220 performs a second sampling on the detector's output signal, converting the second sampled signal into second echo data; the second sampling is based on a sampling trigger event, such as the output signal magnitude reaching or exceeding a threshold.

[0050] A lidar system may include one or more detectors. When a lidar system includes multiple detectors, the first conversion circuit 210 and the second conversion circuit 220 may sample the detectors independently; or the first conversion circuit 210 and the second conversion circuit 220 may sample the detectors as a group. For example, the multiple detectors of a lidar system may include multiple groups, and the first conversion circuit 210 and the second conversion circuit 220 may sample the output signals of multiple detectors within a group. The number of detectors included in different groups may be the same or different. Optionally, some groups may include a single detector. The first conversion circuit 210 and the second conversion circuit 220 may be connected to one or a group of detectors, performing different logic sampling on the same detector or the same group of detectors.

[0051] For example, the detector includes a subset of SPADs, which in turn includes multiple SPADs. The electrical signal output by the SPAD subset can be sampled by either the first conversion circuit 210 or the second conversion circuit 220.

[0052] In some embodiments, a first conversion circuit 210 and a second conversion circuit 220, corresponding to the number of detectors, can be provided in the lidar. Each first conversion circuit 210 or second conversion circuit 220 can sample the electrical signal output by the detector connected to it. In some embodiments, the number of first conversion circuits 210 and second conversion circuits 220 may be less than the number of detectors. The first conversion circuits 210 and second conversion circuits 220 can be connected to different detectors by gating. The first conversion circuits 210 and second conversion circuits 220 can perform time-division sampling on different detectors.

[0053] In the above embodiments, by setting up first and second conversion circuits with different sampling logics in the preprocessing circuit, different sampling logics are applied to the same detector or detector group, resulting in different sampling results. These different sampling results can be converted into first echo data and second echo data and provided to the subsequent circuit. In this way, the subsequent circuit can obtain more diverse echo data, and the diversity of echo data can be used to improve the adaptability of the lidar to the environment, thereby improving the detection performance of the lidar.

[0054] For example, the first sampling based on the sampling period can continuously sample and quantize the detector's output signal. The sampled signal obtained through periodic sampling can more accurately reflect minute changes in the output signal and can even reconstruct the waveform. This is beneficial when the output signal waveform changes slowly, allowing for richer echo information even with relatively weak echo intensity. The second sampling based on a sampling trigger event can quickly respond to changes in the output signal when changes are rapid, accurately measuring the laser's time of flight. This results in a more accurate detection distance and is beneficial when obtaining a more accurate time of flight even with relatively strong echoes. By incorporating first and second conversion circuits for these two sampling logics in the preprocessing circuit, the lidar can obtain echo data more suitable for different echo intensities, and utilize this echo data to obtain more accurate sensing data, thereby improving the lidar's environmental adaptability and overall detection performance.

[0055] The embodiments of this disclosure do not limit the sampling frequency (or sampling period) of the first sample, which can be set as needed. A higher sampling frequency results in a higher fidelity to the detector's output signal, but also increases the processing load and power consumption of the first conversion circuit. A lower sampling frequency results in a lower fidelity to the detector's output signal, but reduces the processing load and power consumption of the first conversion circuit. In the sampling frequency design, both power consumption and signal fidelity requirements can be considered. In some embodiments of this disclosure, based on the Nyquist sampling theorem, the sampling frequency of the first sample can be designed to be greater than or equal to twice the highest frequency of the output signal to reduce aliasing.

[0056] In some embodiments of this disclosure, first echo data can be used to determine first echo parameters, and second echo data can be used to determine second echo parameters. The first echo parameters and second echo parameters can be the same or different. For example, the first or second echo parameters may include one or more of the following parameters: peak intensity of the echo pulse, number of echo pulses, arrival time of the echo pulse, pulse width of the echo pulse, slope of the echo pulse, or area of ​​the echo pulse, etc. These echo parameters can be used to determine echo information, such as echo time or echo intensity, etc.

[0057] The echo parameters (first echo parameter or second echo parameter) can be determined by the subsequent circuitry of the first conversion circuit 210 and the second conversion circuit 220. This subsequent circuitry may include, for example, a processing circuit, which may be part of the lidar's control and processing system or a preprocessing circuit. For example, the processing circuit performs waveform analysis on the echo data to obtain one or more of the above parameters. The first echo parameter and the second echo parameter can be used to determine one or more of the echo time or echo intensity. For example, the echo time can indicate the time it takes for the echo to reach the lidar's detector, and this echo time can be used to determine the laser's time of flight, thereby determining the distance of the object from the lidar. The echo time can be determined by the threshold time of the rising or falling edge of the echo pulse; for example, the time it takes for the rising edge of the echo pulse to reach a threshold during its rise can be used as the threshold time, which can be used as the echo time. The echo intensity can indicate the light intensity of the echo, which is related to the reflectivity of the object and can be used for one or more processing such as target recognition, target classification, or noise filtering. Echo intensity can be determined based on one or more of the following: peak intensity of the echo pulse, pulse width of the echo pulse, slope of the echo pulse, or area of ​​the echo pulse.

[0058] Figure 3 An example block diagram of another preprocessing circuit consistent with some embodiments of this disclosure is shown. Please refer to... Figure 3 The preprocessing circuit 300 is relative to Figure 2 The preprocessing circuit 200 shown also includes a processing circuit 330. The processing circuit 330 can receive first echo data and second echo data, process one or both of the first echo data and the second echo data, and determine the echo information.

[0059] In some embodiments of this disclosure, the processing circuit 330 may be integrated into the preprocessing circuit 300; in other embodiments, the processing circuit 330 may be independent of the preprocessing circuit 300, for example, as part of the control and processing system of the lidar. The processing circuit 330 may, for example, include any of the processors described in the above embodiments, such as a DSP or FPGA.

[0060] In some embodiments of this disclosure, the processing circuit can determine a first echo parameter based on the first echo data, which reflects the first echo intensity. The processing circuit can determine echo information using second echo data when the first echo parameter is greater than a parameter threshold. Alternatively, the processing circuit can determine echo information using the first echo data when the first echo parameter is less than the parameter threshold. Alternatively, the processing current can determine echo information using one or both of the first and second echo data when the first echo parameter is equal to the parameter threshold. The first echo parameter may include any one or more of the echo parameters described above that can determine the echo intensity, such as: peak intensity of the echo pulse, number of echo pulses, pulse width of the echo pulse, slope of the echo pulse, or area of ​​the echo pulse, etc. The parameter threshold is related to the selected echo parameter; for example, when selecting the peak intensity of the echo pulse, the parameter threshold includes an intensity threshold; others are similar.

[0061] The first conversion circuit can obtain richer echo information when the echo intensity is weak, while the second conversion circuit can obtain more accurate echo time when the echo intensity is strong.

[0062] For example, by analyzing the first echo data, a first echo parameter reflecting the echo intensity is obtained. This first echo parameter is then compared with a parameter threshold, and the comparison result determines which conversion circuit's output echo data should be used to determine the echo information. In this way, the output of the first conversion circuit can be reused to determine whether the current echo conditions are more suitable for using the first or second echo data as the lidar's detection result, thereby improving the lidar's detection accuracy. This embodiment does not limit the size of the parameter threshold; it can be set according to the selected parameters and the lidar's detector. The parameter threshold can be understood as the dividing line between strong and weak echo intensity. Exceeding this dividing line, the detector is more likely to saturate. In scenarios with high echo intensity, the number of photons incident on the detector is greater. When the number of incident photons causes the first echo parameter to exceed the parameter threshold, the detector is more likely to saturate, making it more suitable to select the second echo data to determine the echo information and obtain the lidar's sensing data. In scenarios with low echo intensity, the number of photons incident on the detector is less. For example, if the number of incident photons causes the first echo parameter to be less than a parameter threshold, the first echo data can be used to determine the echo information to obtain the sensing data of the lidar. At this time, the processing circuit may or may not receive the second echo data. When the second echo data is received, the first echo data can be selected to determine the echo information, or both the first and second echo data can be selected, or only the second echo data can be selected; this disclosure does not impose any limitations. For scenarios where the number of incident photons causes the first echo parameter to equal the parameter threshold, this disclosure does not impose any limitations; one or both of the first and second echo data can be selected to determine the echo information.

[0063] Please continue to refer to this. Figure 2 In some embodiments of this disclosure, the first conversion circuit 210 may be coupled to a clock signal CLK, and a first sampling may be performed based on the clock signal CLK. The first conversion circuit 210 may also be coupled to other periodic trigger signals, and a periodic first sampling may be performed based on the trigger signals. The second conversion circuit 220 may be coupled to a reference signal Rf (which may be referred to as the first reference signal for ease of description). The second sampling is used to output a second signal when the magnitude of the output signal reaches or rises above the reference signal Rf. The second sampling may also output a second signal when the magnitude of the output signal reaches or falls below the reference signal Rf. Accordingly, the second sampling can acquire the time for the output signal to rise to Rf and the time for it to fall to Rf, as well as the duration for which the output signal amplitude exceeds Rf. The second echo data may include the digital signal converted from the second signal, for example, by decoding the second signal to obtain a digital signal.

[0064] In some embodiments, the reference signal Rf can be used to characterize the first threshold. For example, the first threshold can be the threshold value of the parameters mentioned above.

[0065] In some embodiments, the number of reference signals Rf may include one or more. When the number of reference signals includes multiple reference signals, the multiple reference signals have different magnitudes and are used to characterize different thresholds. For example, in some embodiments of this disclosure, the second conversion circuit 220 is coupled to multiple reference signals of different magnitudes, the multiple reference signals are used to characterize multiple thresholds, and one reference signal is used to characterize one threshold. The first reference signal can be any of the multiple reference signals, and the threshold it represents can be any of the multiple thresholds. For example, the multiple thresholds include the first threshold.

[0066] For example, Figure 4 An example diagram is shown illustrating a second sampling of the detector's output signal, consistent with some embodiments of this disclosure. Please refer to... Figure 4 The horizontal axis represents time, and the vertical axis represents the amplitude S of the output signal. By setting multiple thresholds of different sizes (e.g., thresholds Th1-Th3), the over-threshold times for different thresholds (e.g., the time of the rising edge t1-t3, or the time of the falling edge) can be obtained. Based on these multiple over-threshold times, the waveform of the detector's output signal can be inferred. Secondary sampling allows for high-precision sampling of the over-threshold times, not only obtaining high-precision echo times but also inferring information such as echo intensity, further improving the lidar's detection performance under strong echoes. For example, even if the detector saturates under strong echoes, the pulse leading edges generated by different echo intensities will have slight differences in slope. By acquiring multiple over-threshold times through secondary sampling, the slope of the pulse leading edge can be determined, and the echo intensity can be inferred, thereby improving the lidar's detection performance.

[0067] In some embodiments of this disclosure, the power consumption of the lidar can be reduced by setting a threshold value. For example, the threshold can be set relatively high, so that the second conversion circuit only outputs the second echo data when the echo intensity is high; when the echo intensity is low, the second echo data may not be output, thereby reducing the power consumption of the lidar. Furthermore, setting a relatively high threshold can also effectively reduce jitter caused by noise at the threshold crossing point. The embodiments of this disclosure do not limit the value of this threshold and can be set according to the detection performance of the lidar.

[0068] For example, in some embodiments of this disclosure, a threshold can be set based on the amplitude of the output signal of a LiDAR channel or pixel in a first state. The first state includes, for example, a state where the echo intensity causes more than half of the detectors corresponding to that channel or pixel to be triggered. A LiDAR channel or pixel can correspond to one or more detectors. Taking a LiDAR laser receiving circuit including a SPAD array as an example, a LiDAR channel or pixel can correspond to a subset of SPADs, which includes multiple SPADs. When more than 60% of the SPADs in the subset corresponding to a channel are triggered, the threshold can be set based on the amplitude of the output signal corresponding to that channel at that time. For example, assuming the number of SPADs corresponding to a channel is X, the single-photon response amplitude is 1mV, and the threshold is set to the amplitude of the output signal when more than 60% of the SPADs in the corresponding channel are triggered, the threshold can be set to 60% * X * 1 (mV) = 0.6X (mV). If an amplifier is also provided at the output of the channel, and the amplifier's amplification factor is Y, the threshold can be set to 0.6XY (mV).

[0069] This disclosure does not limit the type of detector, which may include any of the detectors described in the above embodiments. The detector may provide an output signal in the form of a digital signal or an analog signal.

[0070] The first conversion circuit and the second conversion circuit are described below.

[0071] In some embodiments of this disclosure, the first conversion circuit may include a digital sampling accumulation circuit or an analog-to-digital conversion circuit. The digital sampling accumulation circuit can be used to sample and process digital signals, while the analog-to-digital conversion circuit can be used to sample and process analog signals.

[0072] Figure 5 An example block diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown. Figure 5 Taking a lidar system, including a detector array, as an example, this array can provide output signals in the form of digital signals. Please refer to [link / reference needed]. Figure 5 The preprocessing circuit 500 includes a first conversion circuit 510 and a second conversion circuit 520. The first conversion circuit 510 may include a digital sampling and accumulation circuit, which can digitally sample and accumulate the signal output by the detector. For example, the first conversion circuit 510 may include a sampling circuit 511, an accumulation circuit 512, and a storage circuit 513. The sampling circuit 511 can sample one or a group of detectors in the detector array, and the accumulation circuit 512 can accumulate the digital signals sampled by the sampling circuit 511 to obtain the first echo data. The storage circuit 513 can store the first echo data.

[0073] Taking a detector array including a SPAD array as an example, the sampling circuit 511 can be connected to one or more SPADs and continuously sample the output of these SPADs based on a continuous clock signal CLK. At the sampling moment, the output signal of a triggered SPAD can be recorded as "1". Untriggered SPADs have no output signal, or their output signal is not counted, and can be recorded as "0". In the case where the first conversion circuit 510 connects to the output signals of multiple SPADs, these multiple SPADs can correspond to a channel or a pixel of the LiDAR. The accumulated output signals of multiple SPADs can reflect the intensity of the received light.

[0074] For example, the first conversion circuit 510 samples the number of SPAD triggers triggered by the rising or falling edge of the clock signal CLK, obtaining the sampling time and its corresponding number of triggers. Based on the laser emission time and the sampling time, the flight time corresponding to the sampling time can be determined. Accordingly, a periodically increasing flight time sequence and the number of triggers corresponding to each flight time can be determined. The change in the number of triggers with flight time can be expressed as follows: Figure 4 The echo curve shown.

[0075] For example, when a lidar detects information about an angle through a channel or a pixel, it can emit lasers multiple times at that angle and receive the echoes separately. That is, the detection of an angle includes multiple transmit and receive cycles. The detector receives the echo corresponding to each laser emission, and the sampling circuit 511 can sample the detector's output in multiple transmit and receive cycles. The accumulation circuit 512 can accumulate the number of triggers in different transmit and receive cycles corresponding to the same flight time and store it in the storage circuit 513.

[0076] SPADs are highly sensitive and easily triggered by ambient light, generating noise in the echo information. Ambient light distribution over time is relatively random, while the flight time of the echo pulses in each transmit / receive cycle is generally consistent. By accumulating the number of triggers in different transmit / receive cycles, the signal amplitude corresponding to the echo pulse can be increased, which helps filter out ambient light interference and improve the signal-to-noise ratio of the detection.

[0077] For example, Figure 6An example curve obtained by digitally sampling and accumulating the detector output, consistent with some embodiments of this disclosure, is shown. The horizontal axis represents the flight time, and the vertical axis represents the number of SPADs triggered, n. This curve reflects the relationship between the number of triggered SPADs and the flight time. It can be seen that the first conversion circuit can obtain the full waveform, reflecting a relatively rich set of echo parameters. Thus, using the echo parameters, in addition to determining the laser's flight time, ambient light noise or echo intensity can also be determined. For example, the area under the curve during the sampling time period T can represent the integral of the SPAD's output signal, thereby reflecting the echo intensity.

[0078] In other embodiments of this disclosure, the first conversion circuit 510 may include an analog-to-digital conversion circuit that can sample the signal output by the detector and quantize it into a digital signal. For example, the analog-to-digital conversion circuit can sample the number of SPAD triggers. The embodiments of this disclosure do not limit the type of analog-to-digital conversion circuit, and may include, but are not limited to, pipelined analog-to-digital converters (ADCs), successive approximation ADCs (SAR ADCs), integrating ADCs, parallel comparator ADCs, or voltage-to-frequency conversion ADCs.

[0079] The preprocessing circuit 500 may include multiple first conversion circuits 510, thereby enabling parallel sampling and conversion of the detector array to improve the processing efficiency of the preprocessing circuit 500.

[0080] Figure 7 A structural example diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown. Please refer to... Figure 7The preprocessing circuit 700 includes a first conversion circuit 710 and a second conversion circuit 720. The second conversion circuit 720 includes at least one conversion sub-circuit, such as conversion sub-circuits 721 to 72N. Here, N represents the number of conversion sub-circuits, and N is greater than or equal to 1. The conversion sub-circuit 72i (i∈[1,N]) includes a comparator Cp, a sampling circuit Sp, and a decoding circuit Dc. The comparator Cp includes a first input terminal, a second input terminal, and an output terminal; the first input terminal can be coupled to the output signal of the detector, and the second input terminal can be coupled to a reference signal Rfi (i∈[1,N]). The sampling circuit Sp can be connected to the output terminal of the comparator Cp, and performs a second sampling when the signal output from the comparator Cp flips. The decoding circuit Dc is connected to the sampling circuit Sp, and decodes the second signal sampled by the sampling circuit Sp to obtain a digital signal. This digital signal can be used to indicate the time of the second sampling, which is triggered when the comparator Cp flips. The comparator Cp flips when the detector's output signal rises above the reference signal Rfi, or when the output signal falls below the reference signal Rfi, thus indicating the threshold time of the detector's output signal. The second input of the comparators in different conversion sub-circuits can be coupled to different reference signals, each representing a threshold. Accordingly, the second conversion circuit 720 can sample the threshold time of the detector's output signal at different thresholds, further improving detection accuracy. The decoding circuit Dc, for example, includes a decoder that decodes the second signal sampled by the sampling circuit Sp to obtain a digital signal.

[0081] Please continue to refer to this. Figure 7 In some embodiments of this disclosure, the preprocessing circuit 700 may further include an amplifier 730. The amplifier 730 is disposed between the output of the detector and the input of the second conversion circuit 720. The input of the second conversion circuit 720 includes, for example, the first input of the comparator Cp of the conversion sub-circuit 72i. In some embodiments of this disclosure, the amplifier 770 may include, for example, a transimpedance amplifier (TIA) to convert the current signal output by the detector into a voltage signal. Optionally, the amplifier 770 may further amplify the detector's output signal to make it easier to compare with a reference signal. Optionally, the amplifier 770 may also integrate a filtering function to suppress high-frequency noise in the detector's output signal; this helps to eliminate high-frequency interference in the detector's output signal and improve the quality of the detector's output signal.

[0082] In some embodiments of this disclosure, the second conversion circuit 720 can sample the output signals of one or more detectors via a sampling resistor R. For example, Figure 8 A structural example diagram of yet another preprocessing circuit consistent with some embodiments of this disclosure is shown. Please refer to... Figure 8One end of the sampling resistor R can be connected to the output of the detector and the input of the second conversion circuit 720, and the other end can be coupled to a supply voltage V. Taking a detector array including a SPAD array as an example, a common sampling resistor R is connected to the output of one or a subset of SPADs, and the first input of the comparator Cp is connected between the output of the SPAD or the subset of SPADs and the sampling resistor R. In some other embodiments of this disclosure, the second conversion circuit 720 can be capacitively coupled to the output of one or more detectors to sample the output signals of one or more detectors. Taking a detector array including a SPAD array as an example, the connection between the output of one or a subset of SPADs and the capacitor serves as the output of the corresponding pixel or channel and is connected to the first input of the comparator Cp.

[0083] The second input terminals of the multiple comparators Cp in the second conversion circuit 720 can be connected to different reference signals, corresponding to different thresholds. Thus, the threshold crossing time of rapidly changing waveforms can be distinguished through the second sampling. The timing accuracy of the second sampling is very high, reaching the picosecond level. Even with strong echoes with high echo intensity and rapidly changing waveforms, not only can high-precision echo times be obtained, but also more echo information can be acquired, thereby improving the detection performance of the lidar.

[0084] In some embodiments of this disclosure, when the lidar is in a first operating mode, the first conversion circuit 210 and the second conversion circuit 220 are both in operation; when the lidar is in a second operating mode, one of the first conversion circuit 210 and the second conversion circuit 220 is in operation.

[0085] For example, the first operating mode can be called the normal operating mode, and the second operating mode can be called the low-power operating mode (or power-saving mode). When the lidar is in the first operating mode, the first conversion circuit 210 and the second conversion circuit 220 are both in operation to enrich the echo data obtained by the lidar. Utilizing the diversity of echo data improves the lidar's adaptability to the environment and enhances its detection performance. When the lidar is in the second operating mode, its power consumption can be reduced. When the vehicle has a need to reduce power consumption, one of the conversion circuits 210 and 220 can be selected to preprocess the detector's output signal; this reduces the lidar's power consumption and meets the vehicle's low-power requirements. Optionally, when the lidar is in the second operating mode, the second conversion circuit 220 is in operation. The second sampling is based on a sampling trigger event and has lower power consumption than the first sampling based on a period. Therefore, the second conversion circuit 220 has lower power consumption than the first conversion circuit 210. Selecting the second conversion circuit 220 to be in operation in the second operating mode can achieve better power saving. For example, the application scenarios of the second working mode include when the vehicle is in standby mode, at which time the objects around the lidar change relatively little. By using the second conversion circuit 220 to preprocess the output signal of the detector, the detection requirements in this scenario can be met, and the power consumption of the lidar can be saved, thereby reducing the energy consumption of the vehicle.

[0086] In some embodiments of this disclosure, the lidar may further include a third operating mode. In the third operating mode, the lidar can determine whether to use the data from the first conversion circuit 210 or the second conversion circuit 220 based on the echo signal amplitude. For example, the first conversion circuit 210 can be used to determine the amplitude of the received echo signal. If the echo signal amplitude is less than a preset threshold, the first conversion circuit 210 continues to perform a first sampling of the detector's output signal. At this time, the second conversion circuit 220 can be in a dormant state to save power. If the echo signal amplitude reaches or exceeds the preset threshold, the second conversion circuit 220 is used to perform a second sampling of the detector's output signal. The preset threshold can be set according to actual needs, and this disclosure does not limit it. In this way, by setting a preset threshold, the application scenarios of the first conversion circuit 210 and the second conversion circuit 220 are distinguished, improving the flexibility of the lidar.

[0087] This disclosure also provides a laser receiving device for lidar, the laser receiving device comprising: at least one detector; and any of the preprocessing circuits provided in the above embodiments, connected to at least one detector.

[0088] Figure 9A flowchart illustrating a signal processing method consistent with some embodiments of this disclosure is shown. Please refer to... Figure 9 The signal processing method may include:

[0089] S910: Receive first echo data or second echo data. The first echo data is obtained by converting a first signal, which is obtained by first sampling the output signal of at least one detector of the lidar, the first sampling being based on a sampling period. The second echo signal is obtained by converting a second signal, which is obtained by second sampling the output signal of at least one detector, the second sampling being based on a sampling trigger event, the sampling trigger event including the output signal magnitude reaching or exceeding a first threshold.

[0090] S920: Process one or both of the first echo data or the second echo data to determine the echo information.

[0091] The descriptions of the first echo data, the second echo data, the first sample, and the second sample, etc., can be found in the above embodiments.

[0092] For example, in some embodiments of this disclosure, step S920 above may include: determining a first echo parameter based on the first echo data; determining echo information using second echo data when the first echo parameter is greater than a parameter threshold; or determining echo information using the first echo data when the first echo parameter is less than a parameter threshold; or determining echo information using one or both of the first echo data and the second echo data when the first echo parameter is equal to a parameter threshold.

[0093] Some embodiments of this disclosure also provide a signal processing apparatus, including units or means for performing steps of any of the signal processing methods provided in the above embodiments. For example, Figure 10 A structural example diagram of a signal processing apparatus consistent with some embodiments of this disclosure is shown. Please refer to... Figure 10 The signal processing device 1000 may include, for example, an interface unit 1010 and a processing unit 1020. The interface unit 1010 receives first echo data and second echo data, and the processing unit 1020 processes one or both of the first echo data and the second echo data to determine echo information. The signal processing device 1000 may include, for example, a processor; the interface unit 1010 may include, for example, a bus interface for communication between the processor and other circuits; and the processing unit 1020 may include, for example, a processing core of the processor.

[0094] For example, some embodiments of this disclosure also provide a signal processing apparatus, which may include a processor for coupling to a memory, the memory storing instructions, and when the instructions are invoked by the processor, causing the processor to execute any of the signal processing methods in the above method embodiments.

[0095] This disclosure also provides a computer-readable storage medium including instructions stored thereon, which, when invoked by a processor, execute any of the signal processing methods described in the above embodiments. This disclosure also provides a computer program (or computer program product) including instructions that, when invoked by a processor, execute any of the signal processing methods described in the above embodiments.

[0096] In the embodiments of this disclosure, "the output signal of at least one detector" may include the signal output by a single detector; or, it may include the signal output by a group of detectors, wherein the detector or group of detectors may output a signal through a corresponding readout circuit.

[0097] In this disclosure, "connection" includes direct or indirect connection between objects: connected objects can be directly connected through a medium (e.g., wires, traces, etc.), or indirectly connected through other components, or can be an internal connection. "Coupling" includes signal connection between objects, which can be achieved directly through a medium (e.g., wires, traces, etc.), or through other components, etc.

[0098] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects. For example, "first lidar" may include one lidar or multiple lidars.

[0099] "Multiple" includes two or more, and other classifiers are similar.

[0100] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between preceding and following related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0101] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A pre-processing circuit, characterized by, The pre-processing circuit is used for a laser radar, and the pre-processing circuit comprises: a first conversion circuit configured to be connected to at least one detector of the laser radar, to perform first sampling on an output signal of the at least one detector, and to convert a first signal obtained by the first sampling into first echo data, wherein the first sampling is based on a sampling period; a second conversion circuit configured to be connected to the at least one detector, to perform second sampling on the output signal of the at least one detector, and to convert a second signal obtained by the second sampling into second echo data, wherein the second sampling is based on a sampling trigger event, and wherein the sampling trigger event comprises that a size of the output signal reaches or exceeds a first threshold.

2. The pre-processing circuit of claim 1, wherein, The first echo data is used to determine a first echo parameter, and the second echo data is used to determine a second echo parameter.

3. The pre-processing circuit according to claim 1 or 2, characterized in that, When the laser radar is in a first working mode, the first conversion circuit and the second conversion circuit are both in a working state; When the laser radar is in a second working mode, one of the first conversion circuit and the second conversion circuit is in the working state.

4. The pre-processing circuit of claim 3, wherein, When the laser radar is in the second working mode, the second conversion circuit is in the working state.

5. The pre-processing circuit according to any one of claims 1-4, wherein: the second conversion circuit is coupled to a first reference signal, the first reference signal is used to represent the first threshold, and the second sampling is used to output the second signal when the size of the output signal reaches the first reference signal; the second echo data comprises a digital signal converted by the second signal.

6. The pre-processing circuit of claim 5, wherein, The second conversion circuit is coupled to a plurality of reference signals with different sizes, the plurality of reference signals are used to represent a plurality of thresholds, wherein one reference signal is used to represent one threshold, the plurality of reference signals comprise the first reference signal, and the plurality of thresholds comprise the first threshold.

7. The pre-processing circuit according to claim 5 or 6, characterized in that, The second conversion circuit comprises a first conversion sub-circuit, and the first conversion sub-circuit comprises a comparator, a sampling circuit and a decoding circuit, wherein: the comparator comprises a first input end, a second input end and an output end, the first input end is used to be coupled to the output signal of the at least one detector, and the second input end is used to be coupled to the reference signal; the sampling circuit is connected to the output end of the comparator, and performs the second sampling when a signal output by the output end of the comparator is inverted; the decoding circuit is connected to the sampling circuit, and decodes the second signal sampled by the sampling circuit to obtain the digital signal.

8. The pre-processing circuit according to any one of claims 1-7, characterized in that, The first conversion circuit comprises a digital sampling accumulation circuit or an analog-digital conversion circuit.

9. The pre-processing circuit according to any one of claims 1-8, characterized in that, Further comprising: a processing circuit configured to receive the first echo data and the second echo data, to process one or both of the first echo data and the second echo data, and to determine echo information.

10. The pre-processing circuit of claim 9, wherein, The processing circuit is configured to determine a first echo parameter according to the first echo data; and when the first echo parameter is greater than a parameter threshold, determine the echo information using the second echo data; or when the first echo parameter is less than the parameter threshold, determine the echo information using the first echo data; or when the first echo parameter is equal to the parameter threshold, determine the echo information using one or both of the first echo data or the second echo data.

11. A laser receiving apparatus characterized by comprising: For a laser radar, the laser receiving device comprises: at least one detector; The pre-processing circuit according to any one of claims 1-10 is connected to the at least one detector.

12. A signal processing method characterized by, Comprising: receiving first echo data or second echo data; processing one or both of the first echo data or the second echo data to determine echo information, wherein the first echo data is obtained by converting a first signal, the first signal is obtained by first sampling an output signal of at least one detector of a laser radar, the first sampling is based on a sampling period; the second echo signal is obtained by converting a second signal, the second signal is obtained by second sampling the output signal of the at least one detector, the second sampling is based on a sampling trigger event, the sampling trigger event includes that the size of the output signal reaches or exceeds a first threshold.

13. The signal processing method of claim 12, wherein, The processing one or both of the first echo data or the second echo data to determine echo information comprises: determining a first echo parameter according to the first echo data; when the first echo parameter is greater than a parameter threshold, determining the echo information using the second echo data; or when the first echo parameter is less than the parameter threshold, determining the echo information using the first echo data; or when the first echo parameter is equal to the parameter threshold, determining the echo information using one or both of the first echo data or the second echo data.

14. A lidar, comprising: Comprising: at least one detector; The pre-processing circuit according to any one of claims 1-10 is connected to the at least one detector; a processor connected to the pre-processing circuit, configured to receive data output by the pre-processing circuit, and determine point cloud data of the laser radar based on the data output by the pre-processing circuit; wherein the data output by the pre-processing circuit comprises first echo data and second echo data, or echo information.

15. A carrier, characterized by Comprising: a main body; The laser radar according to claim 14 is mounted on the main body.

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