Reception method, detection component, detection device and terminal equipment

Abstract

The application discloses a receiving method, a detection assembly, a detection device and terminal equipment, relates to the technical field of laser radar, and is used for improving detection performance. The method comprises the following steps: receiving a return signal through a SPAD in the detection assembly, wherein the return signal comprises a plurality of optical pulse signals in a first time slot. The plurality of optical pulse signals in the first time slot comprise at least two first optical pulse signals, and the PDE of the SPAD is different in the first receiving time of the at least two first optical pulse signals. The PDE of the SPAD changes when the SPAD receives at least two optical pulse signals in a time slot. That is to say, the PDE of the SPAD has two or more values in a time slot, so that the SPAD can distinguish the change of the intensity of the optical pulse signal, and the detection performance is improved.

Description

Receiving method, detection components, detection device and terminal equipment Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a receiving method, detection component, detection device, and terminal equipment. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of targets. Its working principle involves emitting a detection signal (laser beam) towards the target, then comparing the received signal reflected back from the target (target echo) with the emitted signal. After appropriate processing, information about the target can be obtained, such as its distance, azimuth, altitude, speed, attitude, and even shape. This allows for the detection, tracking, and identification of targets such as aircraft and vehicles.

[0003] Single-photon avalanche diodes (SPADs) are commonly used receiving devices in lidar systems. Due to the limitations of the gate signal, SPADs can only detect photons when the gate pulse is at a high voltage. This leads to signal loss and limited time resolution; photons cannot be detected at low voltages, and this period of time when the SPAD cannot respond to the arrival of the photon is called dead time. Reducing dead time is crucial for improving the performance of single-photon detectors.

[0004] Photodetection efficiency (PDE) is a performance metric for SPADs. PDE refers to the probability that an incident photon will trigger an avalanche. Currently, within a single time slot, a SPAD has only one PDE value, which can easily lead to SPAD saturation within that time slot and affect detection performance.

[0005] Summary of the Invention

[0006] This application provides a receiving method, a detection component, a detection device, and a terminal equipment to improve the detection performance of SPADs.

[0007] In a first aspect, embodiments of this application provide a receiving method applicable to a detection component, such as a detection component in a lidar system. The detection component includes a SPAD. The method includes: receiving an echo signal via the SPAD, the echo signal comprising multiple optical pulse signals in a first time slot. The multiple optical pulse signals include at least two first optical pulse signals, and the photon detection efficiency (PDE) of the SPAD differs during the reception time of the at least two first optical pulse signals.

[0008] The reception time of an optical pulse signal can be understood as the time it takes to receive one optical pulse signal, that is, the time of one reception shot. One reception shot corresponds to one transmission shot.

[0009] Using the above method, the SPAD's PDE differs when receiving at least two optical pulse signals within a time slot. In other words, the SPAD's PDE has two or more values ​​within a time slot, preventing SPAD saturation and allowing it to distinguish changes in light intensity, thereby improving detection performance.

[0010] In one possible design, at least two first optical pulse signals are continuous optical pulse signals, and the variation trend of the SPAD's PDE satisfies the first target curve.

[0011] With the above design, the SPAD changes continuously during the first reception time of multiple consecutive first optical pulse signals, and the trend of change satisfies the target curve, enabling the SPAD to distinguish the changes in the intensity of the optical pulse signal, thereby improving the detection performance.

[0012] In one possible design, the first target curve is either a monotonically increasing function curve or a monotonically decreasing function curve.

[0013] With the above design, the PDE of SPAD changes in a monotonic function relationship, which makes the system response overdamped, that is, the PDE of SPAD changes slowly, which can improve the stability of the system.

[0014] In one possible design, the first target curve comprises a piecewise curve, which includes a first segment curve and a second segment curve. The first segment curve is a monotonically increasing function curve, and the second segment curve is a monotonically decreasing function curve. Alternatively, the first segment curve is a monotonically decreasing function curve, and the second segment curve is a monotonically increasing function curve.

[0015] The monotonically increasing function curve described above can be a straight line with a positive slope or a curve, such as an exponential curve. The decreasing function curve described above can be a straight line with a negative slope or a curve, such as an indicator curve.

[0016] With the above design, the SPAD changes continuously during the reception time of multiple consecutive first optical pulse signals, and the trend of change is either first decreasing and then increasing, or first increasing and then decreasing, so that the SPAD can distinguish the change in the intensity of the optical pulse, thereby further improving the detection performance.

[0017] In one possible design, the echo signal further includes multiple optical pulse signals in a second time slot; the multiple optical pulse signals in the second time slot include at least two second optical pulse signals, and the PDE variation trend of the SPAD satisfies a second target curve within the reception time of at least two second optical pulse signals, wherein the at least two second optical pulse signals are continuous optical pulse signals.

[0018] With the above design, the PDE of the SPAD changes in different time slots, and the detection area may differ for each time slot. Therefore, the SPAD can distinguish changes in the intensity of the optical pulse within different detection areas, resulting in improved detection performance across all detection regions.

[0019] In one possible design, the first time slot may be adjacent to or not adjacent to the second time slot.

[0020] When the first time slot and the second time slot are adjacent, there is no discrete PDE level between the first time slot and the second time slot. In other words, the final PDE value that changes in the first time slot is the same as the initial PDE value that changes in the second time slot. By continuously adjusting the PDE within the time slot, the PDE value at the end of the first time slot is the same as the PDE value at the beginning of the second time slot, thus avoiding PDE jumps between the two time slots.

[0021] Since using discrete PDE settings may lead to discontinuous dynamic response of the system, i.e., oscillation, the above scheme uses PDE settings that do not have discrete settings between different time slots, so that the system response changes continuously, which can improve the stability of the system response.

[0022] In one possible design, the start and end times of the first target curve in the first time slot are different from the start and end times of the second target curve in the second time slot; and / or,

[0023] The range of PDE for SPAD in the first target curve is different from the range of PDE for SPAD in the second target curve.

[0024] The start and end times include the start time and the end time. For example, the start time of the first target curve in the first time slot is different from the start time of the second target curve in the second time slot. Another example is that the end time of the first target curve in the first time slot is different from the end time of the second target curve in the second time slot. Yet another example is that both the start and end times of the first target curve in the first time slot are different from the start and end times of the second target curve in the second time slot.

[0025] In one possible design, the ambient light intensity associated with the first time slot is different from the ambient light intensity associated with the second time slot; or...

[0026] SPAD's ranging requirements differ in the first time slot and the second time slot; or,

[0027] The detection component measures different angles in the first time slot and the second time slot.

[0028] By adopting the above design, different target curves can be used under different requirements, so as to achieve flexible adjustment according to the needs and further improve the detection performance.

[0029] In one possible design, the ambient light intensity associated with the first time slot is higher than that associated with the second time slot;

[0030] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0031] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0032] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0033] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0034] Since the ambient light intensity is high in the first time slot, and high ambient light intensity results in higher noise floor for the detection components, the detection performance of the SPAD can be improved by increasing the proportion of the PDE in a high time slot compared to when the ambient light intensity is weak.

[0035] In one possible design, the measurement distance associated with the first time slot is higher than the measurement distance associated with the second time slot;

[0036] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0037] or,

[0038] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0039] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0040] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0041] Since the measurement distance requirement is relatively long in the first time slot, the SPAD is in a high position. The SPAD can distinguish changes in light intensity, but the SPAD also needs to change at a high position. Therefore, when the measurement distance requirement is long, compared with the measurement distance requirement being short, the detection performance of the SPAD can be improved by increasing the proportion of the PDE in a high position in a time slot.

[0042] In one possible design, the measurement region associated with the first time slot is the edge region, and the measurement region associated with the second time slot is the center region;

[0043] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0044] or,

[0045] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0046] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0047] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0048] Since the first time slot is located in the edge region and the second time slot is located in the center region, the distance between the edge region and the center region is relatively far. If the SPAD is in a high position, the SPAD can distinguish the change in light intensity. However, the SPAD also needs to change in a high position. Therefore, when the measurement distance requirement is far, compared with the measurement distance requirement is short, the detection performance of the SPAD can be improved by increasing the proportion of the PDE in a high position in a time slot.

[0049] In one possible design, the echo signal includes multiple optical pulse signals belonging to at least two time slots, the at least two time slots including the first time slot;

[0050] During the reception time of N consecutive optical pulse signals belonging to at least two time slots, the PDE change trend of the SPAD satisfies the third target curve; the N consecutive optical pulse signals belong to the at least two time slots, and N is an integer greater than 1.

[0051] In the above design, the continuous variation of SPAD can span time slots, so that the detected light intensity changes in both time slots, thereby improving detection performance.

[0052] Secondly, embodiments of this application provide a detection component, including:

[0053] A single-photon avalanche diode (SPAD) is used to receive echo signals, the echo signals comprising multiple optical pulse signals located in a first time slot;

[0054] An adjustment unit is used to adjust the PDE of the SPAD; wherein the multiple optical pulse signals in the first time slot include at least two first optical pulse signals, and the adjusted PDE of the SPAD is different during the reception time of at least two first optical pulse signals.

[0055] In one possible design, the regulating unit includes an overdamped circuit.

[0056] Using the above design, the overdamped variation of the PDE of the SPAD is achieved through an overdamped circuit.

[0057] In one possible design, at least two first optical pulse signals are continuous optical pulse signals, and the variation trend of the SPAD's PDE satisfies the first target curve.

[0058] By using the above scheme and the overdamped circuit, the PDE of SPAD can be made to follow an exponential curve, so that the system response is in an overdamped state, that is, the PDE of SPAD changes slowly, which can improve the stability of the system.

[0059] In one possible design, the first target curve includes an exponential curve, which is either a monotonically increasing function curve or a monotonically decreasing function curve.

[0060] In one possible design, the first target curve includes a first exponential curve and a second exponential curve, wherein the first exponential curve is a monotonically increasing function curve and the second exponential curve is a monotonically decreasing function curve, or the slope of the first exponential curve is a monotonically decreasing function curve and the slope of the second exponential curve is a monotonically increasing function curve.

[0061] In one possible design, the echo signal also includes multiple optical pulse signals in the second time slot; the multiple optical pulse signals in the second time slot include at least two second optical pulse signals, the PDE variation trend of the SPAD satisfies the second target curve within the reception time of at least two second optical pulse signals, and the at least two second optical pulse signals are continuous optical pulse signals.

[0062] In one possible design, the start and end times of the first target curve in the first time slot are different from the start and end times of the second target curve in the second time slot; and / or,

[0063] The range of PDE for SPAD in the first target curve is different from the range of PDE for SPAD in the second target orientation.

[0064] In one possible design, the ambient light intensity associated with the first time slot is different from the ambient light intensity associated with the second time slot; or...

[0065] The ranging requirements of the detection component differ in the first time slot and in the second time slot; or,

[0066] The detection component measures different angles in the first time slot and the second time slot.

[0067] In one possible design, the ambient light intensity associated with the first time slot is higher than that associated with the second time slot;

[0068] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0069] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0070] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0071] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0072] In one possible design, the measurement distance associated with the first time slot is higher than the measurement distance associated with the second time slot;

[0073] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0074] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0075] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0076] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0077] In one possible design, the measurement region associated with the first time slot is the edge region, and the measurement region associated with the second time slot is the center region;

[0078] If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0079] If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0080] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or...

[0081] If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

[0082] In one possible design, the echo signal includes multiple optical pulse signals belonging to at least two time slots, the at least two time slots including the first time slot;

[0083] Within the reception time of N consecutive optical pulse signals belonging to at least two time slots, the PDE variation trend of SPAD satisfies the third target curve; the N consecutive optical pulse signals belong to at least two time slots.

[0084] Thirdly, this application provides a detection device, including the detection component in the second aspect or any of the designs described above.

[0085] In one possible design, the detection device may also include a transmitting module, which includes a light source assembly for emitting a light beam.

[0086] In a further possible design, the transmitting module may also include a transmitting optical system for optically processing the beam and transmitting the optically processed beam to the detection space.

[0087] In one possible design, the detection device may also include a control module for controlling the detection components to receive echo signals.

[0088] In one possible design, the detection device may also include a receiving module, which includes the aforementioned detection components.

[0089] In a further possible design, the receiving module may also include a receiving optical system for transmitting the echo signal from the target to the detection component.

[0090] Fourthly, this application provides a terminal device, including a detection component as described in the second aspect or any of the designs in the second aspect above, or including a detection device as described in the third aspect or any of the designs in the third aspect above.

[0091] Fifthly, this application provides a computer-readable storage medium storing a program or instructions that, when executed, implement the receiving method as described in the first aspect or any of the designs in the first aspect.

[0092] Sixthly, this application provides a computer program product comprising computer program code that, when executed on a computer, causes the computer to perform the receiving method as described in the first aspect or any of the designs in the first aspect.

[0093] The technical effects that can be achieved in the second to sixth aspects mentioned above can be referred to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0094] Figure 1 is a timing diagram showing the association between frames, slots, and shots provided in an embodiment of this application;

[0095] Figure 2 is a schematic diagram of an application scenario provided by an embodiment of this application;

[0096] Figure 3 is a schematic diagram of a detection component provided in an embodiment of this application;

[0097] Figure 4 is a schematic diagram of another detection component provided in an embodiment of this application;

[0098] Figure 5a is a schematic diagram of a target curve provided in an embodiment of this application;

[0099] Figure 5b is a schematic diagram of another target curve provided in an embodiment of this application;

[0100] Figure 5c is a schematic diagram of another target curve provided in an embodiment of this application;

[0101] Figure 5d is a schematic diagram of another target curve provided in an embodiment of this application;

[0102] Figure 5e is a schematic diagram of a possible light intensity change provided in an embodiment of this application;

[0103] Figure 6 is a schematic diagram of a target curve corresponding to two time slots provided in an embodiment of this application;

[0104] Figure 7A is a schematic diagram of a target curve relating different ambient light intensities in Example 1 provided in the embodiments of this application;

[0105] Figure 7B is a schematic diagram of another target curve related to different ambient light intensities in Example 1 provided in the embodiments of this application;

[0106] Figure 7C is a schematic diagram of a target curve relating different ambient light intensities in Example 2 provided in the embodiments of this application;

[0107] Figure 7D is a schematic diagram of another target curve related to different ambient light intensities in Example 2 provided in the embodiments of this application;

[0108] Figure 8A is a schematic diagram of a target curve relating different ambient light intensities in Example 3 provided in the embodiments of this application;

[0109] Figure 8B is a schematic diagram of another target curve related to different ambient light intensities in Example 3 provided in the embodiments of this application;

[0110] Figure 8C is a schematic diagram of a target curve relating different ambient light intensities in Example 4 provided in the embodiments of this application;

[0111] Figure 8D is a schematic diagram of another target curve related to different ambient light intensities in Example 4 provided in the embodiments of this application;

[0112] Figure 9 is a schematic diagram of a target curve corresponding to two consecutive time slots provided in an embodiment of this application;

[0113] Figure 10 is a schematic diagram of a target curve corresponding to four consecutive time slots provided in an embodiment of this application;

[0114] Figure 11A is a schematic diagram of a possible detection component provided in an embodiment of this application;

[0115] Figure 11B is a flowchart of the detection method implemented by the detection component provided in the embodiment of this application;

[0116] Figure 12 is a schematic diagram of another possible detection component provided in an embodiment of this application;

[0117] Figure 13 is a schematic diagram of another possible detection component provided in an embodiment of this application;

[0118] Figure 14 is a schematic diagram of the structure of a control module provided in an embodiment of this application;

[0119] Figure 15 is a schematic diagram of another control module provided in an embodiment of this application. Detailed Implementation

[0120] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0121] In the description of this application, unless otherwise stated, "multiple" refers to two or more. Additionally, " / " indicates that the related objects are in an "or" relationship; for example, A / B can represent A or B. "And / or" in this application merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" are not necessarily different. It should also be noted that, unless specifically stated, the specific description of some technical features in one embodiment can also be used to explain the corresponding technical features mentioned in other embodiments.

[0122] The following provides explanations for some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0123] 1. Subframe or slot:

[0124] A lidar system typically requires one or more time slots to detect a single frame of space. The number of time slots is related to the angular range of the scanning component's scan. For example, if the lidar's elevation range is 0–20° and the scanning component's scan angle is 5° per scan, then to cover the entire elevation range, the scanning component needs to rotate at least four times, requiring four slots. Within each slot, the laser emits multiple photons (also called laser signals) to detect the area corresponding to the current slot. After detection is complete, the scanning component changes its scanning angle to switch to the next slot, and the laser emits multiple laser signals again to detect the area corresponding to the next slot. This process is repeated until the entire detection area is detected. Some lidar systems, excluding the scanning component, can have only one slot. For example, solid-state lidar systems do not have a scanning component, and the number of laser signals emitted in a single slot can reach tens, hundreds, or even more.

[0125] Understandably, since multiple probe signals are emitted within a slot, a slot can be divided into multiple pulse shots, with each shot corresponding to a probe signal. For example, refer to Figure 1, which shows the timing diagram relating frames, slots, and shots. The diagram illustrates F_SYNC, which refers to the activation timing on a frame-by-frame basis. Within the probe duration of a frame, F_SYNC can remain on for a long time, then turn off, continuing until the end of the frame. In contrast to F_SYNC, S_SYNC refers to the activation timing on a slot-by-slot basis. Within the period when F_SYNC is on in each frame, S_SYNC is activated multiple times, with each activation duration corresponding to the probe of one slot. For example, in Figure 1, taking a frame corresponding to two slots (slot 1 and slot 2) as an example, each time the scanning component moves to a slot, S_SYNC is activated for a period to receive and sense the echo signal in that slot. Afterward, S_SYNC is turned off until the scanning component moves to another slot, at which point S_SYNC is activated again to complete the probe of the current slot. During the period when S_SYNC is enabled in each slot, the detection device will activate multiple times in units of "shots," with the duration of each activation corresponding to the emission of one detection signal. For example, the diagram illustrates a slot corresponding to m shots (i.e., shot 1, shot 2, ..., shot m, where m is a positive integer). Assuming the detection signal is a laser, the detection device can first fire one laser in each slot, then wait for a period of time before firing the next laser, and so on, until m lasers have been fired, at which point the detection of the current slot ends.

[0126] 2. Detection unit.

[0127] A detector unit, also known as a detector pixel or pixel cell, is the smallest unit in an array detector (or detector array) used to receive echo signals. An array detector is an array structure composed of multiple rows and columns of detector units.

[0128] It should be noted that the detection unit in this application is composed of photosensitive units, such as SPADs or silicon photomultipliers (SiPMs). Taking SPADs as an example, a detection unit may include one SPAD or multiple SPADs. For instance, in some scenarios, a detection unit may include four SPADs.

[0129] The SPAD (Special Photodiode) works by using a reverse-biased photodiode, operating within a very small voltage range that exceeds the breakdown voltage but hasn't yet broken down. In this highly sensitive operating range, even a weak light signal can trigger an avalanche current, resulting in an extremely fast response. After responding to a photon, the SPAD cannot spontaneously stop avalanche; the bias voltage needs to be reduced below the breakdown voltage to respond to the next photon. During this process, the operating temperature also needs to be lowered to reduce dark counting caused by thermal noise.

[0130] However, to achieve efficient and accurate single-photon detection, SPADs need to operate in specific modes. Gated quenching mode is one commonly used operating mode. In this mode, the SPAD's operating state can be controlled by superimposing a periodic gate pulse on its reverse bias voltage. When the gate pulse is high, the SPAD enters an avalanche state, enabling the detection of near-infrared single-photon signals; while when the gate pulse is low, the SPAD enters a quenching state, avoiding continuous avalanche current and dark counting. Due to the limitations of the gate signal, SPADs can only detect under the high-voltage gate pulse, which leads to signal loss and limited time resolution. Under the low-voltage state, photons cannot be detected; this period of time when the SPAD cannot respond to the arrival of the photon is called dead time. Reducing dead time is crucial for improving the performance of single-photon detectors. Reducing dead time not only increases the detector's efficiency, allowing it to respond to more photon events, but also improves its detection capability, resulting in better performance in applications such as weak light signal detection.

[0131] 3. Photon detection efficiency (PDE) refers to the probability that an incident photon will trigger an avalanche. PDE can be expressed as the trigger probability P... tr The quantum efficiency (QE) and fill factor (FF) are described, as shown in equations (1) and (2). PDE = P tr *QE*FF (1);

[0132] v bd This represents the avalanche breakdown voltage.

[0133] For SPADs, the QE parameter is mainly affected by factors such as device structure and temperature. The fill factor is basically determined during the structural design, or it can be increased using microlens technology. Therefore, adjusting the PDE of a SPAD is actually adjusting the bias voltage v. bias parameter.

[0134] 4. Reflectivity: The reflectivity of a lidar refers to the sum of the backscattering cross-sections of particles per unit volume. It reflects the ability of a target object to reflect incident light and is usually expressed as a percentage. The higher the reflectivity, the farther the measurement range of the lidar; conversely, the lower the reflectivity, the shorter the measurement range.

[0135] The detection devices mentioned above may include, but are not limited to, LiDAR, such as solid-state LiDAR. Solid-state LiDAR performs detection by emitting laser signals (i.e., detection signals) using an area array laser and receiving laser signals (i.e., echo signals) formed by reflections of the detection signals from obstacles using an area array detector. Due to its structural characteristic of not containing rotating parts, solid-state LiDAR has advantages such as simple structure and high integration compared to other types of LiDAR (such as mechanically rotating LiDAR or rotating mirror scanning LiDAR).

[0136] The preceding text introduced some of the terms used in this application. The following text introduces the possible application scenarios of this application.

[0137] In one possible implementation, the detection component provided in this application can be installed on a vehicle, such as, but not limited to, vehicles, ships, airplanes, drones, trains, subways, automated guided vehicles (AGVs), or unmanned vehicles. For example, please refer to Figure 2, which illustrates a possible application scenario of this application. In this scenario, the detection device is installed on the front bumper of a vehicle. This detection device can serve as an information source for path planning, assisting the driver in achieving or automatically achieving safe driving. It is understood that the detection device can also be installed in other locations on the vehicle, such as around the headlights, around the rearview mirrors, near the doors, on the rear bumper, behind the windshield, or on the roof, to capture information about the vehicle's surrounding environment. When the detection device is installed behind the windshield, the requirement for no gravel collision risk is lower, and it does not affect the vehicle's appearance. Furthermore, the windshield itself has window heating and defogging functions as well as wiper cleaning functions.

[0138] It should be understood that the above application scenarios are merely examples, and the detection device provided in this application can also be applied to other possible scenarios, and is not limited to those exemplified above. For example, the detection device can also be installed in a roadside unit (RSU) as a roadside traffic detection device to realize intelligent vehicle-road cooperative communication. For example, the detection device can also be installed in the cabin of a vehicle as a liveness detection device to detect and alert the user to children or pets left behind in the cabin. Furthermore, the detection device can also be applied to terminal devices or components installed in terminal devices, such as smartphones, smart home devices, smart manufacturing equipment, medical devices, industrial equipment, and robots. These will not be listed exhaustively here.

[0139] It should be noted that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application.

[0140] In addition, the above-mentioned application scenarios can be applied to fields such as autonomous driving, assisted driving, intelligent driving, autonomous driving, connected vehicles, optical communication, security monitoring, biomedicine, surveying and mapping (such as 3D mapping and remote sensing mapping), meteorological research, biomass and vegetation research, air quality monitoring, and aviation and aerospace applications.

[0141] Before introducing the solutions provided in the embodiments of this application, the structure of the detection device to which the receiving method provided in this application is applicable will be introduced first.

[0142] Referring to Figure 3, a schematic diagram of a detection component provided in this application is shown as an example. The detection device may include a transmitting module and a receiving module. Optionally, it may also include a processing module. The transmitting module includes a light source component, or may also include a transmitting optical system. Exemplarily, the light source component may be a light source array. The receiving module includes a detection component, or may also include a receiving optical system. For example, the transmitting and receiving optical systems may be lens systems. Taking a detection device including all the aforementioned components as an example, when the detection device is working, the light source component can emit a laser pulse signal (or light pulse) to the transmitting optical system. This light pulse is optically processed by the transmitting optical system and then transmitted to the detection space. If a target exists in the detection space, the target can reflect the received light beam back to the receiving optical system, which then transmits the returned light beam (also called an echo signal) to the detection component. The detection component can perform photoelectric conversion on the returned light beam to obtain an electrical signal, and can send this electrical signal to the processing module. The processing module can generate corresponding point cloud data based on the electrical signal and can perform target ranging. Optionally, the detection device may also include a scanning module. The scanning module uses laser pulses to traverse the detection area. The scanning module is not a necessary component, and is shown in a dashed box in Figure 3. The traversal function that the scanning module can achieve can essentially be realized through the array design within the transmitting and receiving modules.

[0143] The detection component comprises multiple detection units, which may include SPADs or SiPMs. For example, the detection component can employ a SPAD array, as shown in Figure 4. The light source array illuminates different portions of the array to achieve localized illumination for spatial scanning. The detection component uses laser emission to measure parameters of the corresponding SPAD in the detection area, such as time-of-flight, intensity, or reflectivity.

[0144] This application provides a receiving scheme applied to a detection component. The detection component includes at least one SPAD. By adjusting the PDE of the SPAD, the SPAD's PDE differs within the reception time of at least two optical pulse signals in a time slot. In other words, the SPAD's PDE changes within the reception time of at least two optical pulse signals in a time slot after adjustment. It is understood that the at least one SPAD is located within the detection region corresponding to the time slot. The presence of two or more PDE values ​​for the SPAD within a time slot allows the SPAD to distinguish changes in the intensity of the optical pulse signals, thereby improving detection performance.

[0145] The adjustment method of the detection component proposed in this application will be described in detail below with reference to the specific accompanying drawings.

[0146] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0147] Furthermore, in this application, shapes such as "straight line" and "curve" do not refer to absolute shapes, but can be approximate shapes, for example, with a certain deviation, but the deviation is controllable. Size relationships such as "greater than", "equal to", and "less than" do not refer to absolute size relationships, and a certain amount of engineering error is allowed.

[0148] This application provides a receiving method applicable to a detection component. The detection component includes a SPAD for detecting (or receiving) echo signals. Exemplarily, the detection component may also include a SPAD array, which consists of multiple SPADs. The SPAD receives the echo signal in at least one time slot. Optionally, the SPAD receives the echo signal in multiple consecutive time slots; this can be understood as the echo signal including optical pulse signals from multiple time slots.

[0149] Taking one time slot as an example, for ease of description, this time slot is referred to as the first time slot. The optical pulse signal of the first time slot is referred to as the first optical pulse signal. The echo signal includes at least multiple optical pulse signals from the first time slot. During the reception time of at least two of the multiple optical pulse signals in the first time slot, the PDE of the SPAD is different. This application, through the above scheme, ensures that the PDE of the SPAD has at least two values ​​within a time slot; that is, the PDE of the SPAD changes within a time slot, enabling the SPAD to distinguish changes in the intensity of the optical pulse signal within that time slot. Furthermore, since the SPAD distinguishes changes in the intensity of the optical pulse signal within that time slot, the reflectivity estimate of the detection component also changes, improving the accuracy of the reflectivity estimate and thus improving detection performance.

[0150] The reception time of an optical pulse signal can be understood as the time it takes to receive one optical pulse signal, that is, the time of one reception shot. One reception shot corresponds to one transmission shot.

[0151] It should be noted that the reception time of one optical pulse signal can be understood as the time to receive one shot. When the detection component includes a SPAD array, the PDE adjustment operation can be performed on each SPAD, or the PDE adjustment operation can be performed on a subset of SPADs.

[0152] In one possible implementation, the SPAD's PDE can be adjusted within the first time slot to ensure that the SPAD's PDE is different for at least two first optical pulse signals received within the first time slot. This can be understood as the SPAD receiving different PDEs for the at least two first optical pulse signals. Taking two first optical pulse signals as an example, namely first optical pulse signal 11 and second optical pulse signal 12, first optical pulse signal 11 corresponds to PDE1, and second optical pulse signal 12 corresponds to PDE2. PDE1 and PDE2 are different. The SPAD's PDE is PDE1 when receiving first optical pulse signal 11, and PDE is PDE2 when receiving second optical pulse signal 12.

[0153] In one possible implementation, the PDE of the SPAD can be adjusted within a time period of a time slot, so that the PDE of the SPAD changes continuously within that time period. In one example, taking the first time slot as an example, at least two first optical pulse signals in the first time slot are continuous optical pulse signals, and the change trend of the SPAD's PDE satisfies the target curve during the reception time of at least two first optical pulse signals.

[0154] The target curve can be a monotonically increasing function curve, a monotonically decreasing function curve, or a piecewise function curve. For example, it can include a first segment and a second segment, where the first segment is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, or vice versa. The target curve can be a straight line with a corresponding positive or negative slope, or it can be a curve.

[0155] For example, the target curve can include an exponential curve, a parabola, or a straight line, etc. The PDE of SPAD can be changed according to the required curve.

[0156] The following explanation uses an exponential curve as an example, but it also applies to other curve forms.

[0157] In one possible example, the target curve may include an exponential curve. The slope of an exponential curve can be positive or negative. The slope of an exponential curve can be understood as the slope of the tangent line at each point on the exponential curve. A positive slope of an exponential curve can also be described as indicating that the curve is a monotonically increasing function. A negative slope of an exponential curve can also be described as indicating that the curve is a monotonically decreasing function.

[0158] In another possible example, the target curve could be a piecewise curve. For instance, the target curve could consist of a first exponential curve and a second exponential curve. The slope of the first exponential curve is positive, and the slope of the second exponential curve is negative; or, the slope of the first exponential curve is negative, and the slope of the second exponential curve is positive.

[0159] In the above scheme, the PDE of SPAD changes according to an exponential curve, which makes the system response in an overdamped state. That is, the PDE of SPAD changes slowly, which can improve the stability of the system.

[0160] The following are examples of several possible variation curves.

[0161] Example 1: The target curve is an exponential curve with a positive slope. This can be understood as the slope of the exponential curve changing but always remaining positive. Therefore, the SPAD's PDE can be adjusted by gradually increasing the PDE according to this curve. For example, see Figure 5a. Figure 5a uses a single slot as an example. 300 shots are continuously transmitted in a slot. The SPAD's PDE is adjusted starting at the reception time of the 100th shot. Before adjustment, the SPAD's PDE is 0.05. The SPAD's PDE is slowly increased, and the adjustment is completed at the 250th shot, meaning the PDE has increased to the target value (or target PDE). Figure 5a uses a target value of 0.265 as an example.

[0162] The curves described above, employing a gradual increase in PDE, can enhance the proportion of PDE at higher positions. This improves SPAD sensitivity even in low-light environments, thereby enhancing detection performance.

[0163] Example 2: The target curve is an exponential curve with a negative slope. This can be understood as the slope of the target curve changing but always remaining negative. Therefore, the SPAD's PDE can be continuously adjusted according to this curve, decreasing from a large to a small value. For example, see Figure 5b. Figure 5b uses a single slot as an example. In a slot, 300 shots are continuously transmitted. The SPAD's PDE is adjusted starting at the reception time of the 150th shot. Before adjustment, the SPAD's PDE is 0.25. The SPAD's PDE is slowly decreased, and the adjustment is completed in the 300th shot, meaning the PDE is reduced to the target value. In Figure 5b, the target value is 0.04, as an example.

[0164] The above curves use a method of gradually reducing PDE, which can avoid SPAD saturation even in environments with strong ambient light, thereby improving detection performance.

[0165] Example 3: The target curve is a piecewise curve. The target curve includes exponential curve 1 and exponential curve 2. The slope of exponential curve 1 is negative, and the slope of exponential curve 2 is positive. Therefore, the PDE of the SPAD can be adjusted by first decreasing the PDE from large to small, and then increasing it from small to large, following this curve. For example, see Figure 5c. In Figure 5c, a single slot is used as an example. 300 shots are continuously transmitted in a slot. The SPAD PDE is adjusted starting at the reception time of the 150th shot. Before adjustment, the SPAD PDE is 0.25. The SPAD PDE is slowly decreased to 0.05. Then, starting at the reception time of the 200th shot, the SPAD PDE is slowly increased, and the adjustment to 0.25 is completed at the reception time of the 300th shot.

[0166] The above curves adopt a method of first slowly decreasing PDE and then increasing PDE. PDE has both increasing and decreasing processes. In the case of low ambient light, it can also improve the sensitivity of SPAD, and in the case of high ambient light, it can also avoid SPAD saturation, thereby improving detection performance.

[0167] Example 4: The target curve is a piecewise curve. The target curve includes exponential curve 3 and exponential curve 4. The slope of exponential curve 3 is positive, and the slope of exponential curve 4 is negative. Therefore, the PDE of the SPAD can be adjusted by first increasing the PDE from small to large, and then decreasing it from large to small, according to this curve. For example, see Figure 5d. In Figure 5d, a single slot is used as an example. 500 shots are continuously transmitted in a slot. The SPAD PDE is adjusted starting at the reception time of the 150th shot. The initial SPAD PDE is 0.05. The SPAD PDE is slowly increased to 0.25. Then, starting at the reception time of the 300th shot, the SPAD PDE is slowly decreased, and the adjustment to 0.05 is completed at the reception time of the 500th shot.

[0168] The above curves use a method of first slowly increasing PDE and then decreasing PDE. PDE has both increasing and decreasing processes. In low ambient light environments, this can improve the sensitivity of SPAD, and in high ambient light environments, it can avoid SPAD saturation, thereby improving detection performance.

[0169] As an example, see Figure 5e, which is a schematic diagram of a possible light intensity change provided by an embodiment of this application. During the reception time of multiple consecutive optical pulse signals in a time slot, the PDE of the SPAD changes continuously and satisfies a monotonic change curve, enabling the SPAD to distinguish large changes in the intensity of the optical pulse signal, as shown by the solid line in Figure 5e. The dashed line in Figure 5e is an effect diagram of the prior art solution, showing that the SPAD cannot quickly distinguish the intensity changes of the probe optical pulse signal.

[0170] In one possible implementation, in the embodiments of this application, the PDE change of two adjacent time slots is continuous, and there are no discrete PDE levels.

[0171] In one example, when the first and second time slots are adjacent, there is no discrete PDE level between them. In other words, the final PDE value in the first time slot is the same as the initial PDE value in the second time slot. Since using discrete PDE levels can lead to discontinuous dynamic responses in the system, i.e., oscillations, the above scheme, by eliminating discrete PDE levels between different time slots, ensures continuous system response and improves system stability.

[0172] In another example, the first time slot uses the target curve, while the second time slot remains unchanged. That is, the PDE value of the second time slot does not change, and the PDE value of the second time slot is the final PDE value of the change in the first time slot. This avoids adjusting the PDE in different time slots, eliminates the need to occupy the timing of multiple time slots, and reduces the timing complexity of the system.

[0173] In one possible implementation, the echo signal includes optical pulse signals in at least two time slots. Taking an echo signal comprising multiple first optical pulse signals in a first time slot and second optical pulse signals in a second time slot as an example, the PDE of the SPAD changes during the reception time of at least two of the multiple first optical pulse signals in the first time slot, and during the reception time of at least two of the multiple second optical pulse signals in the second time slot. The first and second time slots may be adjacent or non-adjacent.

[0174] For example, at least two first optical pulse signals can be continuous optical pulse signals, and at least two second optical pulse signals can be continuous optical pulse signals. Taking M1 continuous optical pulse signals as an example, the first time slot can include M2 ​​continuous optical pulse signals, where M2 is greater than or equal to M1. M1 is a positive integer greater than 1. Taking K1 continuous optical pulse signals as an example, the second time slot can include K2 continuous optical pulse signals, where K2 is greater than or equal to K1. K1 is a positive integer greater than 1. During the reception time of the M1 first optical pulse signals, the PDE change trend of the SPAD satisfies the first target curve, and the K1 first optical pulse signals are continuous optical pulse signals. During the reception time of the K1 second optical pulse signals, the PDE change trend of the SPAD satisfies the second target curve.

[0175] In one approach, the first target curve and the second target curve are the same. For example, both the first and second target curves are piecewise curves. See Figure 6, which uses the piecewise curves shown in Figure 5c as an example. Figure 6 uses an example where the first and second time slots are adjacent. Figure 6 also uses an exponential curve as an example.

[0176] In another approach, the first target curve and the second target curve are different. The difference between the first target curve and the second target curve can include one or more of the following:

[0177] (1) The start and end positions (or start and end times) of the first target curve in the first time slot are different from those of the second target curve in the second time slot. The start and end positions include the initial position and the final position. For example, the initial position of the first target curve in the first time slot is different from that of the second target curve in the second time slot. Another example is that the final position of the first target curve in the first time slot is different from that of the second target curve in the second time slot. Yet another example is that both the initial and final positions of the first target curve in the first time slot are different from those of the second target curve in the second time slot.

[0178] (2) The range of PDE of SPAD in the first target curve is different from the range of PDE of SPAD in the second target curve. For example, in the first target curve, the range of PDE of SPAD is [0.05, 0.25]; in the second target curve, the range of PDE of SPAD is [0.01, 0.26].

[0179] (3) The start and end positions (or start and end times) of the first target curve in the first time slot are different from those of the second target curve in the second time slot, and the range of the PDE of SPAD in the first target curve is different from that in the second target curve. It can also be described as the slope of the line connecting the highest and lowest points in the first target curve is different from that in the second target curve.

[0180] (4) The first target curve and the second target curve belong to different function curves. For example, the first target curve is a monotonically increasing function curve, and the second target curve is a monotonically decreasing function curve. Or, the first target curve is a monotonically decreasing function curve, and the second target curve is a monotonically increasing function curve. Or, the first target curve is a piecewise curve, and the second target curve is a non-piecewise curve.

[0181] In one possible implementation, the PDE variation trend of SPAD varies under different requirements. For example, the aforementioned requirements may include one or more of the following: requirements under different ambient light intensities, different ranging requirements, or different measurement angle requirements.

[0182] Next, let's take the first time slot corresponding to the first target curve and the second time slot corresponding to the second target curve as an example.

[0183] The following description is based on ambient light intensity: The following example uses exponential curves for both monotonically increasing and monotonically decreasing functions.

[0184] In one possible example, the ambient light intensity associated with the first time slot is higher than that associated with the second time slot.

[0185] Example 1:

[0186] If both the first target curve and the second target curve are monotonically increasing function curves, then the first target curve and the second target curve satisfy at least one of the following (1-1) and (1-2):

[0187] (1-1) The first target curve begins at the start of the first time slot earlier than the second target curve begins at the start of the second time slot. For example, referring to Figure 7A, in Figure 7A(a), the first target curve begins at the reception time of the 100th shot. In Figure 7A(b), the second target curve begins at the reception time of the 150th shot.

[0188] Because the ambient light intensity is high in the first time slot, and higher ambient light intensity results in higher noise floor for the detection components, the detection performance of the SPAD can be improved by increasing the proportion of high-order PDEs in a time slot compared to when the ambient light intensity is low. This allows for earlier raising of the PDEs when using a monotonically increasing function curve, thus maximizing the proportion of high-order PDEs in the SPAD.

[0189] (1-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve. For example, see Figure 7B. In Figure 7B(a), the maximum PDE value in the first target curve is 0.25, and the minimum value is 0.05. In Figure 7B(b), the maximum PDE value in the second target curve is 0.15, and the minimum value is 0.05.

[0190] When using a monotonically increasing function, the difference between the maximum and minimum values ​​of PDE is increased, meaning that the PDE of SPAD can be pulled to a higher value. This results in a higher increase in the PDE of SPAD under strong ambient light conditions compared to under weak ambient light conditions.

[0191] Example 2:

[0192] Both the first and second target curves are monotonically decreasing function curves. Therefore, the first and second target curves satisfy at least one of the following conditions (2-1) and (2-2):

[0193] (2-1) The first target curve starts later than the second target curve starts later than the first target curve starts in the second time slot.

[0194] For example, referring to Figure 7C, in Figure 7C(a), the start time of the first target curve is the reception time of the 200th shot. In Figure 7C(b), the start time of the second target curve is the reception time of the 100th shot.

[0195] Because the ambient light intensity is high in the first time slot, and high ambient light intensity results in higher noise floor for the detection components, the detection performance of the SPAD can be improved by increasing the proportion of the SPAD's PDE in the high-order bits within a time slot compared to when the ambient light intensity is low. Therefore, when using a monotonically decreasing function curve, the SPAD's PDE is lowered later to increase the proportion of the SPAD's PDE in the high-order bits.

[0196] (2-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve. For example, see Figure 7D. In Figure 7D(a), the maximum PDE value in the first target curve is 0.25, and the minimum value is 0.15. In Figure 7D(b), the maximum PDE value in the second target curve is 0.25, and the minimum value is 0.05.

[0197] When using a monotonically decreasing function curve, the difference between the maximum and minimum values ​​of PDE is reduced, meaning the reduction in PDE of SPAD is relatively small. This results in a lower reduction in PDE of SPAD under strong ambient light conditions compared to under weak ambient light conditions.

[0198] Example 3:

[0199] Both the first and second target curves are piecewise curves, where the first segment is a monotonically increasing function and the second segment is a monotonically decreasing function. Therefore, the first and second target curves satisfy at least one of the following conditions (3-1) and (3-2):

[0200] (3-1) The start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot. For example, referring to Figure 8A, in Figure 8A(a), the start time of the first target curve is the reception time of the 150th shot, and the end time is the reception time of the 500th shot. In Figure 8A(b), the start time of the second target curve is the reception time of the 150th shot, and the end time is the reception time of the 350th shot.

[0201] When using a monotonically increasing function curve followed by a monotonically decreasing function curve, and with a large start-end time difference, the high-order proportion of the PDE in SPAD is larger. Therefore, in strong ambient light, the start time difference of the PDE change is greater than that in weak ambient light.

[0202] (3-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve. For example, see Figure 8B. In Figure 8B(a), the minimum PDE value in the first target curve is 0.05, and the maximum value is 0.25. In Figure 8B(b), the minimum PDE value in the second target curve is 0.05, and the maximum value is 0.15.

[0203] When the above-mentioned case of first using a monotonically decreasing function curve and then using a monotonically decreasing function curve is adopted, the difference between the maximum and minimum values ​​of PDE is increased, that is, the value by which SPAD's PDE can be increased is larger. This makes the increase in SPAD's PDE greater under strong ambient light conditions than under weak ambient light conditions.

[0204] Example 4:

[0205] The first target curve and the second target curve are both piecewise curves. The first segment of the piecewise curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve. Then the first target curve and the second target curve satisfy at least one of the following (4-1) and (4-2):

[0206] (4-1) The start and end time difference of the first target curve in the first time slot is less than the start and end time difference of the second target curve in the second time slot.

[0207] For example, referring to Figure 8C, in Figure 8C(a), the start time of the first target curve is the reception time of the 150th shot, and the end time is the reception time of the 350th shot. In Figure 8C(b), the start time of the second target curve is the reception time of the 150th shot, and the end time is the reception time of the 500th shot.

[0208] When using a monotonically decreasing function curve followed by a monotonically increasing function curve, and with a small start-end time difference, the high-order proportion of the PDE in SPAD is larger. Therefore, under strong ambient light, the start time difference of the PDE change is smaller than the start-end time difference of the PDE change under weak ambient light.

[0209] (4-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve. For example, referring to Figure 8D, in Figure 8D(a), the maximum value of PDE in the first target curve is 0.25 and the minimum value is 0.15. In Figure 8D(b), the maximum value of PDE in the second target curve is 0.25 and the minimum value is 0.05.

[0210] When using a monotonically decreasing function curve followed by a monotonically increasing function curve, the difference between the maximum and minimum values ​​of PDE is reduced, meaning the reduction in PDE of SPAD is smaller. This results in a smaller reduction in PDE of SPAD under strong ambient light conditions compared to a smaller reduction under weak ambient light conditions.

[0211] The following discussion focuses on distance measurement requirements:

[0212] In one possible example, the measurement distance associated with the first time slot is higher than the measurement distance associated with the second time slot.

[0213] Example 5:

[0214] If both the first target curve and the second target curve are monotonically increasing function curves, then the first target curve and the second target curve satisfy at least one of the following (5-1) and (5-2):

[0215] (5-1) The first target curve starts earlier in the first time slot than the second target curve starts in the second time slot.

[0216] (5-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0217] Example 6:

[0218] If both the first and second target curves are monotonically decreasing function curves, then the first and second target curves must satisfy at least one of the following (6-1) and (6-2):

[0219] (6-1) The first target curve starts later than the second target curve starts later than the ....

[0220] (6-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0221] Example 7:

[0222] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the first target curve and the second target curve satisfy at least one of the following (7-1) and (7-2):

[0223] (7-1) The start and end time difference of the first target curve in the first time slot is greater than the start and end time difference of the second target curve in the second time slot.

[0224] (7-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0225] Example 8:

[0226] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the first target curve and the second target curve satisfy at least one of the following (8-1) and (8-2):

[0227] (8-1) The start and end time difference of the first target curve in the first time slot is less than the start and end time difference of the second target curve in the second time slot.

[0228] (8-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0229] Since the measurement distance requirement is relatively long in the first time slot, the SPAD is in a high position. The SPAD can distinguish changes in light intensity, but the SPAD also needs to change at a high position. Therefore, when the measurement distance requirement is long, compared with the measurement distance requirement being short, the detection performance of the SPAD can be improved by increasing the proportion of the PDE in a high position in a time slot.

[0230] The following is based on the measurement angle:

[0231] In one possible example, the measurement region associated with the first time slot is the edge region, and the measurement region associated with the second time slot is the center region.

[0232] Example 9:

[0233] If both the first target curve and the second target curve are monotonically increasing function curves, then the first target curve and the second target curve satisfy at least one of the following (9-1) and (9-2):

[0234] (9-1) The first target curve begins at the start of the first time slot earlier than the second target curve begins at the start of the second time slot.

[0235] (9-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0236] Example 10:

[0237] If both the first target curve and the second target curve are monotonically decreasing function curves, then the first target curve and the second target curve satisfy at least one of the following (10-1) and (10-2):

[0238] (10-1) The first target curve starts later than the second target curve starts later than the first ....

[0239] (10-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0240] Example 11:

[0241] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the first target curve and the second target curve satisfy at least one of the following (11-1) and (11-2):

[0242] (11-1) The start and end time difference of the first target curve in the first time slot is greater than the start and end time difference of the second target curve in the second time slot.

[0243] (11-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0244] Example 12:

[0245] If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the first target curve and the second target curve satisfy at least one of the following (12-1) and (12-2):

[0246] (12-1) The start and end time difference of the first target curve in the first time slot is less than the start and end time difference of the second target curve in the second time slot.

[0247] (12-2) The difference between the maximum and minimum values ​​of the PDE of SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of SPAD in the second target curve.

[0248] Since the first time slot is located in the edge region and the second time slot is located in the center region, the distance between the edge region and the center region is relatively far. If the SPAD is in a high position, the SPAD can distinguish the change in light intensity. However, the SPAD also needs to change in a high position. Therefore, when the measurement distance requirement is far, compared with the measurement distance requirement is short, the detection performance of the SPAD can be improved by increasing the proportion of the PDE in a high position in a time slot.

[0249] It should be understood that in actual implementation, there may be various requirements, such as ambient light intensity and ranging requirements. These can be combined in different ways to improve detection performance.

[0250] In one possible implementation, the target curve of the SPAD's PDE in this embodiment can span different time slots. Within the reception time of N consecutive optical pulses belonging to at least two time slots, the PDE change trend of the SPAD satisfies a third target curve; the N consecutive optical pulses belong to the at least two time slots, where N is an integer greater than 1. For example, taking the optical pulse signals in time slots 1 and 2 of the echo signal as an example, the third target curve occupies part of the reception time of the optical pulse signal in time slot 1 and part of the reception time of the optical pulse signal in time slot 2. Referring to Figure 9, the number of optical pulse signals in each time slot is 300. In Figure 9, the third target curve is a segmented curve as an example. In the third target curve, the PDE changes from the 250th optical pulse signal in time slot 1 to the 100th optical pulse signal in time slot 2.

[0251] In some possible implementations, the echo signal comprises optical pulse signals in q time slots. The PDE of the SPAD changes in all q1 time slots within these q time slots. q1 is less than q, and q1 is a positive integer greater than 1. There are multiple target curves for the SPAD's PDE in the q1 time slots. For example, referring to Figure 10, the number of optical pulse signals in each time slot is 400. Figure 10 uses four time slots as an example: time slot 1, time slot 2, time slot 3, and time slot 4. In time slot 1, the SPAD's PDE changes from the reception time of the 150th optical pulse signal to the reception time of the 400th optical pulse signal. In time slot 2, the SPAD's PDE does not change. In time slot 3, the SPAD's PDE changes from the reception time of the 1st optical pulse signal to the reception time of the 200th optical pulse signal, and then changes from the reception time of the 350th optical pulse signal to the reception time of the 200th optical pulse signal in time slot 4. In the above scheme, different curves are used in different time slots, employing a method of first slowly decreasing and then increasing the PDE. The PDE undergoes both increases and decreases, and the gradual change in PDE avoids SPAD saturation even in environments with strong ambient light. Furthermore, the scheme promptly pulls the PDE back to a higher level after decreasing it, preventing insufficient SPAD sensitivity caused by a persistently low PDE, thus improving detection performance. The final PDE value in time slot 2 is the same as that in time slot 1 after the PDE changes, avoiding the need to adjust the PDE in different time slots and eliminating the need to occupy multiple time slots, thereby reducing the system's timing complexity. Additionally, the continuous changes in time slots 3 and 4, without discrete PDE values, prevent discontinuous dynamic response of the system, thus improving the stability of the system response.

[0252] Referring to Figure 11A, a schematic diagram of a possible detection component provided in an embodiment of this application is shown. The detection component includes a SPAD and an adjustment unit (also called an adjustment circuit) to achieve different PDEs of the SPAD in a time slot. The adjustment unit is used to adjust the PDE of the SPAD to achieve the variation of the PDE of the SPAD in each of the above time slots. Referring to Figure 11B, a schematic flowchart of the detection method implemented by the detection component is shown. S1101, receiving an echo signal through the SPAD, the echo signal including multiple optical pulse signals located in the first time slot. S1102, adjusting the PDE of the SPAD; wherein, the multiple optical pulse signals in the first time slot include at least two first optical pulse signals, and the PDE of the SPAD is different during the reception time of at least two first optical pulses after adjustment.

[0253] Specifically, the adjustment unit adjusts the bias voltage across the SPAD to regulate the PDE. The specific principle is as described above and will not be repeated here.

[0254] In one possible implementation, the adjustment unit can employ an overdamped circuit. As an example, the overdamped circuit can be an RC circuit, as shown in Figure 12. The RC circuit in Figure 12 includes a resistor unit and a capacitor unit. The capacitor unit is connected in parallel with the SPAD. The adjustment unit also includes an adjustable voltage source. The resistor unit is connected in series between the adjustable voltage source and the SPAD. When the voltage of the adjustable voltage source changes, the capacitor unit undergoes a charging or discharging process, thereby causing a slow change in the bias voltage across the SPAD, and thus a slow change in the PDE of the SPAD.

[0255] Those skilled in the art will readily understand that the resistor unit and capacitor unit can be resistors and capacitors, or other devices that implement the functions of resistor units and capacitor units.

[0256] As another example, referring to Figure 13, the adjustment unit may include a resistor unit, a first capacitor unit, a second capacitor unit, and a switching unit. The switching unit is used to control the first capacitor unit and / or the parallel connection relationship between the first capacitor unit and the SPAD. The first capacitor unit and the second capacitor unit have different capacitances. By connecting capacitor units of different capacitances in parallel across the SPAD, the PDE variation curves of the SPAD with different start and end times can be realized. In some implementation scenarios, to realize more PDE variation curves of SPADs with different start and end times, multiple capacitor units of different capacitances can be connected in parallel across the SPAD.

[0257] It should be noted that the circuit configuration of the above-mentioned adjustment unit is only an example, and any circuit that can achieve the overdamped state is applicable to this application.

[0258] In another possible implementation, the adjustment unit can also be a variable voltage source, and the control unit can continuously change the variable voltage source to achieve the desired PDE curve of the SPAD.

[0259] In one possible implementation, the detection component also includes a control unit. The control unit controls the voltage of the voltage source. In some implementation scenarios, the PDE (Progressive Displacement) of the SPAD varies under different requirements. For example, these requirements may include one or more of the following: requirements under different ambient light intensities, different ranging requirements, or different measurement angle requirements. Based on this, the control unit can control the voltage of the voltage source according to one or more of the following: different ambient light intensities, ranging requirements, or measurement angles, to adjust the PDE of the SPAD. For example, it can control the timing and magnitude of voltage adjustment to ensure that the PDE of the SPAD conforms to the target curve. Exemplarily, the control unit can be a chip or circuit, such as a chip or circuit disposed within the detection component, or a chip or circuit disposed outside the detection component.

[0260] Based on the above methods, embodiments of this application also provide a control module, which can control the operation mode of the detection component, enabling the detection component to implement the above-described receiving method. In some embodiments, the function of the control unit can be implemented by the control module, i.e., the control unit is deployed in the control module. In other embodiments, as described above, the control unit is deployed within the detection component.

[0261] As shown in Figure 14, the control module 1400 may include a control unit 1410 and a transceiver unit 1420. The control unit 1410 is used to control the detection component to receive echo optical signals through the transceiver unit 1420. For example, the control unit 1410 can control the PDE change of the SPAD when receiving optical pulse signals. In some embodiments, the control unit 1410 controls the voltage change of the voltage source in the detection component.

[0262] For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application involved in the control module 1400, please refer to the descriptions of these contents in the foregoing methods or other embodiments, which will not be repeated here.

[0263] It should be understood that the division of units in the control module 1400 described above is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. This application does not impose any specific limitations on this. The functions of each unit in the control module 1400 can be referred to the implementation of the corresponding method embodiments, and will not be elaborated here.

[0264] In another possible implementation, please refer to Figure 15, which shows another possible structural schematic diagram of the control module. The control module 1500 can be a chip or a chip system. Optionally, the chip system can be composed of chips or may include chips and other discrete devices. As shown in Figure 15, the control module 1500 may include at least one processor 1510 and a memory 1520. At least one processor 1510 is coupled to the memory 1520, which may be located within or outside the control module 1500. The memory 1520 stores the computer programs or instructions necessary for implementing any of the above method embodiments. The at least one processor 1510 executes the computer programs or instructions stored in the memory 1520 to complete the control method in any of the above method embodiments.

[0265] The control module 1500 may also include a communication interface 1530, through which the control module 1500 can interact with other components, such as with a detection component. The communication interface 1530 can be a circuit, bus, transceiver, or any other device that can be used for information interaction, also known as a signal transceiver unit. When the control module 1500 is a chip-type device or circuit, the communication interface 1530 can also be an input / output circuit, capable of inputting data (or receiving data) and outputting data (or sending data). At least one processor 1510 is an integrated processor, microprocessor, or integrated circuit, and at least one processor 1510 can determine the output data based on the input data.

[0266] In the control module 1500, at least one processor 1510 can acquire computer programs or instructions stored in the memory 1520 and control the detection component to receive echo optical signals through the communication interface 1530.

[0267] The processor 1510 described above can be a general-purpose processor, digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, and can implement or execute the methods, steps, and logic block diagrams disclosed in this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0268] The aforementioned memory 1520 can be non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). Memory can also be any other medium capable of carrying or storing desired program code in the form of instructions or data structures, and accessible by a computer, but is not limited thereto. The memory 1520 in this application can also be a circuit or any other device capable of implementing storage functions for storing computer programs, computer program or instruction and / or data.

[0269] For the concepts, explanations, detailed descriptions, and other steps related to the technical solutions provided in the embodiments of this application involved in the control module 1500, please refer to the descriptions of these contents in the foregoing methods or other embodiments, which will not be repeated here.

[0270] Based on the above description, this application may also provide a detection device. This detection device may include the detection components in any of the foregoing embodiments, such as the detection components shown in Figures 3-4 and 11A-13, which can be used to implement the receiving method described in any of the foregoing embodiments. And / or, the detection device may include a control module as shown in Figure 14 or 15. The detection device may, for example, be a lidar.

[0271] In one possible implementation, referring to Figure 3 above, the detection device may also include a transmitting module, which may include a light source assembly for emitting a light beam, such as a line beam.

[0272] Optionally, the light source assembly may include a light source array, which includes multiple sub-light sources. The multiple sub-light sources can form a rectangular array with multiple rows and columns, a horizontal linear array with one row and multiple columns, or a vertical linear array with one column and multiple rows. The sub-light sources in the light source array can be, for example, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), diode-pumped solid-state lasers (DPSSs), or fiber lasers.

[0273] Furthermore, optionally, the light source assembly can emit a light beam under the control of the control module. For example, the control module can control the light source assembly to emit a light beam according to an electrical scanning method. Electrical scanning refers to a light emission control method for an array light source, where the selection of different working areas is determined by the injection timing and direction of the driving current and the addressing control logic, without the need for any mechanical scanning components. In the electrical scanning method, the light source array in the light source assembly can support independent addressing, meaning that the sub-light sources in the light source array can be independently selected (or turned on, powered, or illuminated). For example, the control module can drive the selected sub-light source to emit a light beam by inputting a driving current to it.

[0274] It should be noted that the shape of the beam emitted by the light source array is related to the selected sub-light sources. For example, when selecting sub-light sources row by row, the light source assembly can emit a horizontal line beam; when selecting sub-light sources column by column, the light source assembly can emit a vertical line beam; and when selecting sub-light sources diagonally, the light source assembly can emit an oblique line beam. Furthermore, a sub-light source can include one laser or multiple lasers. For example, taking VCSELs as the laser, a sub-light source in a lidar system typically includes multiple VCSELs, such as four VCSELs.

[0275] In a further possible implementation, referring to Figure 3 above, the transmitting module may also include a transmitting optical system. This system can be used to optically process the beam emitted by the light source assembly and transmit the optically processed beam to the detection space. The optical processing may include, but is not limited to, collimation, beam expansion, and energy modulation. For example, the transmitting optical system can collimate and / or expand and / or modulate the energy distribution in angular space of the received beam, and can transmit the collimated and / or expanded and / or modulated beam to the detection space.

[0276] It should be noted that the structure of the transmitting optical system can be a structure that can collimate and / or expand and / or modulate the beam. For example, it can be composed of multiple optical fibers and collimating lenses, or it can be a microlens array, or it can be a micro-optical system attached to the surface of the light source component. No specific limitation is made here.

[0277] In one possible implementation, referring to Figure 3 above, the detection device may further include a receiving module, which includes the aforementioned detection components and a receiving optical system for transmitting the echo signal from the target to the detection components. The receiving optical system typically uses the same optical lens as the transmitting optical components, and the lens itself is based on a rotationally symmetric imaging optical design. This facilitates reducing the cost of the detection device, increasing the reusability of optical components, and simplifying the assembly and adjustment of the detection device.

[0278] In one possible implementation, referring to Figure 3 above, the detection device may further include a processing module, which can be used to receive electrical signals from the detection component, generate corresponding point cloud data based on the electrical signals, and determine the associated information of the target.

[0279] For example, when the detection device is installed in a vehicle, the processing module can acquire the vehicle's latitude and longitude, speed, orientation, or related information (such as target distance, target speed, and / or target attitude) of targets within a certain range (e.g., other vehicles, pedestrians, or obstacles) in real time or periodically. Further, optionally, the processing module can also send this acquired information to the vehicle's control devices, enabling the control devices to perform path planning, braking, or starting based on this information. For example, latitude and longitude can be used to determine the vehicle's position, or speed and orientation can be used to determine the vehicle's future direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, it can be combined with the functions of an advanced driving assistance system (ADAS) to achieve assisted driving or autonomous driving.

[0280] For example, a processing module can be a circuit with signal (or data) processing capabilities. In one implementation, the processing module can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP). In another implementation, the processing module can achieve certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processing module can be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processing module loading a configuration document and configuring the hardware circuit can be understood as the process of the processing module loading instructions to achieve the functions of some or all of the above units. Furthermore, processing modules can also be hardware circuits designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. They can also be application processors (APs), image signal processors (ISPs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Different processing modules can be independent devices or integrated into one or more processors.

[0281] It should be noted that the detection device architecture shown in Figure 3 is only an example. In other examples, the detection device may include more, fewer, or different structures, and each structure may include more, fewer, or different components. The components shown or not shown may be combined or divided in any way, and this application does not make any specific limitations in this regard.

[0282] Based on the structure and functional principles of the detection device described above, this application can also provide a terminal device. This terminal device may include any of the detection devices described above, such as the detection device shown in Figure 3.

[0283] For example, the terminal device may be a vehicle (e.g., driverless car, smart car, electric car, or digital car), robot, surveying equipment, drone, smart home device (e.g., television, robot vacuum cleaner, smart lamp, audio system, smart lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance), smart manufacturing equipment (e.g., industrial equipment), smart transportation equipment (e.g., AGV, driverless vehicle, or truck), or smart terminal (mobile phone, computer, tablet, PDA, desktop computer, headphones, audio equipment, wearable device, in-vehicle device, virtual reality device, augmented reality device, etc.).

[0284] Based on the foregoing, this application also provides a chip, which includes at least one processor and interface circuitry. Further, optionally, the chip may also include a memory, wherein the processor is used to execute computer programs or instructions stored in the memory, causing the chip to perform the receiving method described in any of the above embodiments.

[0285] Based on the foregoing, this application also provides a computer-readable storage medium storing a program or instructions that, when executed by a control module, cause the control module to perform the receiving method described in any of the above embodiments.

[0286] Based on the foregoing, this application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to perform the receiving method described in any of the above embodiments.

[0287] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the scope of the embodiments of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A receiving method, characterized in that, Applied to a detection component, the detection component including a single-photon avalanche diode (SPAD), the method includes: The SPAD receives an echo signal, which includes multiple optical pulse signals in a first time slot. The plurality of optical pulse signals include at least two first optical pulse signals, and the photon detection efficiency (PDE) of the SPAD is different during the reception time of the at least two first optical pulse signals.

2. The method as described in claim 1, characterized in that, The at least two first optical pulse signals are continuous optical pulse signals, and the PDE variation trend of the SPAD satisfies the first target curve.

3. The method as described in claim 2, characterized in that, The first target curve is either a monotonically increasing function curve or a monotonically decreasing function curve.

4. The method as described in claim 2, characterized in that, The first target curve includes a piecewise curve, which includes a first segment curve and a second segment curve. The first segment curve is a monotonically increasing function curve, and the second segment curve is a monotonically decreasing function curve, or the first segment curve is a monotonically decreasing function curve, and the second segment curve is a monotonically increasing function curve.

5. The method as described in claim 3 or 4, characterized in that, The monotonically increasing function curve is an exponential curve, and / or the monotonically decreasing function curve is an exponential curve.

6. The method according to any one of claims 2-5, characterized in that, The echo signal also includes multiple second optical pulse signals in the second time slot; the PDE change trend of the SPAD satisfies the second target curve within the reception time of at least two second optical pulse signals, and the at least two second optical pulse signals are continuous optical pulse signals.

7. The method as described in claim 6, characterized in that, The start and end times of the first target curve in the first time slot are different from the start and end times of the second target curve in the second time slot; and / or, The range of PDE for SPAD in the first target curve is different from the range of PDE for SPAD in the second target curve.

8. The method as described in claim 7, characterized in that, The ambient light intensity associated with the first time slot is different from the ambient light intensity associated with the second time slot; or, The ranging requirements of the SPAD differ in the first time slot and in the second time slot; or, The angle measured by the detection component in the first time slot is different from that in the second time slot.

9. The method as described in claim 8, characterized in that, The ambient light intensity associated with the first time slot is higher than the ambient light intensity associated with the second time slot. If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

10. The method as described in claim 8, characterized in that, The measurement distance associated with the first time slot is greater than the measurement distance associated with the second time slot; If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve. or, If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

11. The method as described in claim 8, characterized in that, The measurement region associated with the first time slot is the edge region, and the measurement region associated with the second time slot is the center region; If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve. or, If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

12. The method according to any one of claims 2-11, characterized in that, The echo signal includes multiple optical pulse signals belonging to at least two time slots, the at least two time slots including the first time slot; During the reception time of N consecutive optical pulse signals, the PDE variation trend of the SPAD satisfies the third target curve; the continuous N consecutive optical pulse signals belong to the at least two time slots, where N is an integer greater than 1.

13. A detection component, characterized in that, include: A single-photon avalanche diode (SPAD) is used to receive echo signals, the echo signals comprising multiple optical pulse signals located in a first time slot; An adjustment unit is used to adjust the PDE of the SPAD; the plurality of optical pulse signals include at least two first optical pulse signals, wherein the adjusted photon detection efficiency (PDE) of the SPAD is different during the reception time of the at least two first optical pulse signals.

14. The detection component as claimed in claim 13, characterized in that, The at least two first optical pulse signals are continuous optical pulse signals, and the PDE variation trend of the SPAD satisfies the first target curve.

15. The detection component as claimed in claim 14, characterized in that, The first target curve is either a monotonically increasing function curve or a monotonically decreasing function curve.

16. The detection component as claimed in claim 14, characterized in that, The first target curve includes a piecewise curve, which includes a first segment curve and a second segment curve. The first segment curve is a monotonically increasing function curve, and the second segment curve is a monotonically decreasing function curve, or the first segment curve is a monotonically decreasing function curve, and the second segment curve is a monotonically increasing function curve.

17. The detection component as described in claim 15 or 16, characterized in that, The monotonically increasing function curve is an exponential curve, and / or the monotonically decreasing function curve is an exponential curve.

18. The detection component as claimed in claim 17, characterized in that, The adjustment unit includes an overdamped circuit.

19. The detection component according to any one of claims 15-18, characterized in that, The echo signal also includes multiple second optical pulse signals in the second time slot; The PDE variation trend of the SPAD satisfies the second target curve within the reception time of at least two second optical pulse signals, wherein the at least two second optical pulse signals are continuous optical pulse signals.

20. The detection component as claimed in claim 19, characterized in that, The start and end times of the first target curve in the first time slot are different from the start and end times of the second target curve in the second time slot; and / or, The range of PDE of SPAD in the first target curve is different from the range of PDE of SPAD in the second target orientation.

21. The detection component as claimed in claim 20, characterized in that, The ambient light intensity associated with the first time slot is different from the ambient light intensity associated with the second time slot; or, The ranging requirements of the detection component differ in the first time slot and in the second time slot; or, The angle measured by the detection component in the first time slot is different from that in the second time slot.

22. The detection component as claimed in claim 20, characterized in that, The ambient light intensity associated with the first time slot is higher than the ambient light intensity associated with the second time slot. If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, then the first segment of the piecewise curve is a monotonically increasing function. If the curve and the second curve are monotonically decreasing function curves, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

23. The detection component as claimed in claim 21, characterized in that, The measurement distance associated with the first time slot is greater than the measurement distance associated with the second time slot; If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve. or, If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

24. The detection component as claimed in claim 21, characterized in that, The measurement region associated with the first time slot is the edge region, and the measurement region associated with the second time slot is the center region; If both the first target curve and the second target curve are monotonically increasing function curves, then the start time of the first target curve in the first time slot is earlier than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve. or, If both the first target curve and the second target curve are monotonically decreasing function curves, then the start time of the first target curve in the first time slot is later than the start time of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are piecewise curves, and the first segment of the piecewise curve is a monotonically increasing function curve and the second segment is a monotonically decreasing function curve, then the start-end time difference of the first target curve in the first time slot is greater than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is greater than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve; or... If both the first target curve and the second target curve are segmented curves, and the first segment of the segmented curve is a monotonically decreasing function curve and the second segment is a monotonically increasing function curve, then the start-end time difference of the first target curve in the first time slot is less than the start-end time difference of the second target curve in the second time slot; and / or, the difference between the maximum and minimum values ​​of the PDE of the SPAD in the first target curve is less than the difference between the maximum and minimum values ​​of the PDE of the SPAD in the second target curve.

25. The detection component according to any one of claims 15-24, characterized in that, The echo signal includes multiple optical pulse signals belonging to at least two time slots, the at least two time slots including the first time slot; During the reception time of N consecutive optical pulse signals, the PDE change trend of the SPAD satisfies the third target curve; the N consecutive optical pulse signals belong to the at least two time slots.

26. A detection device, characterized in that, Includes the detection component as described in any one of claims 13-25.

27. A terminal device, characterized in that, Includes the detection device as described in claim 26.

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