Master-slave VCSEL array light source module and self-checking switching method thereof

Abstract

The application provides a master and standby VCSEL array light source module and a self-checking switching method thereof, and relates to the technical field of semiconductor lasers. The module comprises a master VCSEL array light source which emits laser radar detection light through an emission optical assembly and an emission window; a standby VCSEL array light source which is connected to the emission optical assembly through a standby coupling light path and emits laser radar detection light through the same emission window. A sampling detection unit samples and detects the standby output light in the standby coupling light path. A control unit drives the standby VCSEL array light source to emit test light when the standby VCSEL array light source does not take over the emission, and judges whether the standby VCSEL array light source meets the takeover condition according to the detection result; when the master VCSEL array light source meets the abnormal condition and the standby VCSEL array light source meets the takeover condition, the control unit controls the standby VCSEL array light source to take over the emission. Therefore, the takeover reliability can be improved without increasing an independent emission window.

Description

Technical Field

[0001] This application relates to the field of semiconductor laser technology, and more specifically, to a primary / backup VCSEL array light source module and its self-test switching method. Background Technology

[0002] LiDAR typically emits detection light through a vertical-cavity surface-emitting laser (VCSEL) array, emitting optics, and an emission window, and acquires the echo signal at a receiver to achieve ranging or environmental perception. With increasing demands for reliability, package size, and long-term stability in automotive LiDAR, the failure, degradation, or aberration of the emitting light source can lead to detection interruptions. Therefore, introducing a backup light source at the transmitter to improve system redundancy is a practical necessity.

[0003] However, configuring separate emitting optics and output windows for the backup light source increases the package size of the emitting module, the external window area, the complexity of optical path assembly and adjustment, and the difficulty of calibrating the emission path, which is detrimental to the miniaturization and consistency control of automotive LiDAR. Furthermore, the backup VCSEL array light source is typically in an unattended state for extended periods, and its luminous capability, response status, and output status after propagation through the backup optical path may change due to device aging, temperature variations, package contamination, or optical path misalignment. If the primary VCSEL array light source fails to switch directly to the backup VCSEL array light source, the unknown status of the backup light source may lead to takeover failure, insufficient output, or abnormal detection output after takeover.

[0004] Therefore, there is an urgent need for a technical solution that can reduce the risk of unknown takeover status caused by the backup VCSEL array being in an unattended state for a long time, and improve the reliability of backup light source takeover when the main VCSEL array is abnormal, without increasing the external emission window and independent emission optical channel of the lidar. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application provides a primary / backup VCSEL array light source module and its self-testing switching method.

[0006] In the first aspect, this application discloses a primary and backup VCSEL array light source module, including: Emitting optical components and light-emitting window; The main VCSEL array light source is configured to emit lidar detection light through the emitting optical components and the light-emitting window; A backup VCSEL array light source is configured to be connected to the transmitting optical component via a backup coupling optical path and to emit the lidar detection light through the same light output window; The sampling and detection unit is configured to sample and detect the backup output light in the backup coupled optical path; and The control unit is configured to drive the backup VCSEL array light source to emit test light when the backup VCSEL array light source is not in operation, and to determine whether the backup VCSEL array light source meets the takeover conditions based on the detection results of the sampling detection unit; and When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, the backup VCSEL array light source is controlled to take over the emission of the lidar detection light through the emitting optical component and the same light output window.

[0007] Optionally, the backup coupling optical path includes at least one folding optics and a sampling beam splitter; The sampling beam splitter is configured to split the backup output light in the backup coupling optical path into a sampling light and a backup emission light, and the at least one folding optical element is configured to guide the backup emission light to the emission optical component; The sampling and detection unit includes a monitoring photodiode that receives the sampling light.

[0008] Optionally, the at least one folding optical element includes a first folding optical element and a second folding optical element; The first refracting optics is configured to refract the output light of the backup VCSEL array light source to the sampling beam splitter; The second refracting optics is configured to refract the spare emitted light to the emitted optics assembly.

[0009] Optionally, the test light is generated by a low duty cycle test drive signal applied to the backup VCSEL array light source; The control unit is configured to generate a takeover status of the backup VCSEL array light source based on the detection results obtained by the sampling and detection unit, and to determine whether the backup VCSEL array light source meets the takeover conditions based on the takeover status. The detection result includes a self-test response feature obtained based on the test light, wherein the self-test response feature includes at least one of a light output response feature and a timing response feature.

[0010] Optionally, the control unit is configured to determine the primary health status based on the primary operating status parameters of the primary VCSEL array light source and / or the detection quality parameters of the lidar, and adjust the sampling detection frequency of the backup VCSEL array light source based on the primary health status. The control unit is also configured to apply a preheating drive signal to the backup VCSEL array light source when the primary health state meets the pre-takeover conditions but has not yet met the abnormal conditions, and to determine the takeover drive parameters of the backup VCSEL array light source based on the detection results of the sampling detection unit and the target emission parameters. The takeover driving parameters are used to ensure that the lidar detection light output by the backup VCSEL array light source through the emitting optical component and the light output window when it takes over the emission is matched with the output light parameters when the main VCSEL array light source normally emits the lidar detection light.

[0011] Optionally, the backup VCSEL array light source includes multiple sub-arrays; The control unit is configured to drive the plurality of sub-arrays to emit test light respectively, and to determine the availability status of the partition based on the detection results corresponding to each sub-array; When the partition availability status indicates that some subarrays do not meet the partition takeover conditions and the remaining subarrays meet the minimum emission conditions, the backup VCSEL array light source is controlled to take over the emission in a degraded emission mode.

[0012] Optionally, a light-shielding isolation structure is also included, which is disposed between the primary VCSEL array light source and the backup VCSEL array light source, and / or disposed between the sampling detection unit and the emission optical path of the primary VCSEL array light source.

[0013] Secondly, this application discloses a self-test switching method for the primary / standby VCSEL array light source module described in any of the first aspects above, comprising: When the backup VCSEL array light source is not in charge of emission, the backup VCSEL array light source is driven to emit test light, and the backup output light in the backup coupled optical path is sampled and detected by the sampling and detection unit to obtain the detection result; Based on the test results, determine whether the backup VCSEL array light source meets the takeover conditions; When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, the takeover emission configuration is determined. According to the aforementioned takeover and emission configuration, the backup VCSEL array light source is controlled to access the emission optical component via the backup coupling optical path, and the emission of the lidar detection light is taken over through the same light output window.

[0014] Optionally, determining the takeover launch configuration includes: When the primary VCSEL array light source meets the degradation anomaly condition and the backup VCSEL array light source meets the takeover condition, a takeover transition period is determined, which includes a plurality of takeover frames arranged in sequence. Determine the transmission configuration sequence corresponding to the plurality of takeover frames, wherein each takeover frame transmission configuration in the transmission configuration sequence includes a primary transmission share and a backup transmission share; In this context, along the frame order of the plurality of takeover frames, the primary transmission share does not increase and the backup transmission share does not decrease, and the total transmission output formed by the primary transmission share and the backup transmission share in each takeover frame is within the target detection output range; During the takeover transition period, the primary VCSEL array light source and the backup VCSEL array light source are driven to emit light through the emitting optics and the same light-emitting window according to the emission configuration sequence.

[0015] Optionally, during the takeover transition period, at least one takeover frame includes a primary transmission period and a backup transmission period; The primary VCSEL array light source emits primary probe light during the primary emission period, and the backup VCSEL array light source emits backup verification light during the backup emission period; The lidar receiver obtains the primary echo according to the primary transmission period and the backup echo according to the backup transmission period; Based on the backup echo, a detection-level verification result of the backup VCSEL array light source is generated, and the termination of the takeover transition period is determined based on the detection-level verification result.

[0016] Optionally, determining the transmission configuration sequence corresponding to the plurality of takeover frames includes: The target detection output range is determined based on the historical emission parameters of the main VCSEL array light source during a preset period before the abnormal conditions are met. Based on the sampling and detection results of the backup VCSEL array light source and the optical path loss calibration information of the backup coupled optical path, the backup emission share in the emission configuration sequence is determined; Based on the target detection output range and the reserve launch share, the primary launch share in the launch configuration sequence is determined.

[0017] Optionally, when the detection level verification result does not meet the detection level takeover conditions, a fallback frame transmission configuration is determined; The rollback frame transmission configuration includes a rollback primary transmission share and a rollback backup transmission share, wherein the rollback primary transmission share is greater than the rollback backup transmission share, and the total rollback transmission output formed by the rollback primary transmission share and the rollback backup transmission share is within the target detection output range.

[0018] Compared with existing technologies, this application enables the backup VCSEL array light source to access the transmitting optical component via a backup coupling optical path and emit lidar detection light through the same output window. This allows the backup light source to reuse the transmitting optical component and external output path corresponding to the primary light source, thereby reducing the increase in packaging volume, window area, and optical path calibration complexity caused by setting up an independent backup transmission channel. Furthermore, the sampling and detection unit samples and detects the backup output light in the backup coupling optical path. The control unit drives the backup VCSEL array light source to emit test light when it is not in charge of transmission, and determines whether the backup VCSEL array light source meets the takeover conditions based on the sampling and detection results. This allows the backup light source to complete availability confirmation before officially assuming lidar detection light transmission. When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, the backup VCSEL array light source is then controlled to take over transmission through the same transmitting optical component and the same output window. This reduces the risk of blind switching due to unknown status of the cold backup light source, improves the reliability of backup light source takeover when the primary light source is abnormal, and enhances the operational continuity of the lidar transmitter. Attached Figure Description

[0019] Figure 1 A schematic diagram of a primary and backup VCSEL array light source module provided in this application embodiment; Figure 2 A flowchart of a self-test switching method provided in an embodiment of this application; Figure 3 A flowchart illustrating a method for determining a takeover launch configuration is provided in an embodiment of this application; Figure 4 This is a flowchart illustrating a method for determining a launch configuration sequence, as provided in an embodiment of this application.

[0020] Figure label: 1. Main VCSEL array light source; 2. Backup VCSEL array light source; 3. First reflector; 4. Beam splitter; 5. Second reflector; 6. Emitting optical components; 7. Light emission window; 8. Main emitting optical path; 9. Backup coupling optical path; 10. Sampling optical path; 11. Monitoring photodiode; 12. Light-shielding isolation wall; 13. Packaging support platform; 14. Packaging base. Detailed Implementation

[0021] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0022] exist Figure 1 In the illustrated embodiment, the first folding optics can be specifically implemented as a first reflecting mirror 3, the sampling beam splitter can be specifically implemented as a beam splitter 4, the second folding optics can be specifically implemented as a second reflecting mirror 5, and the light-shielding isolation structure can be specifically implemented as a light-shielding isolation wall 12. The backup coupling optical path 9 can include the light propagation path formed by the first folding optics, the sampling beam splitter, and the second folding optics, and the sampling optical path 10 can be the light propagation path of the sampled light split by the sampling beam splitter to the monitoring photodiode 11.

[0023] The packaging base 14 can be a ceramic substrate, metal substrate, aluminum nitride substrate, alumina substrate, silicon-based optical platform, printed circuit board, or other base structure suitable for packaging automotive LiDAR light sources. The packaging base 14 is used to support the main VCSEL array light source 1, the backup VCSEL array light source 2, the monitoring photodiode 11, and related micro-optical components. Considering that automotive LiDAR operates under high and low temperature cycling, mechanical vibration, and long-term pulse drive environments, the packaging base 14 preferably has good mechanical strength, dimensional stability, and thermal conductivity.

[0024] The packaging support platform 13 can be disposed on the packaging base 14 to provide a mounting reference for the main VCSEL array light source 1, the backup VCSEL array light source 2, the first reflector 3, the beam splitter 4, the second reflector 5, and the monitoring photodiode 11. The packaging support platform 13 can be formed with positioning grooves, limiting steps, bonding areas, soldering areas, or micro-optical component mounting surfaces to improve the relative positional accuracy between the optical components. For the automotive lidar light source module, the angular and positional stability of the first reflector 3, the beam splitter 4, and the second reflector 5 have a significant impact on the coupling efficiency of the backup coupling optical path 9. Therefore, fixing the above components by the packaging support platform 13 helps to improve the optical path stability of the module in a vibration environment.

[0025] In this application, the backup coupling optical path refers to the optical propagation path that the output light from the backup VCSEL array light source travels before reaching the emitting optical component. The backup coupling optical path may include at least one folding optics and a sampling beam splitter, and may also include an optical support, positioning structure, or internal reflection structure for defining, supporting, or calibrating the optical propagation path. Figure 1The backup coupling optical path 9 shown is an exemplary implementation, which includes a light propagation path defined by the first reflector 3, the beam splitter 4, and the second reflector 5. The backup output light refers to the light output from the backup VCSEL array light source 2 in the test state, preheating state, or takeover state and entering the backup coupling optical path 9.

[0026] In this application, the folding optics are used to change the propagation direction of the backup output light, so that the backup output light can be guided to the emitting optics 6 within a limited package space. The folding optics can be a mirror, a microprism, an inclined reflective surface, a coated reflective sheet, a metal reflective surface, a dielectric film reflective surface, or a reflective structure formed on the package support platform. Figure 1 In this application, the first folding optical element is specifically the first reflecting mirror 3, and the second folding optical element is specifically the second reflecting mirror 5. However, this application does not limit the folding optical element to be in the form of a plane reflecting mirror.

[0027] In this application, a sampling beam splitter is used to separate sample light from the backup output light in the backup coupling optical path 9, and to allow another portion of the backup output light to continue entering the emitting optical assembly 6 as backup emission light. The sampling beam splitter can be a beam splitter, a semi-transparent and semi-reflective beam splitter, a partially reflective sampling mirror, a dielectric film beam splitter, a coated glass plate, or a beam splitter prism. The sampling detection unit is used to detect the sample light. The sampling detection unit can include the sampling beam splitter and a monitoring photodiode 11, and may also include a sampling circuit, an amplification circuit, an analog-to-digital conversion circuit, or a signal processing circuit connected to the monitoring photodiode 11.

[0028] The primary VCSEL array light source 1 is used to emit lidar detection light under normal detection conditions. The primary VCSEL array light source 1 may include multiple VCSEL emitting units. These multiple VCSEL emitting units can be arranged in a row-column matrix, such as 3×3, 4×4, 8×8, 16×16, or other array sizes; they can also be arranged in a strip array, ring array, partitioned array, or multi-subarray configuration. Each VCSEL emitting unit can emit light simultaneously, or they can be grouped to emit light according to lidar scanning, partitioned illumination, or multi-area detection requirements.

[0029] In one embodiment, multiple VCSEL emitting units of the primary VCSEL array light source 1 are disposed on the same VCSEL array chip, and each VCSEL emitting unit has a corresponding emitting aperture, mesa structure, upper electrode, or local contact layer. The primary VCSEL array light source 1 can emit lidar detection light in a pulse-driven manner, and the pulse width, peak current, repetition frequency, and emitting area can be set according to the lidar ranging distance and field of view requirements. The emission wavelength of the primary VCSEL array light source 1 can be from 850nm to 980nm, preferably 905nm or 940nm. For automotive lidar, the 940nm VCSEL array light source has good application adaptability in ToF ranging and 3D perception applications; 905nm can also be used as one of the common near-infrared bands for automotive lidar.

[0030] The emitting optical component 6 is disposed on the light-emitting side of the main VCSEL array light source 1. The emitting optical component 6 may include a collimating lens, a projection lens, a beam expander, a microlens array, a diffuser, a DOE diffractive optical element, a beam shaper, or a combination thereof. The emitting optical component 6 is used to convert the diverging beam output from the main VCSEL array light source 1 into an output beam suitable for lidar detection.

[0031] For example, the emitting optical component 6 can be used to reduce the divergence angle, adjust the field of view, form linear light spots, planar illumination areas, or structured projection patterns.

[0032] The light-emitting window 7 is located on the light-emitting side of the emitting optical component 6. The light-emitting window 7 can be a transparent glass window, a plastic window, a filter window, or a protective window with a coating. The light-emitting window 7 protects the VCSEL array light source and optical components inside the package, while allowing the lidar detection light to be emitted outwards. The light-emitting window 7 can be coated with an anti-reflective film, a narrow-band filter film, an anti-fouling film, or a hydrophobic and oleophobic coating to improve optical stability in automotive environments.

[0033] Under normal detection conditions, the primary VCSEL array light source 1 is driven to emit light, and its output light enters the emitting optical component 6 along the primary emission optical path 8 and is emitted towards the target area outside the vehicle through the light exit window 7. The primary emission optical path 8 is preferably a relatively short optical path with few deflections, thus having low optical loss and high coupling stability during normal operation.

[0034] The backup VCSEL array light source 2 is spaced apart from the main VCSEL array light source 1. The backup VCSEL array light source 2 can be positioned to one side of the main VCSEL array light source 1 and mounted together on the packaging base 14. The backup VCSEL array light source 2 can have the same array size and emission wavelength as the main VCSEL array light source 1 to maintain consistency of the lidar's emitted light parameters during takeover. The backup VCSEL array light source 2 can also be designed to compensate for optical path losses, for example, by setting a higher peak drive capability or a larger number of light-emitting units.

[0035] A first reflector 3 is provided on the light-emitting side of the backup VCSEL array light source 2. The backup VCSEL array light source 2 can be a surface-emitting structure, and its output light is emitted in a generally vertical direction. The first reflector 3 is inclined relative to the light-emitting direction of the backup VCSEL array light source 2. In a specific embodiment, the first reflector 3 is a 45° reflector, used to refract the vertically emitted light from the backup VCSEL array light source 2 into light that propagates in a horizontal direction. The first reflector 3 can be a metal reflector, a dielectric film reflector, a microprism, or an inclined reflective surface formed on a support. To reduce light loss, a high-reflectivity film can be provided on the reflective surface of the first reflector 3.

[0036] A beam splitter 4 is disposed on the reflected light path of the first reflecting mirror 3. The beam splitter 4 can be a semi-transparent and semi-reflective beam splitter, a partially reflective sampling mirror, a dielectric film beam splitter, or a beam splitting prism. The output light from the backup VCSEL array light source of the first reflecting mirror 3 is incident on the beam splitter 4 and is split into reflected light and transmitted light. The reflected light forms the sampling light path 10 and enters the monitoring photodiode 11; the transmitted light forms the backup coupling light path 9 and continues to propagate to the second reflecting mirror 5.

[0037] The transmission ratio of the beam splitter 4 is preferably greater than the reflection ratio. For example, the beam splitter 4 can be set to transmit 90% to 99% of the light and reflect 1% to 10% of the light. In this way, when the backup VCSEL array light source 2 officially takes over the lidar emission task, most of the optical power can enter the emitting optical component 6 and the output window 7 along the backup coupling optical path 9 to meet the lidar detection optical power requirements; at the same time, a small portion of the light is sampled to the monitoring photodiode 11 to determine the output status of the backup VCSEL array light source 2.

[0038] A monitoring photodiode 11 is disposed on the sampling optical path 10. The monitoring photodiode 11 can be a PIN photodiode, an avalanche photodiode, or other photodetector suitable for the near-infrared band. After receiving the sampled light reflected from the beam splitter 4, the monitoring photodiode 11 outputs a detection current or a detection voltage. The control unit can determine the luminous capability of the backup VCSEL array light source 2 based on this detection signal. For example, in the backup self-test state, the backup VCSEL array light source 2 receives a low duty cycle test current pulse, and the monitoring photodiode 11 detects the corresponding sampled light power. If the detection signal reaches a preset range, it indicates that the backup VCSEL array light source 2 has basic luminous capability; if the detection signal is below a preset threshold, it may indicate that the backup VCSEL array light source 2 has insufficient output, partial array failure, optical path misalignment, encapsulation contamination, or abnormal driving.

[0039] The second reflector 5 is disposed between the beam splitter 4 and the emitting optical component 6. The backup coupling light path 9, after being transmitted through the beam splitter 4, propagates to the second reflector 5. The second reflector 5 deflects the backup coupling light path 9 to the incident side of the emitting optical component 6. Preferably, the second reflector 5 deflects the horizontally propagating light to a vertically propagating light, so that the output light of the backup VCSEL array light source 2 can enter the emitting optical component 6 shared with the main VCSEL array light source 1.

[0040] In this way, the emission path of the backup VCSEL array light source 2 is folded through the first reflector 3 and the second reflector 5, thereby realizing the shared output of the main and backup array light sources within a limited package space.

[0041] A light-shielding isolation wall 12 is disposed on the package base 14. The light-shielding isolation wall 12 can be located between the primary VCSEL array light source 1 and the backup VCSEL array light source 2, or between the monitoring photodiode 11 and the primary emitting optical path 8. The light-shielding isolation wall 12 is used to block stray light, scattered light, and non-target reflected light inside the package. For the lidar light source module, the peak optical power of the primary VCSEL array light source 1 and the backup VCSEL array light source 2 is relatively high. Without a light-shielding isolation structure, some stray light may enter the monitoring photodiode 11, affecting the backup self-test results; it may also form multiple reflections within the package cavity, causing optical noise. Therefore, the light-shielding isolation wall 12 helps improve the self-test reliability and the optical stability of the light source module.

[0042] In one specific embodiment, both the primary VCSEL array light source 1 and the backup VCSEL array light source 2 are 940nm VCSEL arrays. Each array includes multiple VCSEL light-emitting units and operates via pulse drive. The primary VCSEL array light source 1 emits probe pulses at a preset repetition frequency under normal detection conditions. The backup VCSEL array light source 2 performs periodic self-tests using low duty cycle test pulses when not under control. During self-testing, the test light output from the backup VCSEL array light source 2 enters the beam splitter 4 via the first reflector 3, and the beam splitter 4 reflects a small portion of the light to the monitoring photodiode 11. The control unit determines whether the backup array is ready for takeover based on the output signal of the monitoring photodiode 11. If the primary VCSEL array light source 1 experiences insufficient output light power, abnormal array partitioning, abnormal drive, or abnormal lidar echo signal, the control unit activates the backup VCSEL array light source 2 to take over the probe light emission.

[0043] In another embodiment, the self-test of the backup VCSEL array light source 2 can be performed by zone. For example, the backup VCSEL array light source 2 can be divided into multiple sub-array regions. The control unit sequentially drives each sub-array region to emit test light, and monitors the photodiode 11 to detect the corresponding sampled light response. Through zoned self-testing, it can be determined whether the backup VCSEL array light source 2 has local failures or uneven light emission problems. When some sub-arrays are abnormal but the overall system still meets the minimum emission requirements, the control unit can allow the backup array to take over according to a preset strategy; when there are too many abnormal areas or insufficient output light power, the control unit can output a light source fault alarm.

[0044] The backup VCSEL array light source 2 can include multiple subarrays. The control unit can drive the multiple subarrays to emit test light in a preset order, and determine the availability status of the partition based on the peak value, energy, response delay, or stability of the sampled light corresponding to each subarray. Partition takeover conditions can include the sampled response of the corresponding subarray reaching the partition response threshold, the response delay of the corresponding subarray being within the allowable range, or the output stability of the corresponding subarray meeting preset requirements. Minimum emission conditions can include the total output power, field of view coverage, minimum detection distance, or number of effective point cloud points corresponding to the remaining available subarrays meeting the minimum detection requirements of the lidar. When some subarrays do not meet the partition takeover conditions while the remaining subarrays meet the minimum emission conditions, the control unit can control the backup VCSEL array light source 2 to take over the emission in a degraded emission mode. The degraded emission mode can include reducing the frame rate, shortening the maximum detection distance, limiting the high-power scanning area, reducing the point cloud density, narrowing the emission field of view, or output light source abnormality alarm.

[0045] The light-shielding and isolation structure is used to reduce stray light crosstalk between the primary VCSEL array light source 1, the backup VCSEL array light source 2, the backup coupling optical path 9, the sampling optical path 10, and the primary emission optical path 8. The light-shielding and isolation structure may include a light-shielding isolation wall, a light-shielding baffle, a light-blocking groove, a light-absorbing layer, a blackening coating, a roughened absorbing surface, or a light-absorbing structure disposed within the encapsulation cavity. Figure 1 In this context, the light-shielding and isolation structure is specifically a light-shielding isolation wall 12, which can be set between the main VCSEL array light source 1 and the backup VCSEL array light source 2, or between the sampling and detection unit and the emission optical path of the main VCSEL array light source 1.

[0046] In another embodiment, the control unit can perform preheating and optical power matching before the backup VCSEL array light source 2 takes over. Since the backup VCSEL array light source 2 may be in a low-power state for extended periods under normal conditions, its temperature may be lower than that of the primary VCSEL array light source 1. Directly taking over at full power could result in changes in emission wavelength, output optical power, or pulse response. Therefore, when the primary VCSEL array light source 1 shows signs of degradation but has not yet completely failed, the system can apply a preheating current or a low-power pulse to the backup VCSEL array light source 2 in advance, bringing it to a near-operational state. Subsequently, the drive current of the backup VCSEL array light source 2 is adjusted based on the sampled optical power detected by the monitoring photodiode 11, so that its output optical power matches the normal output of the primary VCSEL array light source 1.

[0047] In another embodiment, the packaging base 14 may include a primary heat dissipation area and a backup heat dissipation area, with the primary VCSEL array light source 1 and the backup VCSEL array light source 2 respectively disposed in their respective heat dissipation areas. A thermal coupling bridge or a thermal resistance adjustment groove may be provided between the two heat dissipation areas to control thermal crosstalk while preventing the backup array from being in an excessively low temperature state for a long time. For automotive LiDAR, changes in light source temperature will affect the output optical power and emission wavelength of the VCSEL array; therefore, a reasonable thermal structure design can improve the output consistency during primary / backup switching.

[0048] In this application, the so-called abnormality of the main VCSEL array light source 1 can include a variety of situations. Specifically, it can include at least one of the following: the output optical power of the main VCSEL array light source 1 is lower than a preset threshold; the number of failed local light-emitting units in the array exceeds a preset number; the main drive current is higher than a preset threshold; the main drive voltage is abnormal; the echo intensity at the lidar receiver is abnormal; the number of effective points in the point cloud decreases; the ranging signal-to-noise ratio decreases; the module temperature is abnormal; or the main health factor is lower than a preset threshold. The control unit can make a judgment based on a single parameter or a combination of multiple parameters.

[0049] Whether the backup VCSEL array light source 2 meets the takeover conditions can also be determined based on multiple parameters. These parameters may include the backup array sampling optical power, backup array response time, backup array pulsed optical power stability, backup array zone emission consistency, backup drive voltage, backup drive current, historical self-test results, package internal temperature, and the stability of the output signal of the monitoring photodiode 11. The control unit can generate a backup takeover factor based on these parameters. When the backup takeover factor meets preset conditions, the backup VCSEL array light source 2 is allowed to take over the lidar detection light emission.

[0050] The structure of this application is particularly suitable for the emitting light source of vehicle-mounted LiDAR. Since the primary VCSEL array light source 1 and the backup VCSEL array light source 2 ultimately share the same emitting optical component 6 and the same light-emitting window 7, there is no need to add an extra backup light-emitting window to the vehicle-mounted LiDAR housing, nor is there a need for a separate complete backup emitting optical system. Compared with a completely independent dual-light source, dual-window scheme, this application is advantageous in reducing size, cost, and assembly complexity; compared with a single VCSEL array scheme, this application improves light source redundancy; and compared with a non-self-test backup scheme, this application can confirm the availability of the backup VCSEL array light source 2 before takeover by using the beam splitter 4 and monitoring photodiode 11.

[0051] The manufacturing process of this application can be achieved using mature packaging technology. For example, firstly, the primary VCSEL array light source 1, the backup VCSEL array light source 2, and the monitoring photodiode 11 are installed on the packaging base 14; then, the first reflector 3, the beam splitter 4, and the second reflector 5 are installed, and the backup coupling optical path 9 is adjusted by active alignment or passive positioning; next, the emitting optical component 6 and the light-emitting window 7 are installed; finally, the packaging is sealed, hermetically sealed or non-hermetically sealed, aging test, temperature cycling test, vibration test, and automotive-grade reliability test are performed. The first reflector 3, the beam splitter 4, and the second reflector 5 can be prefabricated micro-optical elements, or they can be achieved by forming an inclined reflective surface on the bracket or packaging cover.

[0052] For example, the output light from the backup VCSEL array light source 2 first reaches the first reflector 3 vertically. The reflective surface of the first reflector 3 is tilted at 45° relative to the vertical direction, thereby deflecting the beam into a horizontal, rightward propagation. The horizontally propagating beam is incident on the beam splitter 4. The beam splitter 4 is tilted relative to the horizontal beam, and its coated surface causes a small portion of the light to be reflected downwards to form the sampling light path 10 and reach the monitoring photodiode 11; most of the light passes through the beam splitter 4 and continues to propagate horizontally to form the backup coupling light path 9. The backup coupling light path 9 reaches the second reflector 5 and is deflected into a vertically upward propagation, entering the emitting optical assembly 6. The emitting optical assembly 6 shapes the beam and emits it outwards through the light exit window 7. Through this process, the backup VCSEL array light source 2 can share the same lidar emitting optical system with the main VCSEL array light source 1 even when arranged laterally.

[0053] For example, beam splitter 4 is a sampling beam splitter with approximately 95% transmittance and approximately 5% reflectance for the operating wavelength of the backup VCSEL array light source 2. During self-test, the backup VCSEL array light source 2 receives a low duty cycle test current, and the monitoring photodiode 11 receives approximately 5% of the sampled light and outputs a detection signal. Due to the low duty cycle of the test current, the self-test process has minimal impact on system power consumption and thermal load. If the backup VCSEL array light source 2 takes over the lidar emission task, approximately 95% of the light continues to enter the backup coupling optical path 9 to ensure the detection light power, while approximately 5% of the light can still be used for real-time monitoring of the backup array output status.

[0054] It should be noted that, without departing from the technical concept of this application, the reflection and transmission directions of the beam splitter 4 can be adjusted according to the position of the monitoring photodiode 11. For example, the sampling light path 10 can propagate downwards, to the side, or to other monitoring areas within the encapsulation cavity, as long as the sampling light can be received by the monitoring photodiode 11. Similarly, the backup coupling light path 9 is not limited to strictly horizontal propagation, as long as it ultimately enters the emitting optical component 6 via the second reflecting mirror 5 or other deflecting optical elements.

[0055] The control unit may include a microcontroller, a drive control chip, a field-programmable gate array (FPGA), a system-on-a-chip (SoC), an application-specific integrated circuit (ASIC), or a combination thereof. The control unit can be connected to the drive branch of the primary VCSEL array light source 1, the drive branch of the backup VCSEL array light source 2, the monitoring photodiode 11, and the lidar receiver. The control unit is used to generate test drive signals, preheating drive signals, and control drive parameters, and to receive the detection signals output by the monitoring photodiode 11, the operating status parameters of the primary VCSEL array light source 1, and the detection quality parameters output by the lidar receiver.

[0056] In one implementation, the target emission parameters can be determined based on the output light parameters when the primary VCSEL array light source normally emits lidar detection light. These output light parameters may include peak optical power, pulse energy, pulse width, repetition frequency, divergence angle, spot position, or illumination uniformity. The optical path loss calibration information for the backup coupling optical path may include the splitting ratio of the sampling beam splitter, the reflection loss of the folding optics, the coupling efficiency of the backup coupling optical path, and the transmission efficiency of the transmitting optical components.

[0057] For example, when the sampling detection unit detects that the sampled optical power generated by the backup VCSEL array light source under the test driving parameters is the first sampling power, and the sampling ratio of the sampling beam splitter is the preset sampling ratio, the control unit can estimate the emission power of the backup VCSEL array light source entering the backup emission optical path based on the first sampling power and the preset sampling ratio, and determine the estimated emission power output by the backup VCSEL array light source through the emission optical component and the light exit window by combining the optical path loss calibration information of the backup coupling optical path. The control unit can compare the estimated emission power with the target optical power in the target emission parameters, and adjust the driving current, pulse width, duty cycle or sub-array driving combination of the backup VCSEL array light source according to the comparison result to obtain the control unit driving parameters.

[0058] The self-test response characteristics can include optical output response characteristics and timing response characteristics. Optical output response characteristics can include sampled light peak value, sampled light energy, average sampled power, output stability, fluctuation amplitude during repeated tests, or historical sampled light attenuation trend. Timing response characteristics can include the response delay between the test drive signal and the sampled light response, the rise time and fall time of the sampled light pulse, pulse width consistency, or pulse interval consistency. The control unit can compare the above self-test response characteristics with corresponding thresholds, calibration ranges, or historical self-test results to generate the takeover status of the backup VCSEL array light source 2.

[0059] The primary operating status parameters may include the driving current, driving voltage, operating temperature, output optical power, cumulative operating time, or historical attenuation trend of the primary VCSEL array light source 1. The lidar detection quality parameters may include echo intensity, effective number of points, ranging signal-to-noise ratio, effective detection range, point cloud density, or point cloud missing rate within a specific field of view. The control unit can determine the primary health status based on the primary operating status parameters and / or detection quality parameters, and, when the primary health status meets the pre-takeover conditions and has not yet met the abnormal conditions, increase the sampling detection frequency of the backup VCSEL array light source 2 or perform preheating on the backup VCSEL array light source 2.

[0060] In one implementation, the control unit can generate a primary health status based on primary operating status parameters and / or detection quality parameters. The primary health status can include a normal state, a pre-takeover state, and an abnormal state. For example, when the output optical power of the primary VCSEL array light source remains within the normal output range, and the echo intensity, effective point count, or ranging signal-to-noise ratio at the lidar receiver meets normal detection requirements, the control unit determines the primary health status to be normal. When the output optical power of the primary VCSEL array light source is lower than the normal output range but still higher than the minimum operating output range, or when the detection quality parameters show a downward trend but have not yet fallen below the minimum detection requirements, the control unit determines that the primary health status meets the pre-takeover conditions. When the output optical power of the primary VCSEL array light source is lower than the minimum operating output range, or the drive branch is abnormal, or the detection quality parameters are lower than the minimum detection requirements, the control unit determines that the primary VCSEL array light source meets the abnormal conditions.

[0061] When the primary VCSEL array light source meets the pre-takeover conditions and has not yet met the abnormal conditions, the control unit can increase the sampling detection frequency of the backup VCSEL array light source and / or apply a preheating drive signal to the backup VCSEL array light source. The preheating drive signal can be a preheating current, a low-power pulse sequence, or a continuous bias current with energy lower than the normal probe pulse, used to bring the temperature state, threshold current state, or output response state of the backup VCSEL array light source close to the target state during takeover firing.

[0062] Target emission parameters may include target peak optical power, target pulse width, target repetition frequency, target pulse energy, target divergence angle, target spot position, or target illumination uniformity. Control unit drive parameters may include the drive current, pulse width, repetition frequency, duty cycle, preheating current, or subarray drive combination of the backup VCSEL array light source 2. The control unit can determine the control unit drive parameters based on the detection results of the sampling detection unit and the target emission parameters, ensuring that the lidar detection light output from the backup VCSEL array light source 2 through the emitting optics 6 and the light output window 7 matches the output light parameters of the main VCSEL array light source 1 during normal emission.

[0063] In one implementation, a low duty cycle test drive signal is used to generate test light when the standby VCSEL array light source is not in operation. The duty cycle of the low duty cycle test drive signal can be lower than the duty cycle of the detection drive signal when the standby VCSEL array light source is in normal operation, for example, it can be 0.01% to 5%, or it can be set to other ranges depending on the module power consumption, thermal load, and detection sensitivity of the monitoring photodiode. The low duty cycle test drive signal may include one or more test pulses, the peak current of which can be lower than, equal to, or close to the peak current of the normal detection pulse of the standby VCSEL array light source, and the repetition frequency of the test pulses is lower than the repetition frequency under normal detection conditions, so as to obtain the sampled light response without significantly increasing the thermal load.

[0064] The control unit can generate a takeover status for the backup VCSEL array light source based on the detection results obtained by the sampling detection unit. For example, the detection results may include at least one of the following: sampled light peak value, sampled light energy, average sampled power, response delay, pulse width consistency, and repeated test fluctuation amplitude. When the sampled light peak value or sampled light energy is within a pre-calibrated acceptable range, and the response delay is less than a preset delay threshold, the control unit can determine that the backup VCSEL array light source is in a takeover status. When the sampled light peak value is below the acceptable range but still above the minimum emission threshold, the control unit can determine that the backup VCSEL array light source is in a degraded takeover status. When the sampled light peak value is below the minimum emission threshold, or the response delay exceeds a preset delay threshold, or the repeated test fluctuation amplitude exceeds a stability threshold, the control unit can determine that the backup VCSEL array light source is in a non-takeover status.

[0065] The aforementioned acceptable range, minimum emission threshold, preset delay threshold, and stability threshold can be determined through factory calibration, aging tests, temperature cycling tests, or online historical self-test data. For example, the reference sampling response of the monitoring photodiode output can be recorded when the backup VCSEL array light source is in normal condition, and the acceptable range can be set based on the reference sampling response; alternatively, the minimum emission threshold can be set based on the minimum detection distance or minimum point cloud quality requirements of the lidar.

[0066] This application can also be used in conjunction with the safety diagnostic strategy of a lidar system. For example, the system can calculate the primary health factor based on the cumulative operating time, drive current, temperature, output optical power, point cloud quality, echo intensity, and historical self-test data of the primary VCSEL array light source 1. When the primary health factor is lower than a first threshold, the system increases the self-test frequency of the backup VCSEL array light source 2; when the primary health factor is lower than a second threshold and the backup VCSEL array light source 2 meets the takeover conditions, the system switches to the backup VCSEL array light source 2; when neither the primary VCSEL array light source 1 nor the backup VCSEL array light source 2 meets the full power output conditions, the system can enter a degraded detection mode, such as reducing the detection distance, reducing the frame rate, or limiting some high-power scanning areas, to ensure that the vehicle perception system still has basic detection capabilities.

[0067] See Figure 2 This is a flowchart illustrating a self-test switching method provided in an embodiment of this application. This method can be executed by a control unit. For ease of explanation, the following description uses a 940nm standby VCSEL array light source, a light source module with a sampling ratio of 5% for the sampling beam splitter, and a calibrated transmission efficiency of 80% for the standby coupling optical path as an example. The above values ​​are merely examples; in other embodiments, other values ​​can be set according to the VCSEL array size, beam splitting ratio, transmittance of the emitting optical components, and lidar detection distance requirements.

[0068] In execution Figure 2 Before proceeding with the method described, the primary and backup VCSEL array light source modules can be calibrated. During calibration, the backup VCSEL array light source is brought into normal operation, and a set of standard test drive signals is applied to it. The standard test drive signals can include three test pulses, with a peak test current of 30% of the normal detection peak current, consistent with the test drive signals used in subsequent periodic self-tests. Each test pulse has a pulse width of 10 ns, a pulse interval of 100 μs, and a duty cycle of less than 0.1%. The monitoring photodiode receives the sampled light and outputs a detection voltage. The control unit records the peak value of the sampled light and the response delay corresponding to this set of test pulses.

[0069] For example, under a standard test drive signal, the peak values ​​of the sampled light corresponding to the three test pulses are 0.98V, 1.00V, and 1.02V, respectively, and the response delays are 8ns, 8ns, and 9ns, respectively. Then the control unit can use 1.00V as the reference sampling peak value and 10ns as the reference response delay upper limit.

[0070] The control unit can establish a takeover judgment table for the backup VCSEL array light source based on the calibration results. For example, when the sampled light peak value is within the range of 70% to 130% of the reference sampled light peak value and the response delay is no greater than 20 ns, the backup VCSEL array light source is determined to meet the takeover conditions; when the sampled light peak value is within the range of 50% to 70% of the reference sampled light peak value and the response delay is no greater than 30 ns, the backup VCSEL array light source is determined to meet the downgrade takeover conditions; when the sampled light peak value is lower than 50% of the reference sampled light peak value, or the response delay is greater than 30 ns, or the difference between the maximum and minimum sampled light peak values ​​obtained from three consecutive tests exceeds 30% of the reference sampled light peak value, the backup VCSEL array light source is determined not to meet the takeover conditions. These thresholds can be updated based on factory calibration, aging tests, or online historical self-test results.

[0071] S101: When the backup VCSEL array light source is not in charge of emission, drive the backup VCSEL array light source to emit test light, and use the sampling and detection unit to sample and detect the backup output light in the backup coupled optical path to obtain the detection result.

[0072] In this step, the control unit confirms that the current lidar detection light is being emitted by the primary VCSEL array source, and the backup VCSEL array source is not in takeover mode. The control unit sends a test drive command to the drive branch of the backup VCSEL array source, causing it to emit test light. The test drive command can include the number of test pulses, the test pulse width, the test peak current, and the test pulse interval. For example, the test drive command could be: 3 test pulses, a test pulse width of 10 ns, a test pulse interval of 100 μs, and a test peak current of 20% to 50% of the normal detection peak current.

[0073] The test light emitted from the backup VCSEL array light source enters the backup coupling optical path and is split into sample light by the sampling beam splitter. The sample light is incident on the monitoring photodiode, which outputs a detection current. The detection current is converted into a detection voltage by a transimpedance amplifier circuit, and then converted into a digital sample value by an analog-to-digital converter circuit. The control unit reads the digital sample value within a preset sampling window after each test pulse is emitted. The preset sampling window can be a time window from 0ns to 100ns after the test pulse is emitted, or it can be set to other windows according to the response time of the monitoring photodiode and the delay of the sampling circuit.

[0074] The control unit can extract a sampled light peak value and a response delay for each test pulse. The sampled light peak value can be the maximum value of the detected voltage within the sampling window. The response delay can be the time difference between the moment the test pulse is emitted and the moment when the detected voltage first reaches 50% of its peak value. For example, if the sampled light peak values ​​corresponding to three test pulses are 0.84V, 0.82V, and 0.85V, and the response delays are 12ns, 13ns, and 12ns, respectively, then the detection results can include an average sampled peak value of 0.84V, a maximum response delay of 13ns, and a peak fluctuation amplitude of 0.03V.

[0075] S102: Determine whether the standby VCSEL array light source meets the takeover conditions based on the test results.

[0076] In this step, the control unit compares the detection results obtained in S101 with the takeover judgment table. Taking the calibration data mentioned above as an example, the baseline sampling peak value is 1.00V, and the upper limit of the baseline response delay is 10ns. If the average sampling peak value obtained in this self-test is 0.84V, the maximum response delay is 13ns, and the peak fluctuation amplitude is 0.03V, then the average sampling peak value is within the range of 70% to 130% of the baseline sampling peak value, the maximum response delay is no greater than 20ns, and the peak fluctuation amplitude does not exceed 30% of the baseline sampling peak value. Therefore, the control unit can determine that the spare VCSEL array light source meets the takeover conditions.

[0077] If the average sampling peak value obtained from this self-test is 0.62V and the maximum response delay is 25ns, then the average sampling peak value is within 50% to 70% of the reference sampling peak value, and the maximum response delay is no greater than 30ns. The control unit can then determine that the backup VCSEL array light source meets the degraded takeover conditions. In this case, the backup VCSEL array light source can take over transmission under conditions of reduced maximum detection distance, reduced frame rate, or reduced transmission field of view. If the average sampling peak value obtained from this self-test is 0.40V, or the maximum response delay is 35ns, then the control unit determines that the backup VCSEL array light source does not meet the takeover conditions and prohibits the backup VCSEL array light source from taking over transmission.

[0078] In this way, the takeover condition does not only indicate whether the backup VCSEL array light source "has light output", but at least combines the sampled light intensity and response timing to determine whether the backup VCSEL array light source has the output capability that can be used for takeover emission.

[0079] S103: When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, determine the takeover emission configuration.

[0080] In this step, the control unit can determine whether the primary VCSEL array light source meets abnormal conditions based on its operating status. For example, the control unit can statistically analyze the drive current, module temperature, LiDAR receiver echo intensity, and number of valid points of the primary VCSEL array light source over 10 consecutive detection frames. If the drive current of the primary VCSEL array light source is higher than the normal drive current limit, or the number of valid points at the receiver is lower than 60% of the normal number of valid points, or the echo intensity is continuously lower than 60% of the historical normal average, it can be determined that the primary VCSEL array light source meets abnormal conditions. These ratios can be set to other values ​​based on the vehicle perception system's minimum point cloud quality requirements.

[0081] When the primary VCSEL array light source meets abnormal conditions and the backup VCSEL array light source meets takeover conditions, the control unit determines the takeover emission configuration. The takeover emission configuration can include the takeover drive position of the backup VCSEL array light source. The takeover drive positions can be pre-stored in the control unit. For example, the control unit can pre-store three takeover drive positions: A, B, and C. Position A corresponds to normal takeover, with a backup drive peak current of I0 and a pulse width of T0; Position B corresponds to compensated takeover, with a backup drive peak current of 1.1I0 and a pulse width of T0; and Position C corresponds to degraded takeover, with a backup drive peak current of 0.8I0 and a pulse width of T0, and only a portion of the emission area is enabled or the emission repetition frequency is reduced. Here, I0 and T0 can be the calibrated drive peak current and pulse width when the primary VCSEL array light source is emitting normally.

[0082] The control unit can select the takeover drive level based on the detection results of S101 and the optical path loss calibration information of the backup coupling optical path. For example, the sampling ratio of the sampling splitter is 5%, and the calibration transmission efficiency of the backup coupling optical path from the sampling splitter to the output window is 80%. When the average sampling peak value of this self-test is 0.84V, and the reference sampling peak value under calibration is 1.00V, it can be considered that the current output capability of the backup VCSEL array light source is approximately 84% of the calibration capability. The control unit can select level B as the takeover drive level to compensate for the decrease in backup output capability and the loss of the backup coupling optical path. If the average sampling peak value of this self-test is between 0.98V and 1.02V, the control unit can select level A as the takeover drive level. If this self-test only meets the degradation takeover conditions, the control unit can select level C as the takeover drive level and simultaneously generate a degradation detection flag.

[0083] In some implementations, the control unit can also determine the takeover emission configuration based on target emission parameters. Target emission parameters can be derived from the normal emission parameters of the primary VCSEL array light source during a preset period before the abnormal conditions are met. For example, the control unit can record the average pulse energy, average peak optical power, or emission repetition frequency of the primary VCSEL array light source within one second before the abnormality and use these as the target emission parameters after the backup takeover. The control unit selects the takeover drive setting that ensures the probe light output from the backup VCSEL array light source via the backup coupling optical path, emission optics, and output window most closely approximates the target emission parameters.

[0084] S104: According to the takeover and emission configuration, control the backup VCSEL array light source to access the emission optical component through the backup coupling optical path, and take over the emission of the lidar detection light through the same light output window.

[0085] In this step, the control unit controls the drive branch of the backup VCSEL array light source according to the takeover emission configuration determined in S103. For example, when the takeover emission configuration is set to A, the control unit sets the peak drive current of the backup VCSEL array light source to I0, the pulse width to T0, and makes the backup VCSEL array light source output detection light according to the emission timing of the current detection frame of the lidar. When the takeover emission configuration is set to B, the control unit sets the peak drive current of the backup VCSEL array light source to 1.1I0 and the pulse width to T0 to compensate for the decrease in backup output capability or backup coupling optical path loss. When the takeover emission configuration is set to C, the control unit can reduce the detection frame rate, shorten the maximum detection distance, or only enable a portion of the available subarrays in the backup VCSEL array light source.

[0086] The probe light output from the backup VCSEL array light source is deflected by the first folding optics to the sampling beam splitter. The sampling beam splitter splits a portion of the light into sample light, which is sent to the monitoring photodiode, while the other portion is sent as backup emission light into the subsequent backup coupling optical path. The backup emission light enters the emission optics assembly via the second folding optics and is emitted outward through the same emission window. Since the backup VCSEL array light source still outputs probe light through the same emission optics assembly and the same emission window after being taken over, it is not necessary to configure a separate emission window for the backup VCSEL array light source.

[0087] During the first few detection frames after the backup VCSEL array light source takes over, the control unit can continue to read the detection signals of the monitoring photodiodes. If the peak value of the sampled light after takeover remains within the allowable range corresponding to the takeover drive setting, the current takeover emission configuration is maintained; if the peak value of the sampled light remains below the allowable range, an alarm for an abnormal output light source is triggered, or the lidar is controlled to enter a degraded detection mode. Therefore, the backup VCSEL array light source is no longer blindly put into operation after a primary failure, but its output capability is confirmed through sampling detection before takeover, and it executes emission according to the takeover emission configuration corresponding to the detection results during takeover.

[0088] Optional, see Figure 3 The flowchart provided in this application embodiment illustrates a method for determining a takeover launch configuration, including steps S201 to S203, wherein: S201: When the primary VCSEL array light source meets the degradation-type abnormal condition and the backup VCSEL array light source meets the takeover condition, a takeover transition period is determined, the takeover transition period includes a plurality of takeover frames arranged in sequence. S202: Determine the transmission configuration sequence corresponding to the plurality of takeover frames, wherein each takeover frame transmission configuration in the transmission configuration sequence includes a primary transmission share and a backup transmission share; In this context, along the frame order of the plurality of takeover frames, the primary transmission share does not increase and the backup transmission share does not decrease, and the total transmission output formed by the primary transmission share and the backup transmission share in each takeover frame is within the target detection output range; S203: During the takeover transition period, the primary VCSEL array light source and the backup VCSEL array light source are driven to emit light through the emitting optical component and the same light-emitting window according to the emission configuration sequence.

[0089] If the primary VCSEL array light source still retains some emission capability when the abnormal conditions are met, it can be considered that the primary VCSEL array light source meets the degradation-type abnormal condition. The degradation-type abnormal condition differs from the complete failure of the primary VCSEL array light source; it indicates that the output capability of the primary VCSEL array light source has decreased and it is no longer suitable to solely undertake the lidar detection light emission task, but it can still provide a transitional emission output below the normal emission level for a limited time. Based on this state, this embodiment does not directly allow the backup VCSEL array light source to take over all emission output at once. Instead, a takeover transition period is determined, and during this period, the emission share of the primary VCSEL array light source is gradually reduced, while the emission share of the backup VCSEL array light source is gradually increased, thereby reducing the risk of sudden changes in detection output caused by hard switching.

[0090] In this embodiment, the takeover frame can be a detection frame in the lidar transmission control or a transmission control cycle consisting of a preset number of transmission pulses. The transmission share represents the proportion of transmission output undertaken by the corresponding VCSEL array light source within a takeover frame. The transmission share can be represented by transmission power share, pulse energy share, light-emitting unit quantity share, or transmission time slot share. For example, when using pulse energy share, a primary transmission share of 60% means that the primary VCSEL array light source undertakes 60% of the target pulse energy within the takeover frame, and a backup transmission share of 40% means that the backup VCSEL array light source undertakes 40% of the target pulse energy within the takeover frame. When using light-emitting unit quantity share, the corresponding share can be achieved by enabling different numbers of light-emitting units in the primary and backup VCSEL array light sources. When using transmission time slot share, the corresponding share can be achieved by allocating primary and backup transmission time slots within the same takeover frame.

[0091] The target detection output range is used to limit the total emission output of the primary and backup VCSEL array light sources within the takeover frame, formed by the same emission window. The target detection output range can include a minimum detection output lower limit and a safe output upper limit. The minimum detection output lower limit ensures that the lidar can still obtain an echo signal that meets the minimum detection requirements during the takeover transition period, while the safe output upper limit prevents the total output from being too high due to simultaneous primary and backup emission during the takeover transition period. For example, the calibration pulse energy of the primary VCSEL array light source during normal emission can be denoted as E0, and the target detection output range can be set to 0.85E0 to 1.05E0; alternatively, other ranges can be set based on the vehicle platform, the lidar's minimum detection distance requirement, maximum detection distance requirement, and human eye safety constraints.

[0092] Regarding the above S201: In this step, the control unit first determines the type of anomaly in the primary VCSEL array light source. For example, when the output optical power of the primary VCSEL array light source is lower than the normal output range but still higher than the minimum usable output threshold, or when the number of valid points in the point cloud corresponding to the primary VCSEL array light source is lower than the normal value but still higher than the minimum usable point threshold, it can be determined that the primary VCSEL array light source meets the degradation anomaly conditions. For instance, the calibration range corresponding to the normal output power of the primary VCSEL array light source is 90% to 110% of P0, and the minimum usable output threshold is 40% of P0; when the current output capability of the primary VCSEL array light source drops to 60% of P0, it can be considered unsuitable to continue solely undertaking probe light emission, but it can still participate in partial emission output during the takeover transition period.

[0093] The control unit also determines whether the backup VCSEL array light source meets the takeover conditions based on the detection results. For example, when the sampled light peak value corresponding to the backup VCSEL array light source is within the acceptable response range and the response delay does not exceed a preset delay threshold, the control unit can determine that the backup VCSEL array light source meets the takeover conditions. At this time, the control unit determines the takeover transition period. The takeover transition period may include 2, 3, 4 or more takeover frames. The length of the takeover transition period can be determined based on the degree of degradation of the primary source, the self-test results of the backup VCSEL array light source, and the allowable switching delay of the lidar. For example, when the primary output capability is still higher than 60% of P0, 4 takeover frames can be set; when the primary output capability is between 40% and 60% of P0, 2 takeover frames can be set to shorten the transition time.

[0094] Regarding the above S202: In this step, the control unit determines the transmission configuration sequence. The transmission configuration sequence can be pre-stored in the control unit as a configuration table, or the control unit can select from multiple preset configuration tables based on the current anomaly type and backup self-test results. Each takeover frame transmission configuration includes at least a primary transmission share and a backup transmission share, and may further include the corresponding drive peak current, pulse width, number of enabled subarrays, or number of transmission time slots.

[0095] For example, the control unit can pre-store a first configuration table. The first configuration table includes four takeover frames: the first takeover frame has a primary transmission share of 75% and a backup transmission share of 25%; the second takeover frame has a primary transmission share of 50% and a backup transmission share of 50%; the third takeover frame has a primary transmission share of 25% and a backup transmission share of 75%; and the fourth takeover frame has a primary transmission share of 0% and a backup transmission share of 100%. In this configuration table, the primary transmission share decreases frame by frame, while the backup transmission share increases frame by frame. If the actual output capability of the primary VCSEL array light source in a degraded state is lower than its configured share, the control unit can select a second configuration table. The second configuration table can include two takeover frames: the first takeover frame has a primary transmission share of 40% and a backup transmission share of 60%; and the second takeover frame has a primary transmission share of 0% and a backup transmission share of 100%.

[0096] To ensure that the total transmit output in each takeover frame falls within the target detection output range, the control unit can convert the primary transmit share and the backup transmit share into corresponding drive parameters. For example, when the target pulse energy is E0 and the target detection output range is 0.85E0 to 1.05E0, in a takeover frame where the primary transmit share is 50% and the backup transmit share is 50%, the control unit can set the single-frame target output of the primary VCSEL array light source to 0.5E0 and the single-frame target output of the backup VCSEL array light source to 0.5E0. If there is transmission loss in the backup coupling optical path, the control unit can correspondingly increase the drive current of the backup VCSEL array light source or the number of enabled subarrays, so that the effective output formed by the backup VCSEL array light source through the same emission window is close to its corresponding transmit share.

[0097] In another example, if the emission share is determined by the number of light-emitting units, and both the primary and backup VCSEL array light sources include 16 independently driveable sub-regions, then the first takeover frame can activate 12 primary sub-regions and 4 backup sub-regions; the second takeover frame can activate 8 primary sub-regions and 8 backup sub-regions; the third takeover frame can activate 4 primary sub-regions and 12 backup sub-regions; and the fourth takeover frame can activate 0 primary sub-regions and 16 backup sub-regions. The control unit can adjust the number of activated sub-regions according to the rated output power of each sub-region, ensuring that the total emission output of each takeover frame is within the target detection output range. If the rated output of a certain sub-region is lower than that of other sub-regions, compensation can be made by increasing the drive current of that sub-region or selecting other available sub-regions.

[0098] Regarding the above S203: In this step, the control unit executes the transmission configuration for each takeover frame sequentially according to the transmission configuration sequence. For each takeover frame, the control unit sends a drive control signal corresponding to the primary transmission share to the drive branch of the primary VCSEL array light source and a drive control signal corresponding to the backup transmission share to the drive branch of the backup VCSEL array light source. The output light of the primary VCSEL array light source is emitted through the emitting optics and the output window, while the output light of the backup VCSEL array light source is connected to the same emitting optics through the backup coupling optical path and emitted through the same output window.

[0099] Since the primary VCSEL array light source and the backup VCSEL array light source share the emitting optics and the light emission window, their emission outputs can form a combined emission output within the same external light emission path during the takeover transition period. The control unit constrains the primary and backup emission shares through the emission configuration sequence, keeping the combined emission output within the target detection output range, thereby avoiding sudden changes in emission output caused by the sudden withdrawal of the primary light source or the sudden connection of the backup light source.

[0100] For example, during the 4-frame takeover transition period, the control unit can execute the configuration in the following order: 75% / 25% for the first takeover frame, 50% / 50% for the second takeover frame, 25% / 75% for the third takeover frame, and 0% / 100% for the fourth takeover frame. If, during the execution of the second takeover frame, the sampling detection unit detects that the sampling response of the backup VCSEL array light source is lower than the allowable range for the corresponding takeover frame, the control unit can pause entering the next takeover frame or select a backup configuration table with a lower backup emission share to avoid the backup VCSEL array light source taking on excessive emission output before it has stabilized. If the total emission output corresponding to each takeover frame is within the target detection output range, then after the takeover transition period ends, the control unit can have the backup VCSEL array light source take over the lidar detection light emission according to the subsequent takeover emission configuration.

[0101] Thus, in degraded anomaly scenarios where the primary VCSEL array light source still possesses partial emission capability, the control unit does not directly switch the emission task from the primary VCSEL array light source to the backup VCSEL array light source. Instead, it achieves a smooth transfer of the primary and backup emission shares through emission configuration sequences corresponding to multiple takeover frames. Since the total emission output in each takeover frame is limited to the target detection output range, the continuity of the lidar transmitter's detection output can be maintained while reducing the risk of sudden output changes during hard switching.

[0102] exist Figure 3 Based on the illustrated embodiment, a probe-level verification can also be performed on the backup VCSEL array light source during the takeover transition period. The detection results obtained by the sampling detection unit are mainly used to determine whether the backup VCSEL array light source has basic light-emitting capability, while the probe-level verification is used to determine whether the backup VCSEL array light source, after being emitted through the backup coupling optical path, the emitting optical components, and the same light-emitting window, can form an echo signal that meets the detection requirements at the lidar receiver. This reduces the risk of not knowing the actual detection capability of the backup light source due to relying solely on internal sampling detection.

[0103] In one implementation, during the takeover transition period, at least one takeover frame includes a primary transmission period and a backup transmission period. The primary transmission period refers to the time during which the primary VCSEL array light source emits primary probe light within the takeover frame; the backup transmission period refers to the time during which the backup VCSEL array light source emits backup verification light within the takeover frame. The primary and backup transmission periods can be interleaved within the same takeover frame so that the lidar receiver can distinguish between primary and backup echoes based on the transmission period assignment.

[0104] For example, a takeover frame may include multiple transmission cycles, each corresponding to a scanning direction or a transmission sampling position. The control unit can allocate some of these transmission cycles as primary transmission periods and others as backup transmission periods. For instance, in a takeover frame comprising 100 transmission cycles, 80 transmission cycles can be set as primary transmission periods, and 20 as backup transmission periods. The primary VCSEL array light source emits primary probe light during the primary transmission periods, and the backup VCSEL array light source emits backup verification light during the backup transmission periods. The above quantities are merely examples; in other embodiments, the number or duration of primary and backup transmission periods can be determined based on the primary and backup transmission shares in the takeover frame.

[0105] The lidar receiver can assign received signals according to the transmission timing table provided by the control unit. The transmission timing table records the light source type, transmission time, scanning direction, or sampling position corresponding to each transmission cycle. For example, the transmission timing table can mark transmission cycles 1 to 80 as the primary transmission period and transmission cycles 81 to 100 as the backup transmission period. Echoes obtained by the receiver within the receiving window of the corresponding primary transmission period can be used as primary echoes, and echoes obtained within the receiving window of the corresponding backup transmission period can be used as backup echoes. Thus, although both the primary and backup VCSEL array light sources are emitted through the same transmitting optics and the same output window, the receiver can still distinguish between the two types of echoes based on the transmission timing.

[0106] In one implementation, the receiver can generate a detection-level verification result for the backup VCSEL array light source based on the backup echo. The detection-level verification result may include at least one of the following: backup echo intensity, number of backup effective points, backup ranging signal-to-noise ratio, backup range effectiveness, or backup point cloud density. For example, the control unit can statistically analyze multiple backup echoes corresponding to the backup transmission period within a takeover frame. If the average backup echo intensity is not less than 60% of the average intensity of the primary historical echo, and the proportion of effective range points formed during the backup transmission period is not less than 80%, then the detection-level verification result meets the detection-level takeover conditions. If the backup echo intensity is significantly lower than the primary historical echo intensity, or the proportion of backup effective points is lower than a threshold, then the detection-level verification result does not meet the detection-level takeover conditions. The above proportions are merely examples and can be set to other values ​​based on the minimum detection range of the lidar, target reflectivity, receiver sensitivity, and point cloud quality requirements.

[0107] Among them, the average historical echo intensity of the main VCSEL array light source is the average historical echo intensity during the normal working period before the abnormal conditions are met.

[0108] In another example, the detection-level verification results can also be determined in conjunction with ranging stability. The control unit can select several backup distance points corresponding to the backup transmission period and calculate the deviations of these backup distance points relative to the primary distance points obtained in adjacent primary transmission periods. When the deviation between the backup distance points and the primary distance points is within a preset distance tolerance, and the backup echo intensity is not lower than a preset intensity threshold, the control unit can consider that the backup VCSEL array light source can form an effective detection output after being emitted through the same emission window. The preset distance tolerance can be determined based on the ranging resolution and scanning stability of the lidar, for example, it can be set to the range corresponding to one or more range resolution units.

[0109] During the takeover transition period, the control unit can determine whether to end the transition period based on the detection-level verification results. If the detection-level verification results meet the detection-level takeover conditions for one or more consecutive takeover frames, the control unit can end the takeover transition period and enable the backup VCSEL array light source to take over the emission of lidar detection light according to the subsequent takeover emission configuration. If the detection-level verification results do not meet the detection-level takeover conditions, the control unit may not end the takeover transition period and may perform rollback or degradation processing.

[0110] Optional, see Figure 4 The flowchart below illustrates a method for determining a launch configuration sequence according to an embodiment of this application, including steps S301 to S303, wherein: S301: Determine the target detection output range based on the historical emission parameters of the main VCSEL array light source during a preset period before the abnormal conditions are met; S302: Determine the spare transmission share in the transmission configuration sequence based on the sampling and detection results of the spare VCSEL array light source and the optical path loss calibration information of the spare coupled optical path; S303: Determine the primary launch share in the launch configuration sequence based on the target detection output range and the backup launch share.

[0111] When determining the transmission configuration sequence, the control unit can determine the target detection output range based on the historical transmission parameters of the primary VCSEL array light source during a preset period before the abnormal conditions are met. The preset period can be several detection frames before the primary VCSEL array light source meets the abnormal conditions, such as the first 10 frames, the first 20 frames, or the detection frames within the first second. Historical transmission parameters can include the drive current, pulse width, pulse energy, repetition frequency, effective echo intensity, or effective number of points of the primary VCSEL array light source during this preset period. For example, the control unit can record the average pulse energy of the primary VCSEL array light source in the 10 detection frames before the abnormality as E0, and set the target detection output range to 0.85E0 to 1.05E0. This range is used to constrain the total transmission output of each takeover frame during the takeover transition period, preventing the transmission output from falling below the minimum detection requirement or exceeding the safe output limit during the takeover period.

[0112] The control unit can also determine the spare emission share in the emission configuration sequence based on the sampling and detection results of the spare VCSEL array light source and the optical path loss calibration information of the spare coupled optical path. The optical path loss calibration information of the spare coupled optical path may include the sampling ratio of the sampling splitter, the reflection efficiency of the first folding optics, the reflection efficiency of the second folding optics, the coupling efficiency of the spare coupled optical path, and the transmission efficiency of the emitting optical components. This optical path loss calibration information can be obtained during factory calibration or updated based on the sampling and detection results during periodic self-testing.

[0113] For example, the sampling ratio of the sampling beam splitter is 5%, the reflection efficiency of the two folding optics in the backup coupling optical path is 95%, and the transmission efficiency of the transmitting optical component is 90%. The control unit can estimate the output capability of the backup VCSEL array light source under the current driving conditions based on the peak value of the sampled light from the backup VCSEL array light source, and estimate the effective output formed by the backup VCSEL array light source through the same emission window by combining the above-mentioned optical path loss calibration information. If the effective output is still insufficient relative to the target detection output, the control unit can increase the backup emission share, or achieve the corresponding backup emission share by increasing the backup drive current, increasing the number of activated sub-arrays, or increasing the number of backup emission periods.

[0114] After determining the reserve transmission share, the control unit can determine the primary transmission share based on the target detection output range and the reserve transmission share. For example, in a takeover frame, if the total target transmission output is E0, and the reserve transmission share, after optical path loss compensation, corresponds to an effective output of 0.4E0, the control unit can set the primary transmission share to an effective output of 0.6E0, making the total transmission output in that takeover frame close to E0 and within the target detection output range. If the degradation of the primary VCSEL array light source prevents it from providing an effective output of 0.6E0, the control unit can choose a transmission configuration with a higher reserve transmission share, or shorten the takeover transition period and enter the reserve dominant transmission state earlier.

[0115] When the detection-level verification result does not meet the detection-level takeover conditions, the control unit can determine the fallback frame transmission configuration. The fallback frame transmission configuration is used to avoid further increasing the standby transmission share, which could lead to detection output instability, when the standby VCSEL array light source has not yet passed detection-level verification. The fallback frame transmission configuration includes falling back the primary transmission share and falling back the standby transmission share, where falling back the primary transmission share is greater than falling back the standby transmission share. This fallback process applies to scenarios where the primary VCSEL array light source meets the degradation-type abnormal conditions but still has partial transmission capability; if the primary VCSEL array light source is completely failed, the control unit can skip the fallback frame transmission configuration and directly proceed to standby takeover, degraded detection, or fault alarm processing.

[0116] For example, in the second takeover frame during the takeover transition period, the transmission configuration is 50% primary transmission share and 50% backup transmission share. If the effective number of backup echo points in this takeover frame is less than 80%, or the backup echo intensity is less than 60% of the average historical primary echo intensity, the control unit can determine that the detection-level verification result does not meet the detection-level takeover conditions. At this time, the control unit can determine that the next frame is a fallback frame and set the fallback frame transmission configuration to fall back to 70% primary transmission share and 30% backup transmission share. If the target detection output range is 0.85E0 to 1.05E0, the control unit sets the fallback primary drive parameters and fallback backup drive parameters according to the current output capability of the primary VCSEL array light source and the backup sampling detection results, so that the total fallback transmission output is still within the target detection output range.

[0117] After the fallback frame is executed, the control unit can again acquire the sampling and detection results or the backup echo quality of the backup VCSEL array light source. If the backup VCSEL array light source still does not meet the detection-level takeover conditions, the control unit can output a light source abnormality alarm or control the lidar to enter a degraded detection mode. The degraded detection mode can include at least one of the following: reducing the detection frame rate, shortening the maximum detection distance, reducing the transmission field of view, reducing the point cloud density, or limiting the high-power scanning area. Thus, even if the internal sampling and detection of the backup VCSEL array light source passes but the actual echo quality is insufficient, the system can still maintain basic detection output during the takeover transition period through the fallback frame transmission configuration, and avoid the backup light source directly assuming all transmission tasks when the detection-level verification fails.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A main / standby VCSEL array light source module, characterized in that, include: Emitting optical components and light-emitting window; The main VCSEL array light source is configured to emit lidar detection light through the emitting optical components and the light-emitting window; A backup VCSEL array light source is configured to be connected to the transmitting optical component via a backup coupling optical path and to emit the lidar detection light through the same light output window; The sampling and detection unit is configured to sample and detect the backup output light in the backup coupled optical path; and The control unit is configured to drive the backup VCSEL array light source to emit test light when the backup VCSEL array light source is not in the control unit's emission mode, and to determine whether the backup VCSEL array light source meets the control conditions based on the detection results of the sampling detection unit. as well as When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, the backup VCSEL array light source is controlled to take over the emission of the lidar detection light through the emitting optical component and the same light output window.

2. The primary and backup VCSEL array light source module according to claim 1, characterized in that, The backup coupling optical path includes at least one folding optical element and a sampling beam splitter; The sampling beam splitter is configured to split the backup output light in the backup coupling optical path into a sampling light and a backup emission light, and the at least one folding optical element is configured to guide the backup emission light to the emission optical component; The sampling and detection unit includes a monitoring photodiode that receives the sampling light.

3. The main / standby VCSEL array light source module according to claim 2, characterized in that, The at least one folding optical element includes a first folding optical element and a second folding optical element; The first refracting optics is configured to refract the output light of the backup VCSEL array light source to the sampling beam splitter; The second refracting optics is configured to refract the spare emitted light to the emitted optics assembly.

4. The primary and backup VCSEL array light source module according to claim 1, characterized in that, The test light is generated by a low duty cycle test drive signal applied to the backup VCSEL array light source; The control unit is configured to generate a takeover status of the backup VCSEL array light source based on the detection results obtained by the sampling and detection unit, and to determine whether the backup VCSEL array light source meets the takeover conditions based on the takeover status. The detection result includes a self-test response feature obtained based on the test light, wherein the self-test response feature includes at least one of a light output response feature and a timing response feature.

5. The main / standby VCSEL array light source module according to claim 1, characterized in that, The control unit is configured to determine the primary health status based on the primary operating status parameters of the primary VCSEL array light source and / or the detection quality parameters of the lidar, and adjust the sampling and detection frequency of the backup VCSEL array light source based on the primary health status. The control unit is also configured to apply a preheating drive signal to the backup VCSEL array light source when the primary health state meets the pre-takeover conditions but has not yet met the abnormal conditions, and to determine the takeover drive parameters of the backup VCSEL array light source based on the detection results of the sampling detection unit and the target emission parameters. The takeover driving parameters are used to ensure that the lidar detection light output by the backup VCSEL array light source through the emitting optical component and the light output window when it takes over the emission is matched with the output light parameters when the main VCSEL array light source normally emits the lidar detection light.

6. The primary and backup VCSEL array light source module according to claim 1, characterized in that, The backup VCSEL array light source includes multiple sub-arrays; The control unit is configured to drive the plurality of sub-arrays to emit test light respectively, and to determine the availability status of the partition based on the detection results corresponding to each sub-array; When the partition availability status indicates that some subarrays do not meet the partition takeover conditions and the remaining subarrays meet the minimum emission conditions, the backup VCSEL array light source is controlled to take over the emission in a degraded emission mode.

7. The primary and backup VCSEL array light source module according to claim 1, characterized in that, It also includes a light-shielding isolation structure, which is disposed between the main VCSEL array light source and the backup VCSEL array light source, and / or disposed between the sampling detection unit and the emission optical path of the main VCSEL array light source.

8. A self-test switching method for a primary / standby VCSEL array light source module according to any one of claims 1 to 7, characterized in that, include: When the backup VCSEL array light source is not in charge of emission, the backup VCSEL array light source is driven to emit test light, and the backup output light in the backup coupled optical path is sampled and detected by the sampling and detection unit to obtain the detection result; Based on the test results, determine whether the backup VCSEL array light source meets the takeover conditions; When the primary VCSEL array light source meets the abnormal conditions and the backup VCSEL array light source meets the takeover conditions, the takeover emission configuration is determined. According to the aforementioned takeover and emission configuration, the backup VCSEL array light source is controlled to access the emission optical component via the backup coupling optical path, and the emission of the lidar detection light is taken over through the same light output window.

9. The self-test switching method according to claim 8, characterized in that, The determination of the takeover launch configuration includes: When the primary VCSEL array light source meets the degradation anomaly condition and the backup VCSEL array light source meets the takeover condition, a takeover transition period is determined, which includes a plurality of takeover frames arranged in sequence. Determine the transmission configuration sequence corresponding to the plurality of takeover frames, wherein each takeover frame transmission configuration in the transmission configuration sequence includes a primary transmission share and a backup transmission share; In this context, along the frame order of the plurality of takeover frames, the primary transmission share does not increase and the backup transmission share does not decrease, and the total transmission output formed by the primary transmission share and the backup transmission share in each takeover frame is within the target detection output range; During the takeover transition period, the primary VCSEL array light source and the backup VCSEL array light source are driven to emit light through the emitting optics and the same light-emitting window according to the emission configuration sequence.

10. The self-test switching method according to claim 9, characterized in that, During the takeover transition period, at least one takeover frame includes a primary transmission period and a backup transmission period; The primary VCSEL array light source emits primary probe light during the primary emission period, and the backup VCSEL array light source emits backup verification light during the backup emission period; The lidar receiver obtains the primary echo according to the primary transmission period and the backup echo according to the backup transmission period; Based on the backup echo, a detection-level verification result of the backup VCSEL array light source is generated, and the termination of the takeover transition period is determined based on the detection-level verification result.

11. The self-test switching method according to claim 9, characterized in that, Determining the transmission configuration sequence corresponding to the plurality of takeover frames includes: The target detection output range is determined based on the historical emission parameters of the main VCSEL array light source during a preset period before the abnormal conditions are met. Based on the sampling and detection results of the backup VCSEL array light source and the optical path loss calibration information of the backup coupled optical path, the backup emission share in the emission configuration sequence is determined; Based on the target detection output range and the reserve launch share, the primary launch share in the launch configuration sequence is determined.

12. The self-test switching method according to claim 10, characterized in that, When the detection level verification result does not meet the detection level takeover conditions, the fallback frame transmission configuration is determined; The rollback frame transmission configuration includes a rollback primary transmission share and a rollback backup transmission share, wherein the rollback primary transmission share is greater than the rollback backup transmission share, and the total rollback transmission output formed by the rollback primary transmission share and the rollback backup transmission share is within the target detection output range.

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