Receiving assembly for a lidar, lidar and terminal device

Abstract

This disclosure relates to a receiving component for a lidar system, a lidar system, and a terminal device. The receiving component includes a receiver and a dual-bandpass filter. The receiver includes an image detector and a depth detector. A first filter is integrated on the image detector. The first filter is configured to allow light of a first wavelength range to pass through. The depth detector is configured to receive echo light from the lidar. A second filter is integrated on the depth detector. The second filter is configured to allow light of a second wavelength range to pass through. The second wavelength range is different from the first wavelength range and includes the wavelength of the echo light. The dual-bandpass filter is disposed outside the receiver. The dual-bandpass filter is configured to allow light of a third wavelength range and a fourth wavelength range to pass through and be transmitted to the receiver. The third wavelength range includes the first wavelength range. The fourth wavelength range includes the wavelength of the echo light.

Description

Technical Field

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

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

[0003] To improve the ranging capability of lidar, high-quality narrowband filtering needs to be implemented on the pixels of the lidar detector to filter out ambient light interference. Summary of the Invention

[0004] This disclosure provides a receiving component for lidar that helps improve the detection performance of lidar.

[0005] According to a first aspect of this disclosure, a receiving assembly for a lidar is provided, comprising: a receiver including: an image detector having a first filter integrated thereon, the first filter being configured to allow light of a first wavelength range to pass through; a depth detector configured to receive echo light from the lidar, the depth detector having a second filter integrated thereon, the second filter being configured to allow light of a second wavelength range to pass through, the second wavelength range being different from the first wavelength range and including the wavelength of the echo light; and a dual bandpass filter disposed outside the receiver, the dual bandpass filter being configured to allow light of a third wavelength range and a fourth wavelength range to pass through and be transmitted to the receiver, the third wavelength range including the first wavelength range, and the fourth wavelength range including the wavelength of the echo light.

[0006] Optionally, the image detector includes at least one of the following: a first pixel configured to receive red light; a second pixel configured to receive green light; a third pixel configured to receive blue light; a fourth pixel configured to receive yellow light; and a fifth pixel configured to receive white light.

[0007] Optionally, the image detector includes an RGB detector, an RGBW detector, or an RYB detector.

[0008] Optionally, the first filter includes at least one of the following: a first sub-filter disposed in the receiving optical path of the first pixel and configured to allow red light to pass through; a second sub-filter disposed in the receiving optical path of the second pixel and configured to allow green light to pass through; a third sub-filter disposed in the receiving optical path of the third pixel and configured to allow blue light to pass through; a fourth sub-filter disposed in the receiving optical path of the fourth pixel and configured to allow yellow light to pass through; and a fifth sub-filter disposed in the receiving optical path of the fifth pixel and configured to allow white light to pass through.

[0009] Optionally, the first wavelength range includes one or more sub-wavelength ranges, which include at least one of the following: red spectrum, green spectrum, blue spectrum, yellow spectrum, and white spectrum.

[0010] Optionally, the first filter is formed on the surface of the pixel.

[0011] Optionally, the third wavelength range includes wavelength ranges less than or equal to the first threshold.

[0012] Optionally, the first threshold is between 750nm and 900nm.

[0013] Optionally, the second filter is configured as a long-pass filter, and the second wavelength range includes a wavelength range greater than or equal to a second threshold, the second threshold being less than the wavelength of the echo light and greater than the first threshold.

[0014] Optionally, the fourth wavelength range includes a wavelength range between the third threshold and the fourth threshold, wherein the third threshold is less than the wavelength of the echo light and the fourth threshold is greater than the wavelength of the echo light.

[0015] Optionally, the receiving component further includes a receiving lens configured to transmit a light beam to the receiver.

[0016] Optionally, the dual bandpass filter is disposed between the receiver and the receiving lens.

[0017] Optionally, the dual bandpass filter is disposed within the receiving lens.

[0018] Optionally, the receiving lens includes an optical element, and the dual bandpass filter is formed on the surface of the optical element.

[0019] Optionally, the dual bandpass filter is disposed between the receiving lens and the viewport of the lidar.

[0020] Optionally, the dual bandpass filter is formed on the surface of the lidar's viewing window.

[0021] Optionally, the incident angle of the echo light on the dual bandpass filter is no greater than 20 degrees.

[0022] Optionally, the wavelength of the echo light includes 905nm, 940nm, or 1550nm.

[0023] Optionally, the depth detector includes a single-photon detector array.

[0024] Optionally, the second filter includes a metasurface filter.

[0025] According to a second aspect of this disclosure, a lidar is provided, comprising: a transmitting component configured to transmit probe light; and a receiving component as described above configured to receive echo light generated after the probe light is reflected by an object.

[0026] According to a third aspect of this disclosure, a terminal device is provided, including the lidar as described above. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be introduced as examples below. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure. In the drawings:

[0028] Figure 1 An example structural block diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown.

[0029] Figure 2 A structural block diagram of an exemplary vehicle system consistent with some embodiments of this disclosure is shown.

[0030] Figure 3A A schematic block diagram of a receiving component for a lidar is shown, consistent with some embodiments of this disclosure.

[0031] Figure 3B A schematic diagram showing the location of a receiving component for a lidar is illustrated, consistent with other embodiments of this disclosure.

[0032] Figure 3C A schematic diagram showing the location of a receiving component for a lidar is shown, consistent with some embodiments of the present disclosure.

[0033] Figure 4 A schematic diagram showing the transmission characteristics of a filter for a receiving component of a lidar is illustrated, consistent with some embodiments of this disclosure.

[0034] Figures 5A-5D A schematic diagram showing the position of a dual bandpass filter consistent with some embodiments of this disclosure is provided.

[0035] Figure 6 A schematic diagram of the transmission characteristics of a dual bandpass filter consistent with some embodiments of this disclosure is shown. Detailed Implementation

[0036] The embodiments of this disclosure will be described below. It should be noted that, in order to provide a concise description of these embodiments, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, changes may occur from one embodiment to another to achieve specific objectives. Furthermore, it is also understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content of this disclosure, some design, manufacturing, or production modifications based on the technical content disclosed in this disclosure are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0037] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar words used in this patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar words mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0038] Unless otherwise specified, all embodiments mentioned herein can be combined to form new technical solutions. Furthermore, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0039] In this disclosure, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: the presence of only "A", the presence of only "B", and the presence of both "A" and "B", where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: the presence of only "A", the presence of only "B", the presence of only "C", the presence of both "A" and "B", the presence of both "A" and "C", the presence of both "B" and "C", and the presence of both "A", "B", and "C", where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this disclosure indicates an "or" relationship between the related objects before and after the symbol. In this disclosure, the term "at least one A or B" has the same meaning as "A or B" described above. The term "at least one A, B or C" has the same meaning as "A, B or C" above.

[0040] LiDAR (Light Detection and Ranging) is a type of remote sensing technology. LiDAR uses lasers to measure distances and create three-dimensional (3D) images of objects or landscapes. During object detection, the LiDAR emits a laser beam. This beam is reflected from the object's surface. The reflected light (called the echo) is received by the LiDAR and converted into an electrical signal. The LiDAR processes this electrical signal to determine information about the object, such as its distance, position, or velocity. LiDAR can also be configured to create real-time 3D models of the environment, which can be represented as point clouds. A point cloud is a collection of 3D data points representing the surfaces of objects, structures, and environments within a specific area. Each data point in the point cloud can be defined by its X, Y, and Z coordinates in space, representing its position in 3D space. Using point clouds, vehicles can accurately identify the positions of objects on the road, such as cars, pedestrians, and / or cyclists.

[0041] In some examples, LiDAR can generate point clouds, which simplifies and simplifies the processing of driver assistance algorithms. LiDAR provides vehicles (such as intelligent vehicles) with high-resolution 3D vision, working in conjunction with cameras and other types of radar to enhance vehicle perception and handle more complex road conditions (such as dark environments or unknown objects on highways). LiDAR can further provide high-performance automotive-grade LiDAR solutions, ensuring safer and smarter driver assistance, such as L2+ assisted driving. When configured, LiDAR can be widely used in passenger cars and commercial vehicles equipped with advanced driver assistance systems (ADAS) and / or autonomous driving (e.g., automated traffic). LiDAR can also be applied to any suitable end device, such as drones or robots. For example, LiDAR can support robotic applications such as delivery robots and logistics robots.

[0042] In some examples, LiDAR can be configured as a long-range LiDAR sensor with a long detection range, such as from hundreds of meters to thousands of meters. Long-range LiDAR sensors can detect and classify objects at long distances. They can be mounted on the roof of a vehicle (e.g., the front and / or rear roof) to provide an unobstructed view of the road ahead and / or behind, and to detect objects at greater distances. This is extremely useful for highway driving and for detecting distant objects as early as possible.

[0043] In some examples, lidar can be configured as a short-range lidar sensor. The detection range is relatively short, for example, within a few meters to tens of meters around the lidar. However, the field of view (FOV) is wide, for example, from 60 degrees to 360 degrees horizontally. The wider FOV allows for the detection of nearby objects and provides a more comprehensive view of the surrounding environment / objects. Short-range lidar sensors can be mounted near the headlights or sides of the vehicle, or near the rearview mirrors, to improve blind spot awareness and assist in lane keeping and / or lane changing maneuvers.

[0044] In some examples, the lidar can be configured as a mid-range lidar sensor. Mid-range lidar sensors strike a balance between long-range and short-range lidar sensors in terms of detection range (e.g., from a few meters to several hundred meters) and field of view (e.g., from 30 degrees to 180 degrees horizontally). Mid-range lidar sensors can be mounted on the front bumper, above the windshield, inside the windshield, on the side panel, or on the rear bumper. Mid-range lidar is suitable for detecting objects on the road or near the vehicle during assisted or autonomous driving processes.

[0045] In some examples, a lidar system with multiple lidar sensors is deployed around the vehicle. These multiple lidar sensors can have different detection ranges and fields of view to cover the area around the vehicle. In some embodiments, the lidar system includes one or more short-range lidar sensors and one or more mid-range lidar sensors. By combining lidar sensors at different locations on the vehicle, the lidar system can provide a comprehensive view of the environment. Data from these lidar sensors can be processed with data from other sensors (e.g., cameras and / or millimeter-wave radar) to make real-time decisions for safe and efficient autonomous driving. The combination of lidar sensors with different detection ranges, fields of view, and locations allows for a balance between long-range visibility and near-range object detection. This also benefits aesthetics and helps control overall vehicle costs.

[0046] In some examples, multiple lidar sensors are activated in a lidar system. In some embodiments, multiple lidar sensors are activated or deactivated depending on different scenarios or requirements. For example, when the vehicle is traveling at high speeds (e.g., above 40 mph), one or more short-range lidar sensors may be deactivated, while one or more long-range and mid-range lidar sensors may be activated. As another example, when the vehicle is traveling at lower speeds (e.g., below 40 mph), one or more long-range lidar sensors may be deactivated, while one or more short-range and mid-range lidar sensors may be activated. This effectively saves energy and extends the lifespan of the lidar system.

[0047] Figure 1 An example structural block diagram of an exemplary lidar consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 1 The lidar 100 includes a laser emitting system 110, a laser receiving system 120, and a control and processing system 130. Optionally, the lidar 100 also includes a scanning system 140. The scanning system 140 may include a rotating optical engine, a rotating mirror, a reciprocating oscillating mirror or galvanometer (e.g., a MEMS mirror, a Galvo mirror, etc.), and other components that can direct the laser beam to different locations in the environment (e.g., prisms, gratings, phased arrays, etc.).

[0048] Laser emitting system 110 emits a laser. When the laser encounters object 10, it is reflected from the surface of object 10, forming an echo. The echo returns to lidar 100. Laser receiving system 120 receives the reflected echo and converts it into an electrical signal. This electrical signal, after preprocessing, is used to determine echo data, such as the echo reception time. The echo data is provided to control and processing system 130. Control and processing system 130 processes the echo data to determine information about object 10, such as its distance, position, or velocity. This process is repeated multiple times to create an accurate, real-time 3D environment map, such as a point cloud. Computers in terminal devices such as vehicles can then perform safe navigation based on the point cloud.

[0049] The laser emitting system 110 includes a driving circuit, a laser, and emitting optics. The laser emits laser light under the drive of the driving circuit. The laser light exits through the emitting optics. The laser may include a semiconductor laser, such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or other semiconductor lasers capable of generating laser light. In some embodiments, the laser may also include a solid-state laser or a fiber laser. The laser emits laser light at a wavelength of 905 nm, 940 nm, or 1550 nm; other wavelengths may also be emitted. The driving circuit may include a driver integrated circuit, such as an analog chip or a digital-analog hybrid chip.

[0050] The laser receiving system 120 includes receiving optics and a receiver. The receiving optics collects the echo light reflected from an object and focuses it onto the receiver. The receiver uses the photoelectric effect to convert the echo light into an electrical signal. The receiver may include a single-photon detector, such as an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), or a silicon photomultiplier (SiPM). The lidar 100 may also include a pre-processing circuit. This pre-processing circuit may include digitization circuitry, such as an analog-to-digital converter (ADC), which converts analog signals into digital signals for use with the control and processing system 130. Alternatively, the pre-processing circuit may include a time-to-digital converter (TDC). The echo light is detected and converted into an electrical signal by the receiver, and this electrical signal is provided to the TDC. Based on the received electrical signal, the TDC can determine the timing information (e.g., a timestamp) of the echo light and provide this timing information to the control and processing system 130. The preprocessing circuit may also include analog front-end circuitry for channel selection and analog signal amplification. In some embodiments, the preprocessing circuitry may be implemented as a system-on-chip (SOC) or an application-specific integrated circuit (ASIC).

[0051] The emitting and receiving optics include, for example, one or more optical components such as lenses / lens groups, mirrors, filters, beam splitters, apertures, and homogenizers. The emitting and receiving optics can be independently configured or can be fully or partially reused. For example, the emitting and receiving optics may include at least one of a common lens, a common lens group, a common mirror, a common aperture, and a common beam splitter. The laser emitted by the laser and the echo light reflected from the object can pass through at least one of the common lens, common lens group, common mirror, common aperture, and common beam splitter.

[0052] The control and processing system 130 may include an information processing circuit and a light source control circuit. The information processing circuit processes electrical signals to determine information about the object. For example, the information processing circuit may include circuits implemented using an Application-Specific Integrated Circuit (ASIC) or a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), a Microcontroller Unit (MCU), or a Digital Signal Processor (DSP). Alternatively, the information processing circuit may include a Central Processing Unit (CPU). The light source control circuit sends control signals to the excitation source to control the excitation source and drive the laser to emit light, achieving pulsed laser emission. For example, the light source control circuit can send timing signals to control the laser emission timing. Furthermore, the light source control circuit can add pulse coding functionality by controlling one or more of the pulse interval, pulse intensity, and pulse width, enhancing the anti-interference capability of the lidar. The light source control circuit and the information processing circuit can be integrated together, for example, integrated into a main control chip, or they can be separate or partially separate chips. When the lidar 100 includes a scanning system 140, the control and processing system 130 may further include a scanning control circuit for controlling the scanning system. The scanning control circuit may be integrated with one or all of the light source control circuit and the information processing circuit; for example, the scanning control circuit, the light source control circuit, and the information processing circuit may be integrated into a main control chip; or they may each be independent or partially independent chips. In some embodiments, the control and processing system 130 may be implemented as a system-on-a-chip (SOC) or an application-specific integrated circuit (ASIC).

[0053] In applications, lidar can be installed on terminal devices to transmit the detected sensing data. The terminal devices then use this data to perform one or more functions, such as analysis, decision-making, or control. Terminal devices include, for example, vehicles, ships, aircraft (e.g., flying vehicles or drones), and robots (e.g., industrial robots or home robots).

[0054] Figure 2 A structural block diagram of an exemplary vehicle system consistent with some embodiments of this disclosure is shown. (Refer to...) Figure 2The vehicle system 200 includes a sensor system 202, a perception system 204, a planning system 206, and a control system 208. The vehicle system 200 may possess autonomous capabilities, for example, having at least one function, characteristic, device, and / or similar device that enables the vehicle to operate partially or fully without human intervention, including but not limited to fully autonomous vehicles (e.g., abandoning reliance on human intervention), highly autonomous vehicles (e.g., abandoning reliance on human intervention in certain situations), and / or similar devices. The sensor system 202 includes one or more devices, such as lidar 202a, radar 202b, camera 202c, sonar 202d, global positioning system (GPS) 202e, and inertial measurement unit (IMU) 202f. Lidar 202a may include lidar sensors, such as long-range lidar sensors, mid-range lidar sensors, or short-range lidar sensors. In some embodiments, the sensor system 202 uses one or more devices included in the sensor system 202 to generate environment-related data. The data generated by the sensor system 202 can be used by one or more systems to observe the environment in which the vehicle is located.

[0055] In some examples, the perception system 204 receives data associated with at least one object in the environment and classifies the at least one object. In some examples, the perception system 204 receives image data (e.g., point clouds) associated with objects captured by at least one lidar sensor. In such examples, the perception system 204 classifies objects based on groupings of objects (e.g., bicycles, vehicles, traffic signs, pedestrians and / or the like). In some embodiments, the perception system 204 transmits data related to object classification to the planning system 206.

[0056] In some examples, the planning system 206 receives destination-related data and generates data related to at least one route or trajectory along which a vehicle can travel towards the destination. In some embodiments, the planning system 206 periodically or continuously receives data from the sensing system 204 and updates the route or trajectory based on the data generated by the sensing system 204.

[0057] In some examples, control system 208 receives data associated with at least one trajectory from planning system 206, and control system 208 controls the operation of the vehicle. In some embodiments, control system 208 includes steering control system 208a and powertrain control system 208b. Control system 208 can control the operation of steering control system 208a and powertrain control system 208b according to the received trajectory. In some embodiments, powertrain control system 208b receives control signals from control system 208 to start, stop, accelerate, decelerate, turn left, turn right, or perform similar operations on the vehicle. Steering control system 208a is configured to receive control signals from control system 208 to turn one or more wheels of the vehicle. In some examples, when the trajectory includes a left turn, control system 208 transmits control signals to cause steering control system 208a to adjust the direction.

[0058] In some embodiments, the laser receiving system of a LiDAR may include a receiving component. The receiving component may include a detection structure capable of directly implementing pre-fusion, such as an RGBD detection structure. For example, pre-fusion may mean fusing two or more detection data in the LiDAR. The LiDAR outputs the fused data to the perception system. Alternatively, pre-fusion may mean that the LiDAR receiving component can acquire two or more detection data within the same field of view. The LiDAR can map these two or more detection data to the same field of view, eliminating the need for complex algorithms such as feature extraction and alignment. In some embodiments, the pre-fusion detection structure may include an image detection unit (e.g., RGB pixels) for generating an image and a time-of-flight (TOF) sensing unit (e.g., D-pixels) for ranging. This detection structure enables the fusion of image camera and TOF ranging at the hardware level, greatly facilitating subsequent perception processing. Designing specific filters for D-pixels can achieve high-quality narrowband filtering on them, promoting the filtering of ambient light interference and thus improving the ranging capability of the D-pixels.

[0059] One approach is to fabricate the bandpass filter directly on the surface of the D-pixel at the wafer level. However, due to limitations in wafer-level processes, it is difficult to control the filter bandwidth very narrowly, and on-chip uniformity control is challenging, resulting in significant overall process complexity. Furthermore, the light received on the surface of the D-pixel has a certain angle of incidence; therefore, the tilt of the incident angle can cause a shift in the bandpass characteristics, leading to performance loss.

[0060] Another approach is to place a long-pass filter on the surface of the D-pixel and a short-pass filter outside the D-pixel, with the long-pass and short-pass filters together forming the bandpass filter. However, since the wafer-level filter on the D-pixel surface defines the cutoff wavelength at one end of the bandpass filter, there are high requirements for on-chip wavelength uniformity, leading to significant manufacturing challenges. Furthermore, similar to the previous approach, the light received at the D-pixel surface has a certain angle of incidence. Therefore, the tilt of the incident angle will cause a shift in the cutoff wavelength of the long-pass filter on the D-pixel surface, resulting in performance loss.

[0061] According to some embodiments of this disclosure, a receiving assembly for a lidar is provided, including a receiver and a dual bandpass filter. The receiver includes an image detector and a depth detector. A first filter is integrated on the image detector. The first filter is configured to allow light of a first wavelength range to pass through. The depth detector is configured to receive echo light from the lidar. A second filter is integrated on the depth detector. The second filter is configured to allow light of a second wavelength range to pass through. The second wavelength range is different from the first wavelength range and includes the wavelength of the echo light. The dual bandpass filter is disposed outside the receiver. The dual bandpass filter is configured to allow light of a third wavelength range and a fourth wavelength range to pass through and be transmitted to the receiver. The third wavelength range includes the first wavelength range. The fourth wavelength range includes the wavelength of the echo light. The receiving assembly of this disclosure is advantageous for achieving better narrowband filtering of the light received by the depth detector, which is beneficial for improving depth detection performance, and its fabrication and control are not difficult.

[0062] Figure 3A A schematic block diagram of a receiving component for a lidar is shown, consistent with some embodiments of this disclosure. (Refer to...) Figure 3A The receiving component 300 may include a receiver 310. Receiver 310 may include an image detector 320 and a depth detector 330. For example, the image detector 320 may capture light from the scene in its field of view for image generation. The depth detector 330 may receive echo light from the lidar to obtain depth information. For example, the depth information may be used to generate a point cloud of the lidar's field of view.

[0063] Receiver 310 may further include a first filter 322 integrated on image detector 320 and a second filter 332 integrated on depth detector 330. Receiver assembly 300 may further include a dual bandpass filter 340 to filter the light received by receiver assembly 300.

[0064] The first filter 322 can be integrated onto the image detector 320. The first filter 322 allows light of a first wavelength range to pass through. For example, the first wavelength range may include the wavelengths of light required by the image detector 320 to obtain image information.

[0065] The second filter 332 can be integrated onto the depth detector 330. The second filter 332 allows light of a second wavelength range to pass through. The second wavelength range may differ from the first wavelength range and may include the wavelength of the echo light from the lidar. This is advantageous because it allows the depth detector 330 to receive the echo light without receiving unwanted light (e.g., light within the first wavelength range).

[0066] A dual bandpass filter 340 can be disposed outside the receiver 310. The dual bandpass filter 340 allows light in a third and fourth wavelength range to pass through and be transmitted to the receiver 310. The third wavelength range may include the first wavelength range. The fourth wavelength range may include the wavelength of the echo light.

[0067] In some embodiments, by integrating a first filter and a second filter on the image detector and depth detector within the receiver, respectively, and by providing a dual bandpass filter outside the receiver, it is possible to avoid integrating a narrow bandpass filter on the depth detector. Furthermore, since the second filter integrated on the depth detector filters out light in a second wavelength range, which can be relatively wide, the manufacturing complexity is greatly reduced, while also facilitating precise control over the light received by the depth detector.

[0068] In some embodiments, the image detector 320 may include at least one of a first pixel, a second pixel, a third pixel, a fourth pixel, and a fifth pixel. The first pixel may receive red light. The second pixel may receive green light. The third pixel may receive blue light. The fourth pixel may receive yellow light. The fifth pixel may receive white light. The image detector 320 may include one or more of the following: a first pixel, a second pixel, a third pixel, a fourth pixel, or a fifth pixel.

[0069] When the image detector 320 includes two or more of a first pixel, a second pixel, a third pixel, a fourth pixel, or a fifth pixel, the number of first pixels, second pixels, third pixels, fourth pixels, or fifth pixels included in the image detector 320 can be multiple. Multiple first pixels, second pixels, third pixels, fourth pixels, or fifth pixels can be arranged in an array. For example, multiple first pixels, second pixels, third pixels, fourth pixels, or fifth pixels can be arranged in an alternating array.

[0070] In some embodiments, the image detector 320 may include an RGB detector, an RGBW detector, or an RYB detector.

[0071] For example, when the image detector 320 includes an RGB detector, the image detector 320 may include a first pixel that receives red light, a second pixel that receives green light, and a third pixel that receives blue light.

[0072] For example, when the image detector 320 includes an RGBW detector, the image detector 320 may include a first pixel that receives red light, a second pixel that receives green light, a third pixel that receives blue light, and a fifth pixel that receives white light.

[0073] For example, when the image detector 320 includes an RYB detector, the image detector 320 may include a first pixel that receives red light, a fourth pixel that receives yellow light, and a third pixel that receives blue light.

[0074] In some embodiments, the first filter 322 may include at least one of a first sub-filter, a second sub-filter, a third sub-filter, a fourth sub-filter, and a fifth sub-filter. Each sub-filter may correspond to a pixel of the image detector 320. For example, the first sub-filter may be positioned in the optical path of a first pixel receiving red light and allow red light to pass through. For example, the second sub-filter may be positioned in the optical path of a second pixel receiving green light and allow green light to pass through. For example, the third sub-filter may be positioned in the optical path of a third pixel receiving blue light and allow blue light to pass through. For example, the fourth sub-filter may be positioned in the optical path of a fourth pixel receiving yellow light and allow yellow light to pass through. For example, the fifth sub-filter may be positioned in the optical path of a fifth pixel receiving white light and allow white light to pass through.

[0075] The first filter 332 may include one or more of the following sub-filters: a first sub-filter, a second sub-filter, a third sub-filter, a fourth sub-filter, or a fifth sub-filter. For example, the number of first sub-filters corresponds to the number of first pixels. The number of second sub-filters corresponds to the number of second pixels. The number of third sub-filters corresponds to the number of third pixels. The number of fourth sub-filters corresponds to the number of fourth pixels. The number of fifth sub-filters corresponds to the number of fifth pixels.

[0076] In some embodiments, the first filter 322 may be formed on the surface of the pixel.

[0077] In some embodiments, the first wavelength range may include one or more sub-wavelength ranges. The one or more sub-wavelength ranges may include at least one of the following: red spectrum, green spectrum, blue spectrum, yellow spectrum, and white spectrum. The sub-wavelength ranges may correspond to sub-filters in the first filter 322.

[0078] In some embodiments, the depth detector 330 may include a single-photon detector array, such as a SiPM or SPAD array. The SiPM or SPAD array can be photon-excited to generate an electrical signal.

[0079] Image detector 320 and depth detector 330 can be integrated on the same chip. The pixels of image detector 320 are arranged in an array. The pixel array of image detector 320 is spaced at a predetermined distance from the single-photon detector array of depth detector 330. In some embodiments, the first, second, third, fourth, or fifth pixels included in image detector 320 can be staggered with the single-photon detectors included in depth detector 330. For example, the pixels of image detector 320 are disposed around the single-photon detectors of depth detector 330. Alternatively, the single-photon detectors of depth detector 330 are disposed around the pixels of image detector 320.

[0080] Alternatively, the image detector 320 can be integrated onto the chip. The depth detector 330 can be integrated onto the chip. The image detector chip and the depth detector chip are fabricated independently. In this case, the image detector chip and the depth detector chip can be located on the same circuit board or on different circuit boards.

[0081] Figure 3B A schematic diagram of a receiving component for a lidar is shown, consistent with other embodiments of this disclosure. (Refer to...) Figure 3B The receiver 310 may include an image detector 320 and a depth detector 330. The image detector 320 and the depth detector 330 may be formed on the same chip. A first filter 322 may be integrated on the image detector 320. A second filter 332 may be integrated on the depth detector 330. A dual bandpass filter 340 may be disposed externally on the receiver 310.

[0082] The dual bandpass filter 340 can receive a light beam. For example, the light beam may include imaging light for the image detector 320 and echo light for the lidar. The dual bandpass filter 340 allows light in a third and fourth wavelength range to pass through and be transmitted to the receiver 310. The dual bandpass filter 340 can also block light outside the third and fourth wavelength ranges from passing through. The first filter 322 can receive filtered light and allow light in a first wavelength range of the filtered light to pass through and be transmitted to the image detector 320. The second filter 332 can receive filtered light and allow light in a second wavelength range of the filtered light to pass through and be transmitted to the depth detector 330.

[0083] It should be understood that Figure 3B The number and position of the image detector 320 and depth detector 330 shown are merely an example. Several image detectors 320 and depth detectors 330 can be configured as needed, and their relative positions are not limited to this.

[0084] Figure 3CA schematic diagram showing the location of a receiving component for a lidar, consistent with some embodiments of this disclosure, is provided. (Refer to...) Figure 3C For example, when the image detector 320 includes an RGB detector, the image detector 320 may include a first pixel 321A, a second pixel 321B, and a third pixel 321C. The first pixel 321A can receive red light. The second pixel 321B can receive green light. The third pixel 321C can receive blue light.

[0085] The first filter 322 may include a first sub-filter 323A, a second sub-filter 323B, and a third sub-filter 323C. The first sub-filter 323A may be disposed in the receiving optical path of the first pixel 321A and allows red light to pass through. The second sub-filter 323B may be disposed in the receiving optical path of the second pixel 321B and allows green light to pass through. The third sub-filter 323C may be disposed in the receiving optical path of the third pixel 321C and allows blue light to pass through.

[0086] The dual bandpass filter 340 can receive a light beam. For example, the light beam may include imaging light for the image detector 320 and echo light from a lidar sensor. The dual bandpass filter 340 allows light in a third and fourth wavelength range to pass through and be transmitted to the receiver 310. The dual bandpass filter 340 can also block light outside the third and fourth wavelength ranges. The first sub-filter 323A can receive filtered light and allows red light from the filtered light to pass through and be transmitted to the first pixel 321A. The second sub-filter 323B can receive filtered light and allows green light from the filtered light to pass through and be transmitted to the second pixel 321B. The third sub-filter 323C can receive filtered light and allows blue light from the filtered light to pass through and be transmitted to the third pixel 321C. The second filter 332 can receive filtered light and allows light in a second wavelength range from the filtered light to pass through and be transmitted to the depth detector 330.

[0087] It should be understood that Figure 3C The number and position of the first pixel 321A, second pixel 321B, third pixel 321C, and depth detector 330 shown are merely an example. Several first pixels 321A, second pixels 321B, third pixels 321C, and depth detectors 330 can be set as needed, and their relative positions are not limited to this.

[0088] In addition, although Figure 3C The RGB detector is used as an example for illustration, but other embodiments may use an RGBW detector or an RYB detector.

[0089] Figure 4A schematic diagram showing the transmission characteristics of a filter for a receiving component of a lidar is illustrated, consistent with some embodiments of this disclosure.

[0090] Reference Figure 4 For example, when the image detector includes an RGB detector, the transmittance of the first sub-filter in the first filter is represented by a red line, allowing light of a first sub-wavelength range (including the wavelength of red light) to pass through. The transmittance of the second sub-filter in the first filter is represented by a green line, allowing light of a second sub-wavelength range (including the wavelength of green light) to pass through. The transmittance of the third sub-filter in the first filter is represented by a blue line, allowing light of a third sub-wavelength range (including the wavelength of blue light) to pass through. In some embodiments, the first wavelength range may include a first sub-wavelength range, a second sub-wavelength range, and a third sub-wavelength range.

[0091] The transmittance of the second filter is indicated by the orange line, allowing light in the second wavelength range to pass through. The second wavelength range includes the wavelengths of the echo light.

[0092] The transmittance of a dual bandpass filter is represented by the black line, allowing light in the third and fourth wavelength ranges to pass through.

[0093] In some embodiments, the wavelength of the echo light may include 905 nm, 940 nm, or 1550 nm. For example, Figure 4 Taking echo light with a wavelength of 905nm as an example, the fourth wavelength range in the black line includes the wavelength of the echo light. Although Figure 4 The illustration uses only echo light with a wavelength of 905 nm as an example, but the embodiments of this disclosure are also applicable to echo light with wavelengths of 940 nm and 1550 nm, and the transmittance of the filter is not limited to... Figure 4 The transmittance is shown.

[0094] In some embodiments, the third wavelength range may include a wavelength range less than or equal to the first threshold. In some embodiments, the first threshold may be between 750 nm and 900 nm. Figure 4 In the example, the third wavelength range in the black line includes wavelengths less than or equal to the first threshold, which can be between 750nm and 900nm, such that the wavelengths corresponding to the peaks of the blue, green, and red lines can all be within the third wavelength range. For example, the first threshold can be, but is not limited to, 750nm, 800nm, 850nm, 900nm, etc.

[0095] In some embodiments, the second filter may be a long-pass filter. The second wavelength range may include a wavelength range greater than or equal to a second threshold. The second threshold may be less than the wavelength of the echo light and greater than a first threshold. This ensures that the second wavelength range does not overlap with the third wavelength range and that the wavelength corresponding to the echo light falls within the second wavelength range. Figure 4 In the example, the second wavelength range, represented by the orange line, includes wavelengths greater than or equal to the second threshold, which is approximately 800 nm. The second threshold is less than the wavelength of the echo light, 905 nm. For example, when the second threshold is greater than the first threshold, the second threshold can be, but is not limited to, 750 nm, 800 nm, 850 nm, 880 nm, 900 nm, etc.

[0096] In some embodiments, the fourth wavelength range may include a wavelength range between a third threshold and a fourth threshold. The third threshold may be less than the wavelength of the echo light. The fourth threshold may be greater than the wavelength of the echo light. This allows the fourth wavelength range to include the wavelength range corresponding to the echo light. Figure 4 In the example, the fourth wavelength range in the black line includes the wavelength range from the third threshold to the fourth threshold, where the third threshold is approximately 890 nm and the fourth threshold is approximately 920 nm. For example, the third threshold could be, but is not limited to, 880 nm, 895 nm, etc. For example, the fourth threshold could be, but is not limited to, 910 nm, 930 nm, etc.

[0097] In some embodiments, the dual bandpass filter includes a narrowband filter relative to the wavelength of the echo light. For example, the difference between the fourth threshold and the third threshold is no more than 50 nm to achieve narrowband filtering near the wavelength of the echo light. Another example is that the difference between the fourth threshold and the third threshold is no more than 30 nm. Yet another example is that the difference between the fourth threshold and the third threshold is no more than 20 nm.

[0098] Therefore, when a beam including imaging light and echo light is incident on the dual bandpass filter, the dual bandpass filter allows light in the third wavelength range (e.g., imaging light) and light in the fourth wavelength range (e.g., echo light) to pass through. When the light in the third wavelength range (e.g., imaging light) and the light in the fourth wavelength range (e.g., echo light) are incident on the surface of the image detector, the first filter allows light in the first wavelength range (e.g., red, blue, and green light) within the third wavelength range (e.g., imaging light) to pass through, while filtering out light in the fourth wavelength range (e.g., echo light). This causes the pixels in the image detector to receive light of the corresponding wavelength (e.g., receive red light, receive blue light, or receive green light). When light in the third wavelength range (e.g., imaging light) and light in the fourth wavelength range (e.g., echo light) are incident on the surface of the depth detector, the second filter allows the light in the fourth wavelength range (e.g., echo light) in the second wavelength range to pass through, while filtering out the light in the third wavelength range (e.g., imaging light), so that the depth detector receives the light in the fourth wavelength range (e.g., echo light).

[0099] In addition, although Figure 4 The example used is a filter for an RGB detector and a depth detector for echo light with a wavelength of approximately 905 nm. However, in embodiments employing other detectors, the specific values ​​of the first, second, third, and fourth wavelength ranges can be varied depending on the nature of the detector and are not limited to these examples. Figure 4 Examples of transmittance are shown.

[0100] Therefore, in the embodiments of this disclosure, the dual bandpass filter achieves narrowband filtering of the echo light's wavelength range. A second filter integrated on the surface of the depth detector filters out visible light. Since the dual bandpass filter achieves narrowband filtering of the echo light's wavelength range, there are no bandwidth requirements for the second filter. Variations in the cutoff wavelength of the second filter do not affect the overall filtering performance. The dual bandpass filter and the depth detector are independently configured. The fabrication of the second filter is not limited by the fabrication process of the depth detector, and the fabrication process of the second filter is relatively simple.

[0101] Figures 5A-5D A schematic diagram showing the position of a dual bandpass filter consistent with some embodiments of this disclosure is provided. (Refer to...) Figure 5A The receiving components include a receiver 510 and a dual bandpass filter 520A. The receiver 510 can be... Figure 3A , Figure 3B , Figure 3C The receiver 310 is included. The dual bandpass filter 520A can be... Figure 3A , Figure 3B , Figure 3CThe receiver assembly includes a dual bandpass filter 340. In some embodiments, the receiver assembly may further include a receiving lens 530. The receiving lens 530 can transmit the light beam to the receiver 510.

[0102] Since the embodiments of this disclosure place the dual bandpass filter outside the receiver 510, the position of the dual bandpass filter can be flexibly set.

[0103] Reference Figure 5A In some embodiments, a dual bandpass filter 520A may be disposed between the receiver 510 and the receiving lens 530.

[0104] Reference Figure 5B The dual bandpass filter 520B can be Figure 3A , Figure 3B , Figure 3C The dual bandpass filter 340 is included. In some embodiments, the dual bandpass filter 520B may be disposed within the receiving lens 530.

[0105] In some embodiments, the receiving lens 530 may include an optical element, and a dual bandpass filter 520B may be formed on the surface of the optical element. For example, the dual bandpass filter 520B may be formed on the surface of the optical element by means of coating (e.g., spin coating, blade coating, or spray coating), physical vapor deposition (e.g., evaporation or magnetron sputtering), chemical vapor deposition, hot pressing, or nanoimprinting.

[0106] Reference Figure 5C The dual bandpass filter 520C can be Figure 3A , Figure 3B , Figure 3C The receiving component includes a dual bandpass filter 340. In some embodiments, the receiving component may also include a lidar window 540. The window 540 can transmit the light beam to the receiving lens 530. In some embodiments, a dual bandpass filter 520C may be disposed between the receiving lens 530 and the lidar window 540.

[0107] Reference Figure 5D The dual bandpass filter 520D can be Figure 3A , Figure 3B , Figure 3C The dual bandpass filter 520D is formed on the surface of the lidar window 540 in some embodiments.

[0108] In some embodiments, the dual bandpass filter is placed in an area where the light direction is relatively uniform. The relatively uniform and small incident angle of the returned light onto the dual bandpass filter is beneficial to its filtering stability, thereby ensuring that the light received by the receiver is within the desired wavelength range. Compared to forming it on the detector surface where the incident angle varies greatly, placing the dual bandpass filter in an optical path with a small incident angle achieves better filtering performance.

[0109] In some embodiments, the incident angle of the echo light on the dual bandpass filter may not be greater than 20 degrees. For example, the incident angle may be, but is not limited to, 0 degrees, 5 degrees, 10 degrees, 15 degrees, 20 degrees, etc.

[0110] Figure 6 A schematic diagram of the transmission characteristics of a dual bandpass filter consistent with some embodiments of this disclosure is shown.

[0111] Reference Figure 6 The figures show the transmission characteristics of a dual bandpass filter when the incident angle of the echo light relative to it is 0°, 10°, 20°, and 30°. As can be seen from the figures, the transmission characteristics of the dual bandpass filter remain relatively stable when the incident angle is between 0° and approximately 20°. However, when the incident angle reaches 30°, the transmission characteristics of the dual bandpass filter shift significantly, potentially preventing the echo light from passing through. Therefore, setting the incident angle of the echo light on the dual bandpass filter to no greater than 20° improves the filtering stability of the filter and ensures that the echo light can pass through.

[0112] In some embodiments, the second filter may include a metasurface filter. A metasurface is composed of periodic or quasi-periodic arrangements of subwavelength-scale (typically nanometer-scale) unit structures. Unlike traditional optical devices that rely on changes in the refractive index of the material itself, metasurfaces control the propagation and modulation characteristics of electromagnetic waves through precisely designed unit structures.

[0113] For example, in scenarios where the echo light is approximately 905 nm, a thin metal film can be incorporated into the fabrication of the second filter to block light of other wavelengths. (See reference...) Figure 4 This method blocks light with wavelengths below 800 nm and above 1000 nm, thereby reducing transmittance on both sides. Furthermore, micro / nano structures can be incorporated, utilizing resonance effects or surface plasmons to achieve better transmittance for the target wavelength range. For example, refer to... Figure 4 This allows light with wavelengths around 905 nm to pass through. Therefore, by utilizing metasurface filters formed from metal thin films and micro / nano structures, it is possible to realize on-chip, wider-pass filters on depth detectors.

[0114] Compared to dye filters, metasurface filters offer the advantage of precisely tunable wavelengths and are not limited by the wavelength selection constraints of dye filters. They allow for more flexible selection of the filtering band and also offer some bandwidth modulation capabilities. Furthermore, metasurface filters can be fabricated using conventional photolithography techniques, enabling on-chip integration without complex fabrication processes. Therefore, they are suitable for forming second filters integrated onto the surface of depth detectors.

[0115] According to another exemplary embodiment of this disclosure, a lidar is also provided. The lidar may include a transmitting component capable of emitting probe light. The lidar may also include the receiving component 300 described above, capable of receiving the echo light generated after the probe light is reflected by an object.

[0116] According to another exemplary embodiment of this disclosure, a terminal device is also provided. The terminal device may include the lidar described above. In some embodiments, the terminal device may include a vehicle.

[0117] This concludes the description of a receiving component, a lidar, and a terminal device for lidar according to the present disclosure. The receiving component for lidar disclosed herein helps to solve the problem of poor filtering performance of filters in lidar by integrating a filter on the depth detector and placing a dual bandpass filter outside the depth detector.

[0118] In some embodiments of this disclosure, a dual bandpass filter achieves narrowband filtering of the echo light's wavelength range. A second filter integrated on the surface of the depth detector filters out visible light. The dual bandpass filter achieves narrowband filtering of the echo light's wavelength range, without requiring a specific bandwidth for the second filter. Variations in the cutoff wavelength of the second filter do not affect the overall filtering performance. The dual bandpass filter and the depth detector are independently configured. The fabrication of the second filter is not limited by the fabrication process of the depth detector; the fabrication process for the second filter is relatively simple and easy to perform wafer-level on-chip integration. Although narrowband filtering has high requirements for the fabrication process, the dual bandpass filter, which achieves narrowband filtering, does not need to be integrated on the detector, thus the fabrication process is mature, making such filters easy to fabricate. Therefore, the filter implemented in this disclosure can meet the filtering requirements of the depth detector, has good filtering performance, and is easy to fabricate.

[0119] It should be understood that the above description is illustrative and not restrictive. For example, the above embodiments (and / or aspects thereof) can be used in combination with each other. Furthermore, many modifications can be made to adapt particular situations or materials to the teachings of the various embodiments of this disclosure without departing from the scope of this disclosure. While the dimensions and types of materials described herein are used to define parameters of the various embodiments of this disclosure, the embodiments are not intended to be restrictive but are exemplary. Many other embodiments will become apparent to those skilled in the art upon reading the above description. Therefore, the scope of the various embodiments of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A receiving component for lidar, comprising: Receiver, including: An image detector, wherein a first filter is integrated on the image detector, the first filter being configured to allow light in a first wavelength range to pass through; A depth detector, configured to receive the echo light from the lidar, integrates a second filter configured to allow light of a second wavelength range to pass through, the second wavelength range being different from the first wavelength range and including the wavelength of the echo light; and A dual bandpass filter is disposed outside the receiver and configured to allow light in a third wavelength range and a fourth wavelength range to pass through and be transmitted to the receiver, the third wavelength range including the first wavelength range and the fourth wavelength range including the wavelength of the echo light.

2. The receiving component as claimed in claim 1, characterized in that, The image detector includes at least one of the following: The first pixel is configured to receive red light; The second pixel is configured to receive green light; The third pixel is configured to receive blue light; The fourth pixel is configured to receive yellow light; as well as The fifth pixel is configured to receive white light.

3. The receiving component as described in claim 2, characterized in that, The image detector includes an RGB detector, an RGBW detector, or an RYB detector.

4. The receiving component as described in claim 2, characterized in that, The first filter includes at least one of the following: A first sub-filter is disposed in the receiving optical path of the first pixel and configured to allow red light to pass through; A second sub-filter is disposed in the receiving optical path of the second pixel and configured to allow green light to pass through; A third sub-filter is disposed in the receiving optical path of the third pixel and configured to allow blue light to pass through; A fourth sub-filter is disposed in the receiving optical path of the fourth pixel and configured to allow yellow light to pass through; as well as A fifth sub-filter is disposed in the receiving optical path of the fifth pixel and configured to allow white light to pass through.

5. The receiving component as claimed in claim 4, characterized in that, The first wavelength range includes one or more sub-wavelength ranges, which include at least one of the following: red spectrum, green spectrum, blue spectrum, yellow spectrum, and white spectrum.

6. The receiving component as claimed in claim 2, characterized in that, The first filter is formed on the surface of the pixel.

7. The receiving component as described in any one of claims 1-6, characterized in that, The third wavelength range includes wavelengths that are less than or equal to the first threshold.

8. The receiving component as claimed in claim 7, characterized in that, The first threshold is between 750nm and 900nm.

9. The receiving component as claimed in claim 7, characterized in that, The second filter is configured as a long-pass filter, and the second wavelength range includes a wavelength range greater than or equal to a second threshold, which is less than the wavelength of the echo light and greater than the first threshold.

10. The receiving component as claimed in any one of claims 1-6, characterized in that, The fourth wavelength range includes a wavelength range between the third threshold and the fourth threshold, wherein the third threshold is less than the wavelength of the echo light and the fourth threshold is greater than the wavelength of the echo light.

11. The receiving component as claimed in claim 1, characterized in that, The receiving component also includes a receiving lens configured to transmit a light beam to the receiver.

12. The receiving component as claimed in claim 11, characterized in that, The dual bandpass filter is disposed between the receiver and the receiving lens.

13. The receiving component as claimed in claim 11, characterized in that, The dual bandpass filter is located inside the receiving lens.

14. The receiving component as claimed in claim 13, characterized in that, The receiving lens includes optical components, and the dual bandpass filter is formed on the surface of the optical components.

15. The receiving component as claimed in claim 11, characterized in that, The dual bandpass filter is positioned between the receiving lens and the viewport of the lidar.

16. The receiving component as claimed in claim 1, characterized in that, The dual bandpass filter is formed on the surface of the lidar's viewing window.

17. The receiving component as claimed in claim 1, characterized in that, The incident angle of the echo light on the dual bandpass filter is no greater than 20 degrees.

18. The receiving component as claimed in claim 1, characterized in that, The wavelength of the echo light includes 905nm, 940nm, or 1550nm.

19. The receiving component as claimed in claim 1, characterized in that, The depth detector includes a single-photon detector array.

20. The receiving component as claimed in any one of claims 1-6, characterized in that, The second filter includes a metasurface filter.

21. A lidar, comprising: The transmitting component is configured to emit a probe beam; as well as The receiving component as described in any one of claims 1-20 is configured to receive the echo light generated after the probe light is reflected by an object.

22. A terminal device comprising the lidar as described in claim 21.

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