Signal processing apparatus and terminal device

Abstract

A signal processing apparatus and a terminal device, for use in reducing hardware costs of the signal processing apparatus. The signal processing apparatus comprises N frequency modulated photoelectric loops. Each modulated photoelectric loop among the N frequency modulated photoelectric loops comprises a light source, a first light splitting element, an optical delay element, a frequency mixer, an optical detection element, a processing element, and a driving circuit. The N frequency modulated photoelectric loops share a same optical delay element.

Description

A signal processing device and terminal equipment

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410486995.0, filed on April 22, 2024, entitled "A Signal Processing Apparatus and Terminal Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of detection technology, and in particular to a signal processing device and terminal equipment. Background Technology

[0004] Frequency-modulated continuous wave (FMCW) lidar (light detection and ranging) is a technology that uses direct modulation of the laser's emission frequency to detect distance and velocity. As shown in Figure 1A, ideally, the modulation signal input to the laser source in an FMCW LiDAR system (i.e., the solid curve in Figure 1A) is linearly reflected in the frequency of the emitted laser beam; that is, the frequency change of the emitted laser beam is linear with the modulation signal input to the laser source, and the frequency of the emitted laser beam changes linearly with time. However, during frequency modulation, due to the internal physical mechanisms of the light source (such as imperfections in manufacturing processes, thermal effects, etc.), the modulation signal input to the laser (such as changes in current or voltage) may become non-linear with respect to the frequency of the emitted laser beam. This leads to a non-linear change in the frequency of the emitted laser beam over time, i.e., a frequency modulation non-linearity phenomenon.

[0005] Frequency modulation nonlinearity can introduce errors into the measurement accuracy of FMCW LiDAR systems. To address this, the inherent frequency modulation nonlinearity of the laser source needs to be calibrated. Some solutions utilize an asymmetric Mach-Zehnder interferometer (AMZI) structure based on fiber delay lines or integrated waveguide delay lines to calibrate the frequency modulation nonlinearity. However, the large number of fiber delay lines or integrated waveguide delay lines in a directly modulated FMCW LiDAR architecture leads to higher hardware costs for the MCW LiDAR system. Summary of the Invention

[0006] This application provides a signal processing apparatus and terminal equipment to reduce the hardware cost of the signal processing apparatus.

[0007] In a first aspect, this application provides a signal processing apparatus, which may be, for example, an FMCW LiDAR system. The signal processing apparatus includes N frequency-modulated photoelectric circuits; each of the N frequency-modulated photoelectric circuits includes a light source, a first beam splitter, an optical delay element, a mixer, a photodetector, a processing element, and a driving circuit; wherein the N frequency-modulated photoelectric circuits share the same optical delay element.

[0008] In the above scheme, the signal processing device includes N frequency-modulated optoelectronic circuits that share the same optical delay element. Compared to a scheme where N frequency-modulated optoelectronic circuits use N optical delay elements, this reduces the number of optical delay elements, thereby effectively reducing the hardware cost of the signal processing device. Specifically, when the optical delay element is an optical fiber delay line, reducing the number of optical fiber delay lines in the N frequency-modulated optoelectronic circuits can reduce the hardware cost of the N frequency-modulated optoelectronic circuits; or, when the optical delay element is an integrated waveguide delay line, reducing the number of integrated waveguide delay lines in the N frequency-modulated optoelectronic circuits can reduce the area occupied by the integrated waveguide delay lines in the corresponding chips of the N frequency-modulated optoelectronic circuits, thereby reducing the chip cost and achieving the goal of reducing the hardware cost of the N frequency-modulated optoelectronic circuits.

[0009] In this embodiment, the driving circuit in each frequency-modulated photoelectric loop can output a frequency-modulated signal. Each frequency-modulated photoelectric loop is used to adjust the frequency-modulated signal output by its driving circuit, such that the frequency-modulated signal is linearly related to the frequency of the light signal emitted by the light source included in each frequency-modulated photoelectric loop. The frequency-modulated signal can be input to the light source included in each frequency-modulated photoelectric loop, thereby adjusting the frequency of the light signal output by the light source.

[0010] In one possible design, the N frequency-modulated optoelectronic circuits further include a beam processing element and a second beam splitter element; correspondingly, the N frequency-modulated optoelectronic circuits share the same optical delay element, including: a first beam splitter element, used to split the beam generated by the light source to obtain a detection signal, a local oscillator signal, and a first optical signal; the detection signal is used for target measurement, the local oscillator signal is input to a mixer, and the first optical signal is input to the beam processing element; the beam processing element is used to form a delay signal based on the N first optical signals corresponding to the N frequency-modulated optoelectronic circuits; the delay signal is input to the optical delay element; the optical delay element is used to delay the delay signal to obtain a delayed signal, and the delayed signal is input to the second beam splitter element; the second beam splitter element is used to split the delayed signal to obtain N second optical signals; one of the N second optical signals is input to the mixer included in one of the N frequency-modulated optoelectronic circuits.

[0011] In this design, the light beam emitted by the light source is processed by using a first beam splitter and a beam processing element, so that N frequency-modulated photoelectric circuits can share a single optical delay element to delay the optical signal; and the second beam splitter can split the delayed optical signal, and the split optical signal can be input into the mixers in the N frequency-modulated photoelectric circuits respectively.

[0012] In one possible design, the first beam splitter includes a first sub-beam splitter and a second sub-beam splitter; correspondingly, the first beam splitter splits the light beam generated by the light source to obtain a detection signal, a local oscillator signal, and a first optical signal, including: a first sub-beam splitter for splitting the light beam generated by the light source to obtain a detection signal and an intermediate optical signal; the intermediate optical signal is input to the second sub-beam splitter; the second sub-beam splitter is used to split the intermediate optical signal to obtain a local oscillator signal and the first optical signal.

[0013] This design provides an implementation method for the first beam splitter, thereby making the frequency modulation optoelectronic circuit provided in the embodiments of this application easy to implement.

[0014] In one possible design, a mixer is used to mix the received local oscillator signal and the second optical signal to obtain a difference frequency signal; wherein the difference frequency signal is used to determine a feedback signal, the feedback signal is input to a drive circuit, and the feedback signal is used to calibrate the frequency modulation signal output by the drive circuit.

[0015] In this design, each of the N frequency-modulated photoelectric circuits includes a mixer that mixes the received signal to obtain a difference frequency signal. The feedback signal determined based on the difference frequency signal can be input to the drive circuit to calibrate the frequency-modulated signal output by the drive circuit, so that the emitted beam of the light source can be frequency-modulated according to the expected frequency change law.

[0016] In one possible design, the N frequency-modulated optoelectronic circuits also include a beam processing element; correspondingly, the N frequency-modulated optoelectronic circuits share the same optical delay element, including: a first beam splitter, used to split the beam generated by the light source to obtain a detection signal and a first optical signal; wherein, the detection signal is used for target measurement, and the N first optical signals corresponding to the N frequency-modulated optoelectronic circuits are input to the beam processing element; the beam processing element is used to form a local oscillator signal and a signal to be delayed based on the N first optical signals; the local oscillator signal is input to a mixer, and the signal to be delayed is input to the optical delay element; the N frequency-modulated optoelectronic circuits share the same mixer; the optical delay element is used to delay the signal to be delayed to obtain a delayed signal, and the delayed signal is input to the mixer shared by the N frequency-modulated optoelectronic circuits.

[0017] In this design, the light beam emitted by the light source is processed by using a first beam splitter and a beam processing element, so that N frequency-modulated photoelectric circuits can share a single optical delay element to delay the optical signal; and the N frequency-modulated photoelectric circuits share the same mixer, so that the delayed optical signal can be directly input into the mixer.

[0018] In one possible design, a mixer shared by N frequency-modulated optoelectronic circuits is used to mix the local oscillator signal and the delayed signal to obtain a difference frequency signal. The difference frequency signal is used to determine the feedback signal, which is input to the drive circuit and used to calibrate the frequency-modulated signal output by the drive circuit.

[0019] In this design, the mixer shared by N frequency-modulated photoelectric circuits can mix the received signals to obtain a difference frequency signal. The feedback signal determined based on this difference frequency signal can be input to the drive circuit to calibrate the frequency-modulated signal output by the drive circuit, so that the emitted beam of the light source can be frequency-modulated according to the expected frequency change law.

[0020] In one possible design, the N frequency-modulated optoelectronic circuits further include a beam processing element, a second beam splitter, and a third beam splitter. Correspondingly, the N frequency-modulated optoelectronic circuits share the same optical delay element, including: a first beam splitter for splitting the beam generated by the light source to obtain a detection signal and a first optical signal; the detection signal is used for target measurement; the N first optical signals corresponding to the N frequency-modulated optoelectronic circuits are input to the beam processing element; the beam processing element is used to generate a local oscillator signal and a delay signal based on the N first optical signals; the delay signal is input to the third beam splitter, and the local oscillator signal is input to... Optical delay element; the optical delay element is used to delay the signal to be delayed, and obtain the delayed signal. The delayed signal is input to the second beam splitter; the second beam splitter is used to split the delayed signal to obtain N second optical signals; one of the N second optical signals is input to the mixer of one of the N frequency-modulated optoelectronic circuits; the third beam splitter is used to split the local oscillator signal to obtain N third optical signals; one of the N third optical signals is input to the mixer of one of the N frequency-modulated optoelectronic circuits.

[0021] In this design, the light beam emitted by the light source is processed by using a first beam splitter and a beam processing element, so that N frequency-modulated photoelectric circuits can share a single optical delay element to delay the optical signal; and the second beam splitter can split the delayed optical signal, and the split optical signal can be input into the mixers in the N frequency-modulated photoelectric circuits respectively; the third beam splitter can split the local oscillator light signal, and the split local oscillator light signal can be input into the mixers in the N frequency-modulated photoelectric circuits respectively.

[0022] In one possible design, the mixer of each frequency-modulated optoelectronic circuit is used to mix the second and third optical signals it receives to obtain a difference frequency signal; wherein, the difference frequency signal is used to determine the feedback signal, the feedback signal is input to the drive circuit, and the feedback signal is used to calibrate the frequency-modulated signal output by the drive circuit.

[0023] In one possible design, each frequency-modulated optoelectronic circuit also includes a transimpedance amplifier and an analog-to-digital converter (ADC). The difference frequency signal is used to determine the feedback signal, comprising: a photodetector element for receiving the difference frequency signal and inputting it into the transimpedance amplifier; the transimpedance amplifier for amplifying the difference frequency signal, with the amplified signal input to the ADC; the ADC for converting the amplified difference frequency signal into a digital signal, which is then input to a processing element; and the processing element for processing the digital signal to obtain the feedback signal. This design describes the process of determining the feedback signal based on the difference frequency signal.

[0024] In one possible design, the feedback signal is used to calibrate the frequency-modulated signal output by the drive circuit, including: the feedback signal is used to calibrate the linearity between the frequency-modulated signal input to the drive circuit and the beam output by the light source. Specifically, in this design, the feedback signal is used to calibrate the linearity between the frequency-modulated signal input to the drive circuit and the beam output by the light source, thereby improving the detection accuracy of the signal processing device.

[0025] In one possible design, the optical delay element is a fiber optic delay line or an on-chip integrated waveguide delay line. This design provides multiple implementation methods for the optical delay element.

[0026] In one possible design, the signal processing device further includes N target measurement loops; the detection signal is used for target measurement, including: each of the N target measurement loops is used to perform target measurement based on the detection signal. In this design, the signal processing device also includes a target measurement loop for detecting the target. In this embodiment, after calibrating the frequency-modulated signal output by the driving circuit through N frequency-modulated photoelectric loops, the frequency of the emitted beam of the light source can change linearly with time, thereby making the detection signal obtained based on the emitted beam meet the preset requirements, thus effectively improving the accuracy of the N target measurement loops in detecting the target.

[0027] Secondly, embodiments of this application provide a terminal device, which includes the signal processing apparatus as described in the first aspect and any one thereof. The terminal device may be, for example, a smartphone, smart home device, smart manufacturing equipment, robot, drone, or smart transportation equipment (such as an automated guided vehicle (AGV) or unmanned vehicle, etc.).

[0028] The beneficial effects of the second aspect mentioned above can be referred to the beneficial effects that can be achieved by the corresponding design in the first aspect mentioned above, and this application will not repeat them one by one. Attached Figure Description

[0029] Figure 1A illustrates, for example, a schematic diagram of the emitted beam of a laser source and the frequency modulation signal input to the laser source as a function of time;

[0030] Figure 1B illustrates one of the schematic diagrams of a direct-modulation FMCW LiDAR architecture;

[0031] Figure 1C illustrates a second schematic diagram of a direct-modulation FMCW LiDAR architecture;

[0032] Figure 2A illustrates one of the architectural schematics of another direct-modulation FMCW LiDAR;

[0033] Figure 2B illustrates another schematic diagram of a direct-modulation FMCW LiDAR architecture;

[0034] Figure 3A illustrates one of the architectural schematic diagrams of the signal processing device provided in an embodiment of this application;

[0035] Figure 3B illustrates one of the architectural schematic diagrams of the signal processing device provided in an embodiment of this application;

[0036] Figure 3C illustrates, for example, a schematic diagram of the architecture of the target measurement loop in the signal processing apparatus provided in an embodiment of this application;

[0037] Figure 4A illustrates one of the architectural schematic diagrams of a signal processing device provided in an embodiment of this application;

[0038] Figure 4B illustrates a second schematic diagram of the architecture of a signal processing device provided in an embodiment of this application.

[0039] Figure 4C exemplarily illustrates a third schematic diagram of the architecture of a signal processing device provided in an embodiment of this application;

[0040] Figure 5A illustrates one of the architectural schematic diagrams of a signal processing device provided in an embodiment of this application;

[0041] Figure 5B illustrates a second schematic diagram of the architecture of a signal processing device provided in an embodiment of this application.

[0042] Figure 5C exemplarily illustrates a third schematic diagram of the architecture of a signal processing device provided in an embodiment of this application;

[0043] Figure 6A illustrates one of the architectural schematic diagrams of a signal processing device provided in an embodiment of this application;

[0044] Figure 6B illustrates a second schematic diagram of the architecture of a signal processing device provided in an embodiment of this application.

[0045] Figure 6C exemplarily illustrates a third schematic diagram of the architecture of a signal processing device provided in an embodiment of this application;

[0046] Figure 7A illustrates one of the architectural schematic diagrams of a signal processing device provided in an embodiment of this application;

[0047] Figure 7B illustrates a second schematic diagram of the architecture of a signal processing device provided in an embodiment of this application.

[0048] Figure 7C exemplarily illustrates a third schematic diagram of the architecture of a signal processing device provided in an embodiment of this application;

[0049] Figure 8 illustrates a possible structural diagram of a chip system provided in this application. Detailed Implementation

[0050] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0051] The following provides explanations for some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0052] I. Optical delay element, used to achieve signal delay. In the embodiments of this application, the optical delay element can be an optical fiber delay line or an integrated waveguide delay line. The optical fiber delay line is relatively long, and the propagation of the optical signal within it can achieve signal delay.

[0053] Integrated waveguide delay lines are waveguide devices fabricated on semiconductor chips. Their working principle involves controlling the propagation path length of electromagnetic waves in a dielectric waveguide, silicon, or other materials to achieve signal delay. The semiconductor materials used in integrated waveguide delay lines can be, for example, silicon (Si) or silicon nitride (SiN), and they transmit optical signals internally. Integrated waveguide delay lines offer high integration density, good programmability, high delay accuracy, ease of integration with other circuits, smaller size, and suitability for high-frequency applications. However, compared to fiber optic delay lines, their delay range may be limited by process and materials, and the loss of integrated waveguide delay lines is greater than that of fiber optic delay lines.

[0054] II. In a direct-modulation FMCW LiDAR, the transmitter sends a continuous laser signal whose frequency varies according to a specific pattern (e.g., linear or sawtooth waveform). When this frequency-modulated signal interacts with the target object, the reflected echo signal also exhibits the same frequency variation characteristics. However, depending on the distance to the target, the echo signal will have a phase difference and a frequency difference relative to the transmitted signal. The receiver, upon receiving the echo signal, uses a mixer to coherently demodulate (mix) it with the transmitted signal, resulting in a low-frequency beat signal (also known as an intermediate frequency signal). Analyzing this beat signal can determine information such as the target's distance and velocity.

[0055] As shown in Figure 1B, the direct-modulated FMCW LiDAR includes a light source, a beam splitter, a target measurement circuit, a frequency-modulated photoelectric circuit, and a driving circuit. The driving signal generates a modulation signal, which is then input to the light source. This modulation signal causes the frequency of the emitted beam from the light source to change over time, for example, gradually increasing or decreasing in the form of a triangular wave or sawtooth wave. The beam splitter processes the emitted beam from the light source to obtain beam 1 and beam 2. Beam 1 is input to the target measurement circuit, whereby beam 1 can be used for target measurement. Beam 2 is input to the frequency-modulated photoelectric circuit, which generates a feedback signal based on beam 2. This feedback signal is then input to the driving circuit, which uses this feedback signal to calibrate the modulation signal output by the driving circuit, ensuring that the frequency change of the emitted beam from the laser source is linear with the modulation signal input to the laser source.

[0056] As shown in Figure 1C, the light source is a laser, the beam splitter is beam splitter 1, and the mixer is a 180° mixer. After beam splitting the emitted beam generated by the light source, beam splitter 1 can obtain beam 1 and beam 2. Beam 1 is input into the target measurement circuit, and beam 2 is input into the frequency modulation photoelectric circuit.

[0057] The target measurement circuit includes a beam splitter 3, a circulator, a 180° mixer, a photodetector, a TIA (Transient Ionizer), an analog-to-digital converter (ADC), and a DSP (Digital Signal Processor). In the target measurement circuit, beam splitter 3 further splits beam 1 to obtain emitted light and local oscillator light. The emitted light passes through the circulator and illuminates the target. The circulator also receives the reflected echo light (i.e., received light) from the target and inputs it into the 180° mixer. The 180° mixer mixes the local oscillator light and the received light (also known as beat frequency detection) to obtain a difference frequency signal. This difference frequency signal contains information about the frequency difference between the two signals. This frequency difference is proportional to the target distance and also includes information about the Doppler effect caused by target movement, thus allowing the calculation of the target's velocity. The photodetector detects this difference frequency signal. The signal is input to the TIA (Transducer Interface); the TIA amplifies the signal to obtain an amplified signal, which is then input to the ADC (Analog-to-Digital Converter). The ADC performs analog-to-digital conversion to obtain a digital signal. The DSP (Digital Signal Processor) further processes the digital signal (e.g., Fast Fourier Transform, FFT) to extract the target's distance and motion state information, analyzes the time variation trend of the frequency difference, obtains the change in the target's position within different time intervals, and thus calculates the target's velocity. The DSP outputs the target object's distance, velocity, and other data, which may be further converted into position information in three-dimensional space for subsequent scene modeling, obstacle recognition, or other application needs.

[0058] The frequency modulation optoelectronic circuit includes a beam splitter 2, an optical fiber delay line, a 180° mixer, a photodetector, a TIA, an ADC, and a DSP. In the frequency modulation optoelectronic circuit, the beam splitter 2 can further split the beam 2 to obtain the signal light to be delayed and the local oscillator light of the calibration path. The signal light to be delayed is delayed by the optical fiber delay line to obtain the delayed signal light. The delayed signal light is input into the 180° mixer, and the local oscillator light of the calibration path is directly input into the 180° mixer. The 180° mixer mixes the local oscillator light of the calibration path and the delayed signal light to obtain the corresponding difference frequency signal. The photodetector detects the difference frequency signal and inputs it into the TIA. The TIA amplifies the difference frequency signal to obtain the amplified difference frequency signal. The amplified difference frequency signal is input into the ADC, which performs analog-to-digital conversion to obtain a digital signal. The DSP further processes the digital signal to obtain a feedback signal. The feedback signal is input into the drive circuit, and the drive circuit adjusts the frequency modulation signal input to the laser according to the feedback signal.

[0059] As shown in Figures 2A and 2B, multiple optical delay elements are required in the direct-modulated FMCW LiDAR architecture with multiple lasers. When the optical delay elements are fiber delay lines, the large number of fiber delay lines results in a large volume in the direct-modulated FMCW LiDAR architecture, thus increasing the hardware cost of the direct-modulated FMCW LiDAR architecture. Alternatively, when the optical delay elements are integrated waveguide delay lines, the large number of integrated waveguide delay lines results in a large area occupied by multiple integrated waveguide delay lines in the direct-modulated FMCW LiDAR chip, thus increasing the chip cost and further increasing the hardware cost of the direct-modulated FMCW LiDAR architecture.

[0060] In view of this, this application provides a signal processing apparatus and a terminal device. The signal processing apparatus includes N frequency-modulated optoelectronic circuits sharing the same optical delay element. Compared to a scheme where N frequency-modulated optoelectronic circuits use N optical delay elements, this reduces the number of optical delay elements, thereby effectively reducing the hardware cost of the signal processing apparatus. Specifically, when the optical delay element is an optical fiber delay line, reducing the number of optical fiber delay lines in the N frequency-modulated optoelectronic circuits can reduce the hardware cost of the N frequency-modulated optoelectronic circuits; or, when the optical delay element is an integrated waveguide delay line, reducing the number of integrated waveguide delay lines in the N frequency-modulated optoelectronic circuits can reduce the area occupied by the integrated waveguide delay lines in the corresponding chips of the N frequency-modulated optoelectronic circuits, thereby reducing the chip cost and achieving the goal of reducing the hardware cost of the N frequency-modulated optoelectronic circuits.

[0061] The signal processing device provided in this application embodiment can be installed in the detection device, and the detection device can be installed in any terminal device that needs to detect the target. The terminal device can be, for example, a smartphone, smart home device, smart manufacturing equipment, robot, drone, or smart transportation equipment (such as an automated guided vehicle (AGV) or unmanned transport vehicle). In one possible implementation, the terminal device is a vehicle, and the detection device is a lidar, which can be installed in any or more of the six directions of the vehicle: front, rear, left, right, up, and down, such as around the headlights, around the rearview mirrors, near the doors, at the rear bumper, behind the windshield, or on the roof, to capture information about the vehicle's surrounding environment.

[0062] It should be noted that the application scenarios described in this application can be applied to fields such as autonomous driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, biomedicine, or surveying and mapping (such as 3D mapping).

[0063] The signal processing apparatus provided in this application will now be described in conjunction with the accompanying drawings.

[0064] Figure 3A is a schematic diagram of a possible architecture of a signal processing device provided in this application. The signal processing device includes N frequency-modulated photoelectric circuits. Each of the N frequency-modulated photoelectric circuits includes a light source, a first beam splitter, an optical delay element, a mixer, a photodetector, a processing element, and a driving circuit. The N frequency-modulated photoelectric circuits share the same optical delay element.

[0065] In this embodiment, the driving circuit in each of the N frequency-modulated photoelectric circuits can output a frequency-modulated signal. Each frequency-modulated photoelectric circuit adjusts the frequency-modulated signal output by its driving circuit so that the frequency-modulated signal is linearly related to the frequency of the light signal emitted by the light source included in each frequency-modulated photoelectric circuit. This frequency-modulated signal can be input to the light source included in each frequency-modulated photoelectric circuit, thereby adjusting the frequency of the light signal output by the light source. In this way, the light signal output by the light source can change according to a desired frequency variation pattern.

[0066] As shown in Figure 3A, each frequency modulation optoelectronic circuit also includes a transimpedance amplifier and an analog-to-digital converter; the transimpedance amplifier can amplify the signal output from the mixer and input the amplified signal into the analog-to-digital converter; the analog-to-digital converter can convert the amplified signal into a digital signal and input the digital signal into the processing element.

[0067] The following is a description of the various components in the signal processing device.

[0068] 1. Light source

[0069] The light source in this application mainly relates to a laser source (light amplification by stimulated emission of radiation), which is highly directional, monochromatic, and has high brightness characteristics obtained through stimulated emission. This laser source can be, for example, a frequency-modulated continuous-wave laser.

[0070] 2. First beam splitter

[0071] The first beam splitting element is a device that has the function of splitting light. For example, it can be a beam splitter or a beam splitter.

[0072] 3. Optical delay element

[0073] An optical delay element is a component used to achieve signal delay. In the embodiments of this application, the optical delay element may be an optical fiber delay line or an integrated waveguide delay line. For a description of optical fiber delay lines or integrated waveguide delay lines, please refer to the preceding text; it will not be repeated here.

[0074] 4. Mixer

[0075] A mixer can perform frequency mixing on its input signal and output a corresponding difference frequency signal. The mixer in this embodiment can be, for example, a 90° mixer or a 180° mixer.

[0076] 5. Optical detection element

[0077] A photodetector is an electronic device used to detect and convert optical signals into electrical signals. Examples of photodetectors include phototubes, photomultiplier tubes, avalanche photodiodes, PIN photodiodes, and photodiodes (PDs).

[0078] 6. Processing components

[0079] Processing elements refer to components that have signal processing capabilities, such as digital signal processors (DSPs).

[0080] 7. Drive circuit

[0081] The driving circuit in this embodiment can generate a modulation signal, which can be input to the light source to cause the frequency of the light signal output by the light source to change according to a preset rule. In some cases, the driving circuit also needs to be responsible for timing control functions, such as controlling the time window of the transmitted signal and synchronizing with the receiver to accurately demodulate the information in the echo signal.

[0082] As shown in Figure 3B, the signal processing device provided in this embodiment further includes N target measurement loops, which are used to detect targets. The light beam generated by the light source 1 in the frequency-modulated photoelectric circuit 1 is split by the first beam splitter to obtain a detection signal 1. The detection signal 1 is input to the target detection loop 1, and the target detection loop 1 performs target detection based on the detection signal 1. The light beam generated by the light source 2 in the frequency-modulated photoelectric circuit 2 is split by the first beam splitter to obtain a detection signal 2. The detection signal 2 is input to the target detection loop 2, and the target detection loop 2 performs target detection based on the detection signal 2. ... The light beam generated by the light source N in the frequency-modulated photoelectric circuit N is split by the first beam splitter to obtain a detection signal N. The detection signal N is input to the target detection loop N, and the target detection loop N performs target detection based on the detection signal N.

[0083] Figure 3C shows a schematic diagram of a target measurement loop provided in an embodiment of this application. Taking target measurement loop 1 as an example, it includes a beam splitter, a circulator, a mixer, a photodetector, a TIA, an ADC, and a DSP. The beam splitter splits the detection signal 1 input to the target measurement loop 1 to obtain emitted light and local oscillator light. The emitted light passes through the circulator and illuminates the target. The circulator also receives the echo light reflected from the target and inputs it into the mixer. The mixer mixes the local oscillator light and the received light to obtain a difference frequency signal. This difference frequency signal contains the frequency difference information between the two signals, and this frequency difference is proportional to the target distance. It also includes information about the Doppler effect caused by the target's movement, thus allowing the target's velocity to be calculated. The photodetector detects this difference frequency signal and inputs it into the TIA. The TIA amplifies the difference frequency signal to obtain an amplified difference frequency signal, which is then input into the ADC. The ADC performs analog-to-digital conversion to obtain a digital signal. The DSP further processes the digital signal to extract the target's distance and motion state information, analyzes the time variation trend of the frequency difference, obtains the change in the target's position within different time intervals, and thus calculates the target's velocity.

[0084] In this application embodiment, N frequency-modulated optoelectronic circuits sharing the same optical delay element include, but are not limited to, the following situations:

[0085] Case 1: The N frequency-modulated optoelectronic circuits also include a beam processing element and a second beam splitter element, and the N frequency-modulated optoelectronic circuits share the beam processing element and the second beam splitter element, so that the N frequency-modulated optoelectronic circuits can share the same optical delay element.

[0086] As shown in Figure 4A, taking N as an example (2), there are N frequency-modulated photoelectric circuits, including frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2. Frequency-modulated photoelectric circuit 1 includes a light source 1, a first beam splitter 1, a mixer 1, a photodetector 1, a TIA 1, an ADC 1, and a processing element 1. Frequency-modulated photoelectric circuit 2 includes a light source 2, a first beam splitter 2, a mixer 2, a photodetector 2, a TIA 2, an ADC 2, and a processing element 2. Frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2 share a beam processing element, an optical delay element, and a second beam splitter. The first beam splitter 1 splits the beam generated by the light source 1 to obtain a detection signal 1, a local oscillator signal 1, and a first optical signal 1. The detection signal 1 is input to the target measurement circuit and used to achieve target measurement. The first optical signal 1 is input to the beam processing element. The local oscillator signal 1 is input to mixer 1; the first beam splitter 2 splits the beam generated by the light source 2 to obtain a detection signal 2, a local oscillator signal 2, and a first optical signal 2; the detection signal 2 is input to the target measurement circuit and is used to achieve target measurement; the first optical signal 2 is input to the beam processing element, and the local oscillator signal 2 is input to mixer 2; the beam processing element can combine the first optical signal 1 and the first optical signal 2 to form a signal to be delayed, and the signal to be delayed is input to the optical delay element; the optical delay element can delay the signal to be delayed to obtain a delayed signal, and the delayed signal is input to the second beam splitter; the second beam splitter can split the delayed signal to obtain a second optical signal 1 and a second optical signal 2, the second optical signal 1 is input to mixer 1, and the second optical signal 2 is input to mixer 2.

[0087] Mixer 1 mixes the local oscillator signal 1 and the second optical signal 1 to obtain a difference frequency signal 1. The photodetector 1 detects the difference frequency signal 1 and converts it into an electrical signal 1. The electrical signal 1 is input to TIA1 to obtain an amplified electrical signal 1. The amplified electrical signal 1 is input to ADC1, which converts the amplified electrical signal 1 to obtain a digital signal 1. The digital signal 1 is input to processing element 1. Processing element 1 obtains a feedback signal 1 based on the digital signal 1. The feedback signal 1 is input to drive circuit 1. Drive circuit 1 generates a modulation signal 1 based on the feedback signal 1. The modulation signal 1 is input to light source 1. The feedback signal 1 can calibrate the frequency modulation signal 1. Specifically, the feedback signal 1 can be used to calibrate the linearity between the frequency modulation signal 1 and the beam output from light source 1, so that light source 1 can output an optical signal that conforms to a preset law under the action of modulation signal 1. Thus, after the beam output from light source 1 is split and enters target detection circuit 1, the detection accuracy of target detection circuit 1 can be effectively improved.

[0088] Mixer 2 mixes the local oscillator signal 2 and the second optical signal 2 to obtain a difference frequency signal 2. The photodetector 2 detects the difference frequency signal 2 and converts it into an electrical signal 2. The electrical signal 2 is input to TIA2 to obtain an amplified electrical signal 2. The amplified electrical signal 2 is input to ADC2. ADC2 converts the amplified electrical signal 2 to obtain a digital signal 2. The digital signal 2 is input to processing element 2. Processing element 2 obtains a feedback signal 2 based on the digital signal 2. The feedback signal 2 is input to drive circuit 2. Drive circuit 2 generates a modulation signal 2 based on the feedback signal 2. The modulation signal 2 is input to light source 2. The feedback signal 2 can calibrate the frequency modulation signal 2. Specifically, the feedback signal 2 can be used to calibrate the linearity between the frequency modulation signal 2 and the beam output from light source 2, so that light source 2 can output an optical signal that conforms to a preset law under the action of modulation signal 2. Thus, after the beam output from light source 2 enters the target detection circuit 2, the detection accuracy of the target detection circuit 2 can be effectively improved.

[0089] In Case 1, the light beam emitted by the light source is processed by using a first beam splitter and a beam processing element, so that N frequency-modulated photoelectric circuits can share a single optical delay element to delay the optical signal; and the second beam splitter can split the delayed optical signal, and the split optical signal can be input into the mixers in the N frequency-modulated photoelectric circuits respectively.

[0090] For example, as shown in Figure 4B or Figure 4C, light source 1 is laser 1, light source 2 is laser 2, the first beam splitting element in frequency modulation optoelectronic circuit 1 can be beam splitter 1, the first beam splitting element in frequency modulation optoelectronic circuit 2 can be beam splitter 2, the beam processing element is beam combiner, the optical delay element is fiber delay line, the second beam splitting element is beam splitter 3, the mixer can be 90° mixer or 180° mixer, the photodetector 1 is PD1, the photodetector 2 is PD2, the processing element 1 is DSP1, and the processing element 2 is DSP2.

[0091] In this system, beam splitter 1 splits the beam emitted by laser 1 to obtain a detection signal 1, a local oscillator signal 1, and a first optical signal 1. Detection signal 1 is input to the target measurement circuit, the first optical signal 1 is input to the beam processing element, and the local oscillator signal 1 is input to mixer 1. Beam splitter 2 splits the beam emitted by laser 2 to obtain a detection signal 2, a local oscillator signal 2, and a first optical signal 2. Detection signal 2 is input to the target measurement circuit and used for target measurement. The first optical signal 2 is input to the beam processing element, and the local oscillator signal 2 is input to mixer 2. Beam combiner combines the two signals 2 to form a signal to be delayed. The signal to be delayed is input to an optical fiber delay line. The optical fiber delay line can delay the signal to be delayed to obtain a delayed signal, which is input to beam splitter 3. Beam splitter 3 can split the delayed signal to obtain a second optical signal 1 and a second optical signal 2. The second optical signal 1 is input to mixer 1, and the second optical signal 2 is input to mixer 2.

[0092] Mixer 1 mixes the local oscillator signal 1 and the second optical signal 1 to obtain a difference frequency signal 1. PD1 detects the difference frequency signal 1 and converts it into an electrical signal 1. The electrical signal 1 is input to TIA1 to obtain an amplified electrical signal 1. The amplified electrical signal 1 is input to ADC1. ADC1 converts the amplified electrical signal 1 to obtain a digital signal 1. The digital signal 1 is input to DSP1. DSP1 obtains a feedback signal 1 based on the digital signal 1. The feedback signal 1 is input to drive circuit 1. Drive circuit 1 generates a modulation signal 1 based on the feedback signal 1. The modulation signal 1 is input to light source 1. The feedback signal 1 can calibrate the frequency modulation signal 1. Specifically, the feedback signal 1 can be used to calibrate the linearity between the frequency modulation signal 1 and the beam output by light source 1, so that light source 1 can output an optical signal that conforms to a preset law under the action of modulation signal 1. Thus, after the beam output by light source 1 enters the target detection circuit 1, the detection accuracy of the target detection circuit 1 can be effectively improved.

[0093] Mixer 2 mixes the local oscillator signal 2 and the second optical signal 2 to obtain a difference frequency signal 2. PD2 detects the difference frequency signal 2 and converts it into an electrical signal 2. The electrical signal 2 is input to TIA2 to obtain an amplified electrical signal 2. The amplified electrical signal 2 is input to ADC2. ADC2 converts the amplified electrical signal 2 to obtain a digital signal 2. The digital signal 2 is input to DSP2. DSP2 obtains a feedback signal 2 based on the digital signal 2. The feedback signal 2 is input to drive circuit 2. Drive circuit 2 generates a modulation signal 2 based on the feedback signal 2. The modulation signal 2 is input to light source 2. The feedback signal 2 can calibrate the frequency modulation signal 2. Specifically, the feedback signal 2 can be used to calibrate the linearity between the frequency modulation signal 2 and the beam output by light source 2, so that light source 2 can output an optical signal that conforms to a preset law under the action of modulation signal 2. Thus, after the beam output by light source 2 enters the target detection circuit 2, the detection accuracy of the target detection circuit 2 can be effectively improved.

[0094] In some embodiments, the first beam splitter in each of the N frequency-modulated optoelectronic circuits may include multiple sub-beam splitters, allowing for various implementations of the frequency-modulated optoelectronic circuit. As shown in Figure 5A, the N frequency-modulated optoelectronic circuits are exemplified by frequency-modulated optoelectronic circuit 1 and frequency-modulated optoelectronic circuit 2; wherein, the first beam splitter in frequency-modulated optoelectronic circuit 1 includes a first sub-beam splitter 1 and a second sub-beam splitter 1 (as shown in Figure 5B, the first sub-beam splitter 1 can be a beam splitter 11, and the second sub-beam splitter 1 can be a beam splitter 12); correspondingly, the first sub-beam splitter 1 can split the beam generated by the light source 1 to obtain a detection signal 1 and an intermediate optical signal 1, and the intermediate optical signal 1 is input to the second sub-beam splitter 1; the second sub-beam splitter 1 can split the intermediate optical signal 1 to obtain a local oscillator signal 1 and a first optical signal 1. The first beam splitting element in the frequency modulation optoelectronic circuit 2 includes a first sub-beam splitting element 2 and a second sub-beam splitting element 2 (as shown in Figure 5B or Figure 5C, the first sub-beam splitting element 1 can be a beam splitter 21, and the second sub-beam splitting element 1 can be a beam splitter 22); correspondingly, the first sub-beam splitting element 2 can split the beam generated by the light source 2 to obtain a detection signal 2 and an intermediate optical signal 2, and the intermediate optical signal 2 is input to the second sub-beam splitting element 2; the second sub-beam splitting element 2 can split the intermediate optical signal 2 to obtain a local oscillator signal 2 and a first optical signal 2.

[0095] Case 2: The N frequency-modulated optoelectronic circuits also include a beam processing element, and the N frequency-modulated optoelectronic circuits share the beam processing element, so that the N frequency-modulated optoelectronic circuits can share the same optical delay element.

[0096] As shown in Figure 6A, taking N as an example (2), there are N frequency-modulated photoelectric circuits, including frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2. Frequency-modulated photoelectric circuit 1 includes a light source 1, a first beam splitter 1, and a driving circuit 1; frequency-modulated photoelectric circuit 2 includes a light source 2, a first beam splitter 2, and a driving circuit 2. Frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2 share a beam processing element, an optical delay element, a mixer, a photodetector element, and a processing element. The first beam splitter 1 can split the beam generated by the light source 1 to obtain a detection signal 1 and a first optical signal 1. The detection signal 1 is used for target measurement, and the first optical signal 1 is input to the beam processing element. The first beam splitter 2 can split the beam generated by the light source 2 to obtain a detection signal 2 and a first optical signal 2. The detection signal 2 is used for target measurement, and the first optical signal 2 is input to the beam processing element.

[0097] The beam processing element can generate a local oscillator signal and a signal to be delayed based on the first optical signal 1 and the first optical signal 2. The local oscillator signal is input to a mixer shared by the frequency modulation optoelectronic circuit 1 and the frequency modulation optoelectronic circuit 2, and the signal to be delayed is input to the optical delay element. The optical delay element performs delay processing on the signal to be delayed to obtain the delayed signal, and the delayed signal is input to the mixer shared by the frequency modulation optoelectronic circuit 1 and the frequency modulation optoelectronic circuit 2.

[0098] The mixer mixes the delayed signal and the local oscillator signal to obtain a difference frequency signal. The photodetector detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to the TIA (Transient Ionizer), which amplifies the signal to obtain an amplified electrical signal. This amplified electrical signal is then input to the ADC (Digital Converter). The ADC converts the amplified electrical signal into a digital signal and inputs it to the processing element. The processing element processes the digital signal to obtain feedback signal 1 and feedback signal 2. Feedback signal 1, when input to drive circuit 1, can calibrate the frequency modulation signal 1 output by drive circuit 1. Feedback signal 2, when input to drive circuit 2, can calibrate the frequency modulation signal 2 output by drive circuit 2.

[0099] In Case 2, N frequency-modulated optoelectronic circuits can share multiple components (i.e., beam processing components, optical delay components, mixers, optical detection components, and processing components), which can simplify the structure of the signal processing device and thus further reduce the hardware cost of the signal processing device.

[0100] For example, as shown in Figure 6B or Figure 6C, the light source 1 is laser 1, the light source 2 is laser 2, the first beam splitting element in the frequency modulation optoelectronic circuit 1 can be beam splitter 1, the first beam splitting element in the frequency modulation optoelectronic circuit 2 can be beam splitter 2, the beam processing element is beam combiner, the optical delay element is fiber delay line, the mixer can be 90° mixer or 180° mixer, the photodetector is PD, and the processing element is DSP. Among them, beam splitter 1 can split the beam generated by laser 1 to obtain detection signal 1 and first optical signal 1; detection signal 1 is used for target measurement, and first optical signal 1 is input to beam processing element; beam splitter 2 can split the beam generated by laser 2 to obtain detection signal 2 and first optical signal 2; detection signal 2 is used for target measurement, and first optical signal 2 is input to beam combiner / splitter; beam combiner / splitter can form local oscillator signal and delay signal according to first optical signal 1 and first optical signal 2; local oscillator signal is input to mixer shared by frequency modulation optoelectronic circuit 1 and frequency modulation optoelectronic circuit 2, and delay signal is input to optical delay line; optical delay line delays the delay signal to obtain delayed signal, and delayed signal is input to mixer shared by frequency modulation optoelectronic circuit 1 and frequency modulation optoelectronic circuit 2. The mixer mixes the delayed signal and the local oscillator signal to obtain a difference frequency signal. The PD detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to the TIA, which amplifies the signal to obtain an amplified electrical signal. The amplified electrical signal is then input to the ADC. The ADC converts the amplified electrical signal into a digital signal and inputs it to the DSP. The DSP processes the digital signal to obtain feedback signal 1 and feedback signal 2. Feedback signal 1, when input to drive circuit 1, can calibrate the frequency modulation signal 1 output by drive circuit 1. Feedback signal 2, when input to drive circuit 2, can calibrate the frequency modulation signal 2 output by drive circuit 2.

[0101] Case 3: The N frequency-modulated optoelectronic circuits also include a beam processing element, a second beam splitter, and a third beam splitter. The N frequency-modulated optoelectronic circuits share the beam processing element, the second beam splitter, and the third beam splitter, so that the N frequency-modulated optoelectronic circuits can share the same optical delay element.

[0102] As shown in Figure 7A, taking N as an example, there are N frequency-modulated photoelectric circuits, including frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2. Frequency-modulated photoelectric circuit 1 includes a light source 1, a first beam splitter 1, a mixer 1, a photodetector 1, a processing element 1, and a driving circuit 1. Frequency-modulated photoelectric circuit 2 includes a light source 2, a first beam splitter 2, a mixer 2, a photodetector 2, a processing element 2, and a driving circuit 2. Frequency-modulated photoelectric circuit 1 and frequency-modulated photoelectric circuit 2 share a beam processing element, a second beam splitter, a third beam splitter, and an optical delay element.

[0103] The first beam splitter 1 can split the light beam generated by the light source 1 to obtain a detection signal 1 and a first optical signal 1; the detection signal 1 is used for target measurement, and the first optical signal 1 is input to the beam processing element; the first beam splitter 2 can split the light beam generated by the light source 2 to obtain a detection signal 2 and a first optical signal 2; the detection signal 2 is used for target measurement, and the first optical signal 2 is input to the beam processing element.

[0104] The beam processing element can generate a local oscillator signal and a delay signal based on the first optical signal 1 and the first optical signal 2. The local oscillator signal is input to the third beam splitter, and the delay signal is input to the optical delay element.

[0105] The optical delay element delays the signal to be delayed to obtain a delayed signal, which is then input to the second beam splitter.

[0106] The second beam splitter can split the delayed signal to obtain the second optical signal 1 and the second optical signal 2; the second optical signal 1 is input to mixer 1 and the second optical signal 2 is input to mixer 2.

[0107] The third beam splitter can split the local oscillator signal to obtain the third optical signal 1 and the third optical signal 2; the third optical signal 1 is input to mixer 1 and the third optical signal 2 is input to mixer 2.

[0108] Mixer 1 can perform frequency mixing processing on the second optical signal 1 and the third optical signal 1 to obtain a difference frequency signal 1. The photodetector 1 detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to the TIA. The TIA amplifies the electrical signal to obtain an amplified electrical signal, which is then input to the ADC. The ADC converts the amplified electrical signal into a digital signal and inputs the digital signal to the processing element 1. The processing element 1 processes the digital signal to obtain a feedback signal 1. This feedback signal 1 is input to the drive circuit 1 to calibrate the frequency modulation signal 1 output by the drive circuit 1.

[0109] Mixer 2 can perform frequency mixing processing on the second optical signal 2 and the third optical signal 2 to obtain a difference frequency signal 2. The photodetector 2 detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to the TIA. The TIA amplifies the electrical signal to obtain an amplified electrical signal, which is then input to the ADC. The ADC converts the amplified electrical signal into a digital signal and inputs the digital signal to the processing element 2. The processing element 2 processes the digital signal to obtain a feedback signal 2. This feedback signal 2 is input to the drive circuit 2 to calibrate the frequency modulation signal 2 output by the drive circuit 2.

[0110] For example, as shown in Figure 7B or Figure 7C, the light source 1 is laser 1, the light source 2 is laser 2, the first beam splitter in the frequency modulation optoelectronic circuit 1 can be beam splitter 1, the first beam splitter in the frequency modulation optoelectronic circuit 2 can be beam splitter 2, the beam processing element is beam combiner, the second beam splitter is beam splitter 3, the third beam splitter is beam splitter 4, the optical delay element is fiber delay line, the mixer can be a 90° mixer or a 180° mixer, the photodetector is PD1, the processing element is DSP1, the photodetector is PD2, and the processing element is DSP2. Among them, beam splitter 1 can split the beam generated by laser 1 to obtain detection signal 1 and first optical signal 1; detection signal 1 is used for target measurement, and first optical signal 1 is input to beam combiner / splitter; beam splitter 2 can split the beam generated by laser 2 to obtain detection signal 2 and first optical signal 2; detection signal 2 is used for target measurement, and first optical signal 2 is input to beam combiner / splitter; beam combiner / splitter can generate local oscillator signal and delay signal based on first optical signal 1 and first optical signal 2, and the local oscillator signal is input to beam splitter 4, delay signal... The delayed signal is input to the optical delay line; the optical delay line performs delay processing on the signal to be delayed to obtain the delayed signal, and the delayed signal is input to beam splitter 3; beam splitter 3 can perform beam splitting processing on the delayed signal to obtain second optical signal 1 and second optical signal 2; second optical signal 1 is input to mixer 1, and second optical signal 2 is input to mixer 2; beam splitter 4 can perform beam splitting processing on the local oscillator signal to obtain third optical signal 1 and third optical signal 2; third optical signal 1 is input to mixer 1, and third optical signal 2 is input to mixer 2. Mixer 1 can perform frequency mixing processing on the second optical signal 1 and the third optical signal 1 to obtain a difference frequency signal 1. PD1 detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to TIA. TIA amplifies the electrical signal to obtain an amplified electrical signal, which is then input to ADC. ADC converts the amplified electrical signal into a digital signal and inputs the digital signal to DSP1. DSP1 processes the digital signal to obtain a feedback signal 1. This feedback signal 1 is input to drive circuit 1 to calibrate the frequency modulation signal 1 output by drive circuit 1. Mixer 2 can perform frequency mixing processing on the second optical signal 2 and the third optical signal 2 to obtain a difference frequency signal 2. PD2 detects the difference frequency signal and converts it into an electrical signal. This electrical signal is input to TIA. TIA amplifies the electrical signal to obtain an amplified electrical signal, which is then input to ADC. ADC converts the amplified electrical signal into a digital signal and inputs the digital signal to DSP2. DSP2 processes the digital signal to obtain a feedback signal 2. This feedback signal 2 is input to drive circuit 2 to calibrate the frequency modulation signal 2 output by drive circuit 2.

[0111] This application also provides a chip system. Please refer to Figure 8, which is a possible structural diagram of the chip system provided in this application. The detection device 800 can be used to implement the functions of the detection device in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments. As shown in Figure 8, the detection device 800 includes a processor 801 and a transceiver 802. The detection device 800 is used to implement the functions of the detection device in the above method embodiments. Optionally, the detection device 800 may further include a memory 803, which can be coupled to the processor 801 to store the necessary program instructions and data of the detection device 800.

[0112] It should be understood that the processor 801 in the embodiments of this application can be implemented by a processor or processor-related circuit modules, and the transceiver 802 can be implemented by an interface circuit or interface circuit-related circuit modules.

[0113] Based on the aforementioned detection device, this application also provides a terminal device. The terminal device may include any of the signal processing devices described above. Further, optionally, the terminal device may also include a memory for storing programs or instructions. Of course, the terminal device may also include other devices, such as a wireless control device.

[0114] For example, the terminal device may be a vehicle (e.g., driverless car, smart car, electric car, or digital car), robot, surveying equipment, drone, smart home device (e.g., television, robot vacuum cleaner, smart lamp, audio system, smart lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance), smart manufacturing equipment (e.g., industrial equipment), smart transportation equipment (e.g., AGV, driverless vehicle, or truck), or smart terminal (mobile phone, computer, tablet, PDA, desktop computer, headphones, audio equipment, wearable device, in-vehicle device, virtual reality device, augmented reality device, etc.).

[0115] This application provides a chip system comprising a processor and an interface circuit. The processor is configured to call and execute instructions from the interface circuit, and when the processor executes the instructions, it implements any of the detection methods described above.

[0116] This application provides a computer-readable storage medium for storing computer programs or instructions that, when executed, implement any of the resource adjustment methods described above. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives).

[0117] This application provides a computer program product containing instructions that, when run on a computer, implement any of the general methods described above. The computer program product may be a software or program product containing instructions capable of running on a computing device or stored on any usable medium.

[0118] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a base station or terminal. Of course, the processor and storage medium can also exist as discrete components in the base station or terminal.

[0119] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0120] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0121] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A signal processing device, characterized in that, Includes N frequency-modulated photoelectric circuits; Each of the N frequency-modulated optoelectronic circuits includes a light source, a first beam splitter, an optical delay element, a mixer, a photodetector, a processing element, and a driving circuit. The N frequency-modulated photoelectric circuits share the same optical delay element.

2. The apparatus according to claim 1, characterized in that, The N frequency-modulated optoelectronic circuits also include beam processing elements and second beam splitting elements; The N frequency-modulated optoelectronic circuits share the same optical delay element, including: The first beam splitter is used to split the light beam generated by the light source to obtain a detection signal, a local oscillator signal, and a first optical signal; the detection signal is used for target measurement, the local oscillator signal is input to the mixer, and the first optical signal is input to the beam processing element. The beam processing element is used to generate a delay signal based on the N first optical signals corresponding to the N frequency-modulated photoelectric circuits; the delay signal is input to the optical delay element. The optical delay element is used to delay the signal to be delayed to obtain a delayed signal, and the delayed signal is input to the second beam splitter. The second beam splitter is used to split the delayed signal to obtain N second optical signals; one of the N second optical signals is input to the mixer of one of the N frequency modulation optoelectronic circuits.

3. The apparatus according to claim 2, characterized in that, The first beam splitter includes a first sub-beam splitter and a second sub-beam splitter; The first beam splitter splits the light beam generated by the light source to obtain a detection signal, a local oscillator signal, and a first optical signal, including: The first sub-splitter element is used to split the light beam generated by the light source to obtain the detection signal and the intermediate light signal; the intermediate light signal is input to the second sub-splitter element. The second sub-splitter element is used to split the intermediate optical signal to obtain the local oscillator signal and the first optical signal.

4. The apparatus according to claim 2 or 3, characterized in that, The mixer is used to perform frequency mixing processing on the received local oscillator signal and the second optical signal to obtain a difference frequency signal; wherein, the difference frequency signal is used to determine a feedback signal, the feedback signal is input to the driving circuit, and the feedback signal is used to calibrate the frequency modulation signal output by the driving circuit.

5. The apparatus according to claim 1, characterized in that, The N frequency-modulated optoelectronic circuits also include beam processing elements; The N frequency-modulated optoelectronic circuits share the same optical delay element, including: The first beam splitter is used to split the light beam generated by the light source to obtain a detection signal and a first optical signal; wherein, the detection signal is used for target measurement, and the N first optical signals corresponding to the N frequency-modulated photoelectric circuits are input to the beam processing element; The beam processing element is used to form a local oscillator signal and a delay signal based on N first optical signals; the local oscillator optical signal is input to the mixer, and the delay signal is input to the optical delay element; The N frequency-modulated optoelectronic circuits share the same mixer; the optical delay element is used to delay the signal to be delayed to obtain a delayed signal, and the delayed signal is input into the mixer shared by the N frequency-modulated optoelectronic circuits.

6. The apparatus according to claim 5, characterized in that, The mixer shared by the N frequency-modulated optoelectronic circuits is used to mix the local oscillator signal and the delayed signal to obtain a difference frequency signal; wherein, the difference frequency signal is used to determine the feedback signal, the feedback signal is input to the drive circuit, and the feedback signal is used to calibrate the frequency-modulated signal output by the drive circuit.

7. The apparatus according to claim 1, characterized in that, The N frequency-modulated optoelectronic circuits also include a beam processing element, a second beam splitting element, and a third beam splitting element; The N frequency-modulated optoelectronic circuits share the same optical delay element, including: The first beam splitter is used to split the light beam generated by the light source to obtain a detection signal and a first optical signal; the detection signal is used for target measurement; the N first optical signals corresponding to the N frequency-modulated photoelectric circuits are input to the beam processing element; The beam processing element is used to form a local oscillator signal and a delay signal based on N first optical signals; the delay signal is input to the third beam splitter, and the local oscillator signal is input to the optical delay element. The optical delay element is used to delay the signal to be delayed to obtain a delayed signal, and the delayed signal is input to the second beam splitter. The second beam splitter is used to split the delayed signal to obtain N second optical signals; one of the N second optical signals is input to the mixer of one of the N frequency-modulated optoelectronic circuits. The third beam splitter is used to split the local oscillator signal to obtain N third optical signals; one of the N third optical signals is input to the mixer of one of the N frequency-modulated optoelectronic circuits.

8. The apparatus according to claim 7, characterized in that, The mixer in each frequency-modulated optoelectronic circuit is used to perform frequency mixing processing on the received second optical signal and the third optical signal to obtain a difference frequency signal; wherein, the difference frequency signal is used to determine the feedback signal, the feedback signal is input to the driving circuit, and the feedback signal is used to calibrate the frequency-modulated signal output by the driving circuit.

9. The apparatus according to any one of claims 4, 6, and 8, characterized in that, Each frequency-modulated optoelectronic circuit also includes a transimpedance amplifier and an analog-to-digital converter; The difference frequency signal is used to determine the feedback signal, including: The photodetector element is used to receive the difference frequency signal and input the difference frequency signal into the transimpedance amplifier; The transimpedance amplifier is used to amplify the difference frequency signal, and the amplified difference frequency signal is input to the analog-to-digital converter. The analog-to-digital converter is used to convert the amplified difference frequency signal into a digital signal, and the digital signal is input to the processing element. The processing element is used to process the digital signal to obtain the feedback signal.

10. The apparatus according to any one of claims 4, 6, 8, and 9, characterized in that, The feedback signal is used to calibrate the frequency modulation signal output by the drive circuit, including: The feedback signal is used to calibrate the linearity between the frequency modulation signal input to the light source and the beam output by the light source to the driving circuit.

11. The apparatus according to any one of claims 1-10, characterized in that, Each frequency-modulated photoelectric circuit is used to adjust the frequency-modulated signal output by the drive circuit.

12. The apparatus according to any one of claims 1-11, characterized in that, The optical delay element is an optical fiber delay line or an on-chip integrated waveguide delay line.

13. The apparatus according to any one of claims 2-10, characterized in that, It also includes N target measurement loops; The detection signal is used for target measurement, including: Each of the N target measurement loops is used to perform target measurement based on the detection signal.

14. A terminal device, characterized in that, Includes the signal processing apparatus as described in any one of claims 1 to 13.

Images