Receiver for lidar, and lidar and terminal device

Abstract

A receiver (400) for a LiDAR, and a LiDAR (100), and a terminal device. The receiver (400) comprises: a first pixel (410), wherein the first pixel (410) comprises a first number of photosensitive areas (AR); and a second pixel (420), wherein the second pixel (420) comprises a second number of photosensitive areas (AR), the first number being less than the second number.

Description

Receiver for lidar, lidar and terminal device

[0001] The present disclosure claims priority to the Chinese patent application No. 202410844364.1, filed on June 26, 2024, and entitled “Receiver for lidar, lidar and terminal device”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of optoelectronic detection, and more particularly to a receiver for lidar, a lidar and a terminal device. BACKGROUND

[0003] Lidar is a radar system that uses a laser beam to detect the position, speed and other characteristic quantities of an object. Lidar is widely used in automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, resource exploration and other fields due to its high resolution, good concealment, strong anti-active interference capability, good low-altitude detection performance, small size and light weight.

[0004] The transmitter of the lidar emits a laser beam, and the laser beam is reflected by the surface of an object after encountering the object. The reflected light (referred to as a return) is received by the receiver of the lidar. The reception efficiency of the return by the lidar affects the detection capability of the lidar. SUMMARY

[0005] The present disclosure aims to overcome the above and / or other problems in the prior art, and provides a receiver for lidar, which includes a first pixel and a second pixel, and the size of the photosensitive area of the first pixel is different from the size of the photosensitive area of the second pixel. The receiver for lidar of the present disclosure uses a first pixel and a second pixel with different sizes of photosensitive areas, and the first pixel and the second pixel can be used for different receiving pixels (e.g., a center pixel and an edge pixel) of the receiver to improve the overall reception efficiency of the lidar.

[0006] According to a first aspect of the present disclosure, a receiver for lidar is provided. The receiver includes a first pixel including a first number of photosensitive areas, and a second pixel including a second number of photosensitive areas, the first number being less than the second number.

[0007] Optionally, the receiver includes a first detector including more than one photosensitive area, and a second detector including more than one photosensitive area.

[0008] Optionally, the photosensitive areas in the first detector are arranged along a first direction, and the photosensitive areas in the second detector are arranged along the first direction.

[0009] Optionally, the first detector and the second detector include different numbers of pixels.

[0010] Optionally, the photosensitive regions in the first detector are arranged along a first direction, and the photosensitive regions in the second detector are arranged along a second direction, the second direction being different from the first direction.

[0011] Optionally, the first pixel includes one or more photosensitive regions in the first detector, and the second pixel includes at least two photosensitive regions in the second detector.

[0012] Optionally, the receiver further includes a third detector including more than one photosensitive region arranged along a third direction, the third direction being different from the first direction.

[0013] Optionally, the receiver further includes a third pixel, the third pixel including a third number of photosensitive regions, the third number being greater than the second number.

[0014] Optionally, the receiver includes a first region and a second region, wherein the first pixel is located in the first region and the second pixel is located in the second region, wherein the first region receives light closer to a center of a field of view of the lidar than the second region.

[0015] Optionally, the detector includes at least one of a silicon photomultiplier device and a single-photon avalanche diode array.

[0016] Optionally, the first detector and the second detector include the same number of photosensitive regions.

[0017] Optionally, the first pixel includes a first readout circuit, and the photosensitive regions in the first pixel are connected to the first readout circuit; and the second pixel includes a second readout circuit, and the photosensitive regions in the second pixel are connected to the second readout circuit.

[0018] According to a second aspect of the present disclosure, a lidar is provided, including the receiver as described above.

[0019] According to a third aspect of the present disclosure, a terminal device is provided, including the lidar as described above. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, illustrate the present disclosure and are used to explain the principles of the present disclosure, and do not constitute a limitation of the present disclosure. In the drawings:

[0021] FIG. 1 shows an example structure block diagram of a lidar provided in some embodiments of the present disclosure.

[0022] FIG. 2 shows an example structural block diagram of a vehicle system provided in some embodiments of the present disclosure.

[0023] FIG. 3 shows a plot of the spot contrast of a return beam from a central field of view and a return beam from an edge field of view on a receiving surface of a receiver.

[0024] FIG. 4 shows a schematic diagram of a receiver for a lidar according to a first example embodiment of the present disclosure.

[0025] FIG. 5 shows a schematic diagram of pixels of a receiver located in different areas according to some embodiments of the present disclosure.

[0026] FIG. 6 shows a schematic diagram of pixels of a receiver including readout circuitry according to some embodiments of the present disclosure.

[0027] FIG. 7 shows a schematic diagram of a receiver including a detector according to some embodiments of the present disclosure.

[0028] FIG. 8 shows a schematic diagram of a receiver for a lidar according to a second example embodiment of the present disclosure.

[0029] FIG. 9 shows a schematic diagram of a receiver for a lidar according to a third example embodiment of the present disclosure.

[0030] FIG. 10 shows a schematic diagram of a receiver for a lidar according to a fourth example embodiment of the present disclosure.

[0031] FIG. 11 shows a schematic diagram of a receiver for a lidar according to a fifth example embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] In the following description, specific details are set forth in order to provide a thorough understanding of the methods and devices. However, various embodiments can be practiced without the specific details. In other instances, well-known methods have not been described in detail in order not to obscure the intended disclosure. Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Moreover, various embodiments can be practiced without the specific details (e.g., specific

[0033] Unless otherwise defined, technical and scientific terms used in the claims and specification have their ordinary meaning as understood by one of ordinary skill in the art. The use of the terms "first," "second," and the like in the specification and claims of this disclosure do not imply any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "a" and "an" and "the" and "at least one" and similar referents in the context of this disclosure are to be construed to cover both the singular and the plural, unless otherwise indicated in the specific context. The terms "comprise," "comprising," "include," "including," and "contains," "containing," and the like are used synonymously to refer to the inclusion of a recited element or object without exclusion of other elements or objects. The term "coupled" and the like, as used in the specification and claims, can mean coupled, connected, or linked whether mechanically, electronically, or otherwise, without losses to the generality of the terms.

[0034] In the present disclosure, all embodiments and preferred embodiments mentioned herein can be combined with each other to form new technical solutions if not specifically stated. In the present disclosure, all technical features and preferred features mentioned herein can be combined with each other to form new technical solutions if not specifically stated.

[0035] In the description of the embodiments of the present disclosure, the term "and / or" is only an association relationship of the associated objects described, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0036] LiDAR (Light Detection and Ranging) is a remote sensing technology that uses lasers to measure distances and create three-dimensional (3D) images of objects and landscapes. During object detection, a LiDAR emits a laser; the laser encounters an object and is reflected off the object's surface; the reflected light, called a return, is received by the LiDAR and converted into an electrical signal. The LiDAR determines information about the object, such as its distance, location, or speed, by processing the electrical signal. The LiDAR system 110 can also be configured to create a real-time three-dimensional model of the environment, which can be represented as a point cloud. A point cloud can be a collection of three-dimensional data points that represent the surfaces of objects, structures, and the environment within a particular area. Each data point in a point cloud can be defined by its X, Y, and Z coordinates in space, which represent its position in three-dimensional space. With a point cloud, a vehicle can accurately identify the locations of objects on the road, such as cars, pedestrians, and / or cyclists.

[0037] In some examples, the lidar can generate high-quality point clouds, which can make the processing of the assisted driving algorithm simple and efficient. The lidar can provide high-resolution 3D vision for intelligent vehicles, such as vehicles, as a supplement to cameras and radars, enhancing their perception capabilities to handle more complex road conditions, such as unknown objects in dark environments or on highways. The lidar can further provide a high-performance automotive-grade lidar solution designed for mass-produced vehicles, ensuring safer and smarter assisted driving, such as L2+ assisted driving. After being configured, the lidar can be widely used in passenger cars and commercial vehicles equipped with advanced driver assistance systems (ADAS) and / or autonomous driving (automatic transportation). The lidar can also be applied to any suitable terminal device, such as a drone or a robot. For example, the lidar can support robot applications, such as delivery robots and logistics robots.

[0038] In some examples, the lidar can be configured as a long-range lidar sensor with a longer detection distance, such as from hundreds of meters to thousands of meters. The long-range lidar sensor can accurately detect and classify objects at a long distance. The long-range lidar sensor can be installed on the roof (e.g., front roof and / or rear roof) to provide an unobstructed view of the road in front and / or behind and be able to detect objects at a farther distance, which is very useful for highway driving and detecting objects at a distance as early as possible.

[0039] In some examples, the lidar can be configured as a short-range lidar sensor with a shorter detection distance, such as within a few meters to tens of meters around the lidar, but with a wider field of view (FOV), such as from 60 degrees to 360 degrees horizontally. The wider field of view (FOV) can detect objects at a short distance and provide a more comprehensive view of the surrounding environment / objects. The short-range lidar sensor can be installed near the headlamp or on the side to improve the perception capability and assist with lane keeping and / or lane changing operations.

[0040] In some examples, the lidar can be configured as a medium-range lidar sensor. The medium-range lidar sensor strikes a balance between the long-range lidar sensor and the short-range lidar sensor in terms of detection distance (e.g., from a few meters to a few hundred meters) and field of view (e.g., from 30 degrees to 180 degrees horizontally). The medium-range lidar sensor can be installed on the front bumper, side panel, or rear bumper to detect objects near the vehicle, so it is very suitable for parking and detecting nearby objects during urban driving.

[0041] In some examples, a laser radar system with multiple laser radars is arranged around a vehicle, and the multiple laser radars are configured to have different detection ranges and fields of view to cover a wide area around the vehicle. In some embodiments, for example, the laser radar system includes one or more short-range laser radar sensors and one or more medium-range laser radar sensors. The laser radar system uses the laser radar sensors at different locations on the vehicle in combination, which can provide a comprehensive view of the environment. Data from these laser radar sensors can be processed with data from other sensors (e.g., cameras and / or millimeter wave radars) to make real-time decisions for safe and efficient autonomous driving. The combination of laser radar sensors with different detection ranges, fields of view, and different locations achieves a balance between long-range visibility and short-range object detection, while taking into account aesthetics and cost.

[0042] In some examples, all of the multiple laser radar sensors in the laser radar system are activated. In some embodiments, the multiple laser radar sensors are activated or disabled according to different scenarios or requirements. For example, when the vehicle is traveling at a high speed (e.g., above 40 miles per hour), one or more short-range laser radar sensors can be disabled, and one or more long-range laser radar sensors and medium-range laser radar sensors can be activated. For another example, when the vehicle is traveling at a lower speed (e.g., below 40 miles per hour), one or more long-range laser radar sensors can be disabled, and one or more short-range laser radar sensors and medium-range laser radar sensors can be activated. In this way, energy consumption can be effectively saved and the service life of the laser radar can be extended.

[0043] FIG. 1 shows an example structural block diagram of a laser radar provided in some embodiments of the present disclosure. As shown in FIG. 1, the laser radar 100 includes a laser emission system 110, a laser receiving system 120, a control and processing system 130. Optionally, the laser radar 100 also includes a scanning system 140. The scanning system 140 can include a rotating light machine, a rotating multi-faceted mirror, a reciprocating swing mirror or a vibrating mirror (e.g., a MEMS mirror, a Galvo mirror, etc.), and other components that can make the laser shoot in different directions in the environment, etc.

[0044] The laser emission system 110 is configured to emit laser light, which encounters the object 10 and is reflected by the surface of the object 10 to form a return wave, and the return wave returns to the lidar 100. The laser receiving system 120 receives the reflected return wave and converts the received return wave into an electrical signal. After pre-processing, the electrical signal determines the return wave data, such as the receiving time of the return wave, and provides the return wave data to the control and processing system 130. The control and processing system 130 processes the return wave data to determine the information of the object 10, such as the distance, position, or speed of the object 10. This process is repeated millions of times per second to create a precise, real-time three-dimensional environmental map, such as a point cloud. The computer in the terminal device, such as a vehicle, can use the point cloud to safely navigate.

[0045] The laser emission system 110 includes a driving circuit, a laser, and an emission optical system. The laser emits laser light under the driving of the driving circuit, and the laser light is emitted through the emission optical system. The laser can be 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 other embodiments, the laser can also include a fiber laser. The wavelength of the laser light emitted by the laser can be any one of 905 nm, 940 nm, or 1550 nm, and the laser can also emit laser light of other wavelengths. The driving circuit can include a driver integrated circuit, such as an analog chip or a digital-analog hybrid chip.

[0046] The laser receiving system 120 includes receiving optics and a receiver. The receiving optics collect the return after reflection by the object and focus the return onto the receiver. The receiver converts the return into an electrical signal using the photoelectric effect. The receiver can 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 can also include a pre-processing circuit. The pre-processing circuit can include a digitization circuit, e.g., including an analog to digital converter (ADC), to convert an analog signal to a digital signal for the control and processing system 130. The pre-processing circuit can also include a time to digital converter (TDC) to convert a time of the return into a digital signal for the control and processing system 130. The pre-processing circuit can also include an analog front end circuit to perform channel gating and analog signal amplification. In some embodiments, the pre-processing circuit can be implemented as a system on chip (SOC) or an application specific integrated circuit (ASIC). The transmitting optics and the receiving optics include one or more optical components such as lenses / lens groups, mirrors, filters, beam splitters, diaphragms, homogenizers, etc. The transmitting optics and the receiving optics can be separate optical components or can be all or partially multiplexed.

[0047] The control and processing system 130 can include information processing circuitry and light source control circuitry. The information processing circuitry is configured to process electrical signals and determine information of the object. For example, the information processing circuitry includes an Application Specific Integrated Circuit (ASIC), or a circuit implemented by a Programmable Logic Device (PLD) such as a Field Programmable Gate Array (FPGA), or a Microcontroller Unit (MCU), or a Digital Signal Processor (DSP), or the like. For another example, the information processing circuitry includes a Central Processing Unit (CPU). The light source control circuitry is configured to send control signals to the excitation source to control the excitation source to drive the laser to emit light, so as to achieve pulsed emission of the laser. For example, the light source control circuitry can send timing signals to control the timing of the emission of the laser. For another example, the light source control circuitry can increase the pulse coding function and enhance the anti-interference ability of the lidar by controlling one or more of the pulse interval, the pulse intensity, and the pulse width. The light source control circuitry and the information processing circuitry can be integrated together, for example, integrated into a master control chip, or can be independent or partially independent chips. When the lidar 100 includes the scanning system 140, the control and processing system 130 can further include scanning control circuitry configured to control the scanning system. The scanning control circuitry can be integrated with one or all of the light source control circuitry and the information processing circuitry, for example, the scanning control circuitry, the light source control circuitry, and the information processing circuitry are integrated into a master control chip, or can be independent or partially independent chips. In some embodiments, the control and processing system 130 can be implemented in the form of a System On Chip (SOC) or an Application Specific Integrated Circuit (ASIC).

[0048] In applications, the lidar can be installed on a terminal device, and the sensing data obtained by the lidar is sent to the terminal device. The terminal device uses the sensing data to achieve one or more functions such as analysis, decision-making, or control. The terminal device includes, for example, a vehicle, a ship, an aircraft (such as a flying vehicle or a drone), a robot (such as an industrial robot or a household robot), or the like.

[0049] In some examples, as shown in FIG. 2, vehicle system 200 includes sensor system 202, perception system 204, planning system 206, and control system 208. Vehicle system 200 can have autonomous capabilities, e.g., have at least one function, feature, device, and / or the like that enables a vehicle to operate partially or fully without human intervention, including but not limited to a fully autonomous vehicle (e.g., a vehicle that relinquishes dependence on human intervention), a highly autonomous vehicle (e.g., a vehicle that relinquishes dependence on human intervention in certain situations), and / or the like. Sensor system 202 includes one or more devices, e.g., a lidar 202a, a radar 202b, a camera 202c, a sonar 202d, a global positioning system (GPS) 202e, and an inertial measurement unit (IMU) 202f, among others. Lidar 202a can include a long-range lidar sensor, a mid-range lidar sensor, or a short-range lidar sensor, among others. In some embodiments, sensor system 202 uses one or more devices included in sensor system 202 to generate data related to an environment. The data generated by sensor system 202 can be used by one or more systems to observe an environment in which a vehicle is located.

[0050] In some examples, perception system 204 receives data related to at least one object in an environment and classifies the at least one object. In some examples, perception system 204 receives image data (e.g., a point cloud) associated with at least one object captured by a lidar. In such examples, perception system 204 classifies the object according to a grouping of objects (e.g., a bicycle, a vehicle, a traffic sign, a pedestrian, and / or the like). In some embodiments, perception system 204 transmits data related to the classification of the object to planning system 206.

[0051] In some examples, planning system 206 receives data related to a destination and generates data related to at least one route or trajectory along which a vehicle can travel to the destination. In some embodiments, planning system 206 receives data from perception system 204 periodically or continuously and updates the route or trajectory according to the data generated by perception system 204.

[0052] In some examples, the control system 208 receives data related to at least one trajectory from the planning system 206, the control system 208 controls the operation of the vehicle. In some embodiments, the control system 208 includes a steering control system 208a and a powertrain control system 208b. The control system 208 can control the operation of the steering control system 208a and the powertrain control system 208b according to the received trajectory. In some embodiments, the powertrain control system 208b receives control signals from the control system 208 to cause the vehicle to start, stop, accelerate, decelerate, turn left, turn right, or the like. The steering control system 208a is configured to receive control signals from the control system 208 to cause one or more wheels of the vehicle to turn. In some examples, when the trajectory includes a left turn, the control system 208 transmits a control signal to cause the steering control system 208a to adjust the direction.

[0053] The field of view (FOV) of a lidar refers to the angular range in which the lidar can detect a return. The central region of the field of view of a lidar (also referred to as the central field of view) generally has better return reception efficiency because the optical system of the lidar performs most stably in this region. In the edge region of the field of view of the lidar (also referred to as the edge field of view), the signal of the return received by the lidar can be affected by the edge of field effect, resulting in a decrease in return reception efficiency.

[0054] Referring to FIG. 3, a spot contrast diagram of a return beam from the central field of view of a lidar and a return beam from the edge field of view of the lidar on the receiving surface of a receiver is shown. The receiver of the lidar has a central pixel that receives the return beam from the central field of view and an edge pixel that receives the return beam from the edge field of view. The return beam from the central field of view has better image quality on the central pixel, so the central pixel has a higher reception efficiency. In contrast, the return beam from the edge field of view has image quality degradation on the edge pixel due to the distance from the optical center, so the edge pixel has a lower reception efficiency. As shown in FIG. 3, compared with the return beam from the central field of view, the return beam from the edge field of view has a greater degree of spot diffusion on the receiving surface of the receiver, and only about less than 50% of the return energy can be received by the edge pixel.

[0055] The present disclosure proposes a receiver for a lidar. The receiver includes a first pixel and a second pixel, a photosensitive area size of the first pixel is different from a photosensitive area size of the second pixel. The receiver for a lidar of the present disclosure employs a first pixel and a second pixel with different photosensitive area sizes, and the first pixel and the second pixel can be used for different receiving pixels (e.g., a central pixel and an edge pixel) of the receiver to improve the overall reception efficiency of the receiver.

[0056] In some embodiments, the first pixel includes a first number of light sensing areas, and the second pixel includes a second number of light sensing areas, the first number being less than the second number. The receiver for lidar of the present disclosure employs a first pixel and a second pixel with different numbers of light sensing areas, which can be used for different receiving pixels (e.g., center pixels and edge pixels) of the receiver to improve the overall receiving efficiency of the receiver.

[0057] In some embodiments, a light sensing area represents an area covered by a microcell in a pixel that is capable of responding to incident photons and generating an electrical signal output. One or more light sensing areas can be integrated within one pixel.

[0058] In some embodiments, a pixel represents a combination of light sensing areas that are capable of detecting optical signals and generating electrical signal outputs through one or more light sensing areas. One or more light sensing areas in one pixel can share a readout circuit. Referring to FIG. 4, a schematic diagram of a receiver for lidar according to a first exemplary embodiment of the present disclosure is shown. The receiver 400 for lidar can include a pixel 410. The pixel 410 can include a first number of light sensing areas AR. The pixel 410 is shown in FIG. 4 to include one light sensing area AR for illustrative purposes only, and the present disclosure is not intended to limit the specific number of light sensing areas AR included in the pixel 410. In some embodiments, the first number can be any positive integer greater than 0. The receiver 400 can also include a pixel 420. The pixel 420 can include a second number of light sensing areas AR. The area of the light sensing areas of the pixel 420 can be different (e.g., greater or less) than the area of the light sensing areas of the pixel 410, e.g., the second number can be different from the first number. In some embodiments, the second number can be greater than the first number, and in other embodiments, the second number can be less than the first number. The pixel 420 is shown in FIG. 4 to include two light sensing areas AR for illustrative purposes only, and the present disclosure is not intended to limit the specific number of light sensing areas AR included in the pixel 420. In some embodiments, the second number can be any positive integer greater than 1. The light sensing areas AR can include a light sensing element or an array of light sensing elements, such as one or more of a photodiode, an array of photodiodes, an APD, an array of APDs, a SPAD, an array of SPADs, or a SiPM, an array of SiPMs.

[0059] In the receiver 400 for lidar, since the pixel 420 has more light sensing areas than the pixel 410, the pixel 420 can be arranged in the area of the receiver 400 where the quality of the return light spot is deteriorated to improve the receiving efficiency of the deteriorated return, while the pixel 410 can be arranged in the area of the receiver 400 where the quality of the return light spot is better.

[0060] In some embodiments of the present disclosure, the receiver 400 can include a first region Z1 and a second region Z2, as shown in FIG. 5. The pixel 410 is located in the first region Z1 and the pixel 420 is located in the second region Z2. In some embodiments, the first region Z1 receives light closer to the center of the field of view of the lidar than the second region Z2.

[0061] In some embodiments of the present disclosure, each pixel of the receiver 400 can further include a readout circuit. As shown in FIG. 6, the pixel 410 can include a readout circuit 411, and the photosensitive region AR in the pixel 410 is connected to the readout circuit 411; the pixel 420 can include a readout circuit 421, and the photosensitive region AR in the pixel 420 is connected to the readout circuit 421.

[0062] In some embodiments of the present disclosure, the receiver 400 can include a plurality of detectors, and each detector can include a certain number of photosensitive regions. As shown in FIG. 7, the receiver 400 can include at least a detector 401 and a detector 402. The detector 401 can include more than one photosensitive region AR, and the detector 402 can include more than one photosensitive region AR. It is shown in FIG. 7 that the detector 401 or the detector 402 includes two photosensitive regions AR for illustrative purposes only, and the present disclosure is not intended to limit the specific number of photosensitive regions AR included in the detector 401 or the detector 402. In some embodiments, a detector can be formed in the form of an independent chip. For example, one detector can be formed as an independent chip, or a plurality of detectors can be collectively formed as an independent chip.

[0063] In some embodiments, a detector can include one or more pixels.

[0064] For example, the detector 401 can include the pixel 410. The pixel 410 can include one or more photosensitive regions AR in the detector 401. It is shown in FIG. 7 that the pixel 410 includes one photosensitive region AR in the detector 401 for illustrative purposes only, and not by way of limitation.

[0065] For example, the detector 402 can include the pixel 420. The pixel 420 can include at least two photosensitive regions AR in the detector 401. It is shown in FIG. 7 that the pixel 420 includes two photosensitive regions AR in the detector 402 for illustrative purposes only, and not by way of limitation.

[0066] In some embodiments of the present disclosure, the photosensitive regions AR in the detector 401 can be arranged along a first direction (e.g., the y direction as shown in FIG. 7), and the photosensitive regions in the detector 402 can be arranged along the first direction.

[0067] In some embodiments of the present disclosure, the receiver 400 can further include a pixel 430. As an example, the pixel 430 can include one of the photosensitive regions AR in the detector 401, as shown in FIG. 7. In this way, the detector 401 can include two pixels (the pixel 410 and the pixel 430), and the detector 402 can include one pixel 420. Thus, in some embodiments, the detector 401 and the detector 402 can include different numbers of pixels. In other embodiments, the detector 401 and the detector 402 can include the same number of pixels.

[0068] In some embodiments of the present disclosure, the detector 401 and the detector 402 can include the same number of photosensitive regions AR. In other embodiments, the detector 401 and the detector 402 can include different numbers of photosensitive regions AR.

[0069] Referring to FIG. 8, a schematic diagram of a receiver 800 for a lidar according to a second exemplary embodiment of the present disclosure is shown. Several details of the receiver 800 are the same as the receiver 400 described above with respect to FIGS. 4-7, and are not repeated here. The following mainly describes the particularities of the receiver 800.

[0070] The receiver 800 can include a detector 801 and a detector 802. The detector 801 includes more than 1 photosensitive region AR, and the detector 802 includes more than 1 photosensitive region AR. The photosensitive regions AR in the detector 801 are arranged along a y direction. The photosensitive regions AR in the detector 802 are arranged along an o direction. The y direction is different from the o direction. The pixel 410 can include at least one photosensitive region AR in the detector 801. The pixel 420 can include at least two photosensitive regions AR in the detector 801. In some embodiments, the o direction can intersect the y direction, for example, the o direction can be orthogonal to the y direction.

[0071] In the receiver 800 for a lidar, because the pixel 420 has more photosensitive regions AR than the pixel 410 and the photosensitive regions AR of the pixel 420 are arranged along the o direction, the detector 802 including the pixel 420 can be arranged in a region on the receiver 400 in which the return light spot is dispersed wider in the o direction to improve the reception efficiency of the return light, and the detector 801 including the pixel 410 can be arranged in a region on the receiver 400 in which the return light spot has better image quality. For example, the detector 801 including the pixel 410 can be arranged closer to the center of the field of view, and the detector 802 including the pixel 420 can be arranged closer to the edge of the field of view.

[0072] Referring to FIG. 9, a schematic diagram of a receiver 900 for a lidar according to a third example embodiment of the present disclosure is shown. Several details of the receiver 900 are the same as the receiver 400 described above with respect to FIGs. 4-7 or the receiver 800 described with respect to FIG. 8, which are not repeated here. The following mainly describes the particularities of the receiver 900.

[0073] The receiver 900 can include a detector 901 and a detector 902. The detector 901 can include at least three photosensitive regions (e.g., AR1, AR2, AR3). The detector 902 can include at least three photosensitive regions (e.g., AR1, AR2, AR3). The arrangement direction of the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 901 can be the same as or different (e.g., orthogonal) to the arrangement direction of the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 902. For example, the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 901 and the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 902 are both arranged in the y direction. For another example, the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 901 are arranged in the y direction, while the at least three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 902 are arranged in an o direction different (e.g., orthogonal) to the y direction.

[0074] The pixel 410 can include at least one photosensitive region in the detector 901. The pixel 420 can include at least two photosensitive regions in the detector 902. It is shown in FIG. 9 that the pixel 410 includes the photosensitive region AR1 in the detector 901 and the pixel 420 includes two photosensitive regions (e.g., AR1, AR2) in the detector 902 for illustrative purposes, but not by way of limitation. For example, in some embodiments, the pixel 420 can include three photosensitive regions (e.g., AR1, AR2, AR3) in the detector 902.

[0075] In some embodiments, the receiver 900 can further include a pixel 930. The pixel 930 can include at least one photosensitive region in the detector 901, such as the photosensitive region AR2 shown in FIG. 9. Optionally, the pixel 930 can have the same number of photosensitive regions as the pixel 410.

[0076] In some embodiments, the receiver 900 can further include a pixel 940. The pixel 940 can include at least one photosensitive region in the detector 901, such as the photosensitive region AR3 shown in FIG. 9. Optionally, the pixel 940 can have the same or different number of photosensitive regions as the pixel 410.

[0077] In some embodiments, some of the light sensing regions in the detector 902 can be deactivated. Deactivating a light sensing region includes not using the light sensing region to detect a return light beam or not reading out a signal generated by the light sensing region. For example, the light sensing region AR3 in the detector 902 does not belong to any pixel, and the light sensing region AR3 in the detector 902 can be deactivated.

[0078] In some embodiments, the receiver 900 can further include a pixel 950. The pixel 950 can include at least one light sensing region in the detector 902, such as the light sensing region AR3 shown in FIG. 9. Optionally, the pixel 950 can have the same number of light sensing regions as the pixel 410 or a different number of light sensing regions.

[0079] Referring to FIG. 10, shown therein is a schematic diagram of a receiver 1000 for a lidar according to a fourth exemplary embodiment of the present disclosure. The receiver 1000 can have several details in common with the receiver 400 described above with respect to FIGS. 4-7, the receiver 800 described above with respect to FIG. 8, or the receiver 900 described above with respect to FIG. 9, which will not be repeated here. The following mainly describes the particularities of the receiver 1000.

[0080] The receiver 1000 can include a plurality of detectors. The plurality of detectors can include at least a detector 1001, a detector 1002, and a detector 1003. The detector 1001 can include at least three light sensing regions (e.g., AR1, AR2, AR3). The detector 1002 can include at least three light sensing regions (e.g., AR1, AR2, AR3). The detector 1003 can include at least three light sensing regions (e.g., AR1, AR2, AR3).

[0081] The arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1001 can be the same as the arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1002, or can be different from the arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1002.

[0082] The arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1001 can be the same as the arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1003, or can be different from the arrangement direction of the at least three light sensing regions (e.g., AR1, AR2, AR3) in the detector 1003.

[0083] The arrangement direction of the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1002 can be the same as or different from the arrangement direction of the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1003.

[0084] In the example shown in FIG. 10, the arrangement direction of the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1001, the detector 1002, and the detector 1003 are different from each other. For example, the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1001 can be arranged along a y direction, the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1002 can be arranged along an o direction different from the y direction, and the at least three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1003 can be arranged along an x direction orthogonal to the y direction.

[0085] The receiver 1000 can include a pixel 410, a pixel 420, and a pixel 1030. The pixel 410 can include a first number of light-receptive regions in the detector 1001. The pixel 420 can include a second number of light-receptive regions in the detector 1002. The second number is greater than the first number. The pixel 1030 can include a third number of light-receptive regions in the detector 1003. The third number is greater than the second number. It is shown in FIG. 10 that the pixel 410 includes the light-receptive region AR1 in the detector 1001, the pixel 420 includes two light-receptive regions (e.g., AR1, AR2) in the detector 1002, and the pixel 1030 includes three light-receptive regions (e.g., AR1, AR2, AR3) in the detector 1003 are for illustrative purposes only and are not limiting.

[0086] In the receiver 1000 for lidar, the detector 1001 including the pixel 410 can be arranged in an area on the receiver 400 where the echo light spot is better in image quality; since the pixel 420 has more photosensitive area AR than the pixel 410 and the photosensitive area AR of the pixel 420 is arranged along the o direction, the detector 1002 including the pixel 420 can be arranged in an area on the receiver 400 where the echo light spot is wider in dispersion in the o direction to improve the reception efficiency of the echo; since the pixel 1030 has more photosensitive area AR than the pixel 410 and the photosensitive area AR of the pixel 1030 is arranged along the x direction, the detector 1003 including the pixel 1030 can be arranged in an area on the receiver 400 where the echo light spot is wider in dispersion in the x direction to improve the reception efficiency of the echo. For example, the detector 1001 including the pixel 410 can be arranged at a position closer to the center of the field of view, the detector 1003 including the pixel 1030 can be arranged at a position closer to the edge of the field of view, and the detector 1002 including the pixel 420 can be arranged between the detector 1001 and the detector 1003.

[0087] Referring to FIG. 11, a schematic diagram of a receiver 1100 for lidar according to a fifth exemplary embodiment of the present disclosure is shown. Several details of the receiver 1100 are the same as the receiver 400 described above with respect to FIGS. 4-7, the receiver 800 described with respect to FIG. 8, the receiver 900 described with respect to FIG. 9, or the receiver 1000 described with respect to FIG. 10, which are not repeated here. The following mainly describes the particularities of the receiver 1100.

[0088] The receiver 1100 can include at least two columns of detectors. For example, a first column of detectors can include the detector 1101 and the detector 1103, and a second column of detectors can include the detector 1102 and the detector 1104. The first column of detectors (the detector 1101 and the detector 1103) and the second column of detectors (the detector 1102 and the detector 1104) can be located at different positions in the x direction perpendicular to the y direction. The fact that each column of detectors includes two detectors in FIG. 11 is for illustrative purposes, rather than limiting. Each column of detectors of the at least two columns of detectors can include more or fewer detectors.

[0089] In some embodiments, the plurality of detectors in the first column of detectors and the plurality of detectors in the second column of detectors can be arranged alternately in the y direction. For example, in the y direction, the detector 1102 in the second column of detectors can be located between the detector 1101 and the detector 1103 in the first column of detectors, and the detector 1103 in the first column of detectors can be located between the detector 1102 and the detector 1104 in the second column of detectors. In other embodiments, the photosensitive regions of the plurality of detectors in the first column of detectors and the photosensitive regions of the plurality of detectors in the second column of detectors can be arranged alternately in the y direction. For example, in the y direction, the photosensitive region AR3 of the detector 1102 in the second column of detectors can be located between the photosensitive region AR3 of the detector 1101 and the photosensitive region AR2 of the detector 1101 in the first column of detectors, and the photosensitive region AR2 of the detector 1102 in the second column of detectors can be located between the photosensitive region AR2 of the detector 1101 and the photosensitive region AR1 of the detector 1101 in the first column of detectors.

[0090] Each detector in the at least two columns of detectors can include more than one photosensitive region AR. The arrangement direction of the more than one photosensitive region AR in each detector can be optional. The arrangement of the detector 1101, the detector 1102, the detector 1103, and the detector 1104 including three photosensitive regions AR arranged in the y direction in FIG. 11 is merely for illustrative purposes, and the disclosure is not intended to limit the specific number and arrangement direction of the photosensitive regions AR included in each detector in the at least two columns of detectors.

[0091] In some embodiments, the photosensitive regions of the plurality of detectors in the first column of detectors and the photosensitive regions of the plurality of detectors in the second column of detectors can be arranged alternately in the y direction. For example, in the y direction, the photosensitive region AR3 of the detector 1102 in the second column of detectors can be located between the photosensitive region AR3 of the detector 1101 and the photosensitive region AR2 of the detector 1101 in the first column of detectors, and the photosensitive region AR2 of the detector 1102 in the second column of detectors can be located between the photosensitive region AR2 of the detector 1101 and the photosensitive region AR1 of the detector 1101 in the first column of detectors.

[0092] So far, the receiver for a lidar, the lidar, and the terminal device according to the disclosure have been described. The receiver for a lidar according to the disclosure employs the first pixel and the second pixel with different numbers of photosensitive regions, which can be used for different receiving channels (e.g., a center channel and an edge channel) of the receiver to improve the overall receiving efficiency of the receiver.

[0093] Optionally, the receiver for lidar of the present disclosure can employ the same type or different types of detectors (e.g., SPAD arrays or SiPM arrays). In different regions on the receiver, the overall receiving efficiency of the receiver can be improved by designing one or more photosensitive regions in the detectors to independently detect as smaller pixels (e.g., first pixels) or merging multiple photosensitive regions into larger pixels (e.g., second pixels) to cooperatively detect. For example, the smaller pixels (e.g., first pixels) in the receiver can be used for the center channels of the lidar to detect the echoes with smaller photosensitive regions, which can ensure high resolution and signal-to-noise ratio for the center channels; while the larger pixels (e.g., second pixels) in the receiver can be used for the edge channels of the lidar to detect the echoes with larger photosensitive regions, which can improve the receiving efficiency of the edge channels.

[0094] In addition, the position and angle of the detectors containing the larger pixels (e.g., second pixels) on the receiver can be set according to the position and shape of the echo spot, so as to further improve the receiving efficiency of the echo spot. For example, for an echo spot that exists in a certain direction of dispersion, the detector containing the larger pixels (e.g., second pixels) can be used to receive the echo spot and the photosensitive region of the detector can be configured to be arranged along the certain direction, thereby improving the receiving efficiency of the receiver of the lidar for the dispersed echo spot.

[0095] In the lidar of the present disclosure, the arrangement of the lasers in the transmitter and the arrangement of the pixels in the receiver can have a corresponding relationship that satisfies the following requirement: the field of view of each laser corresponds to the field of view of at least one pixel, so that at least part of the first light beams emitted by each laser can form an echo after being reflected by an object in space and returning to the corresponding pixel.

[0096] It should be understood that the above description is illustrative and not restrictive. For example, the above-described embodiments (and / or aspects thereof) can be used in combination with each other. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the various embodiments of the present disclosure without departing from the scope thereof. While the dimensions and types of materials described herein serve to define parameters of the various embodiments of the present disclosure, the various embodiments are not meant to be limiting, but are exemplary embodiments. Many other embodiments will be apparent to those of ordinary skill in the art upon reading the above description. The scope of the various embodiments of the present disclosure should, therefore, be determined not with reference to the above description, but instead with reference to the appended claims, along with their full scope of equivalents.

Claims

1. A receiver for lidar, comprising: The first pixel includes a first number of photosensitive areas; as well as The second pixel includes a second number of photosensitive areas, the first number being less than the second number.

2. The receiver as described in claim 1, characterized in that, The receiver includes: A first detector, the first detector including more than one photosensitive area; and The second detector includes more than one photosensitive area.

3. The receiver as described in claim 2, characterized in that, The photosensitive areas in the first detector are arranged along a first direction, and the photosensitive areas in the second detector are also arranged along the first direction.

4. The receiver as described in claim 2, characterized in that, The first detector and the second detector each include a different number of pixels.

5. The receiver as described in claim 2, characterized in that, The photosensitive areas in the first detector are arranged along a first direction, and the photosensitive areas in the second detector are arranged along a second direction, which is different from the first direction.

6. The receiver as described in claim 3 or 5, characterized in that, The first pixel includes one or more photosensitive areas in the first detector, and the second pixel includes at least two photosensitive areas in the second detector.

7. The receiver as claimed in claim 6, characterized in that, The receiver also includes: The third detector includes more than one photosensitive area arranged along a third direction, which is different from the first direction.

8. The receiver as claimed in claim 1, characterized in that, The receiver also includes: The third pixel includes a third number of photosensitive areas, the third number being greater than the second number.

9. The receiver as described in any one of claims 1-8, characterized in that, The receiver includes a first region and a second region, wherein a first pixel is located in the first region and a second pixel is located in the second region, wherein the light received in the first region is closer to the center of the field of view of the lidar than the light received in the second region.

10. The receiver as claimed in any one of claims 2-8, characterized in that, The detector includes at least one of a silicon photomultiplier tube device and a single-photon avalanche diode array.

11. The receiver as claimed in any one of claims 2-8, characterized in that, The first detector and the second detector include the same number of photosensitive areas.

12. The receiver as claimed in any one of claims 1-8, characterized in that, The first pixel includes a first readout circuit, and the photosensitive area in the first pixel is connected to the first readout circuit; The second pixel includes a second readout circuit, and the photosensitive area in the second pixel is connected to the second readout circuit.

13. A lidar comprising a receiver as claimed in any one of claims 1-12.

14. A terminal device comprising the lidar as described in claim 13.

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