Photoelectric array, lidar apparatus, communication system, electronic and electrical system, and vehicle

Abstract

A vehicle (400), comprising a LiDAR apparatus (200), or comprising a communication system (330), or comprising an actuator (401) and an electronic and electrical system (300). The LiDAR apparatus (200) comprises: a photoelectric array (100), wherein the photoelectric array (100) comprises a plurality of photoelectric units (110), and the plurality of photoelectric units (110) are arranged in an array; each photoelectric unit (110) comprises a light-transmitting portion (111), a first collection portion (112) and a second collection portion (113); and incident light that is incident on the photoelectric array (100) passes through the light-transmitting portion (111), the first collection portion (112) is used for collecting the incident light and using same as a reference light signal, the light passing through the light-transmitting portion (111) encounters a target object and is then reflected by the target object, and the second collection portion (113) is used for receiving the light reflected by the target object and using the reflected light as a detection light signal.

Description

Optoelectronic arrays, radar devices, communication systems, electronic and electrical systems, and vehicles

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent application No. 202411358317.2, filed on September 27, 2024, with the China National Intellectual Property Administration and entitled “Optoelectronic Array, Radar Device, Communication System, Electrical and Electronic System and Vehicle”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of vehicle technology, and in particular to an optoelectronic array, as well as radar devices, communication systems, electronic and electrical systems, and vehicles. Background Technology

[0004] In related technologies, the basic structure of a radar device includes laser emission, laser reception, scanning system and information processing. The function of the scanning system is to control the emission source to move along a certain trajectory to achieve scanning of the plane. Most existing scanning systems use mechanical scanning or micro-mechanical vibration, which are relatively complex in process, costly, and cannot achieve imaging in one go. Multiple transceiver modules need to be spliced ​​together to achieve imaging with a large field of view.

[0005] Public content

[0006] This disclosure aims to at least address one of the technical problems existing in the prior art. To this end, one object of this disclosure is to provide an optoelectronic array that can acquire both a reference light signal and a probe light signal simultaneously, providing data for single-shot imaging, having a larger field of view, and enabling a wider sensing range.

[0007] The second objective of this disclosure is to propose a radar device.

[0008] The third objective of this disclosure is to propose a communication system.

[0009] The fourth objective of this disclosure is to provide an electronic and electrical system.

[0010] The fifth objective of this disclosure is to propose a vehicle.

[0011] To address the aforementioned problems, a first aspect of this disclosure provides a photoelectric array comprising a plurality of photoelectric units arranged in an array; each photoelectric unit includes a light-transmitting portion, a first collection portion, and a second collection portion; wherein incident light incident on the array passes through the light-transmitting portion, the first collection portion is used to collect the incident light as a reference light signal, the light transmitted through the light-transmitting portion is reflected by a target object, and the second collection portion is used to receive the light reflected by the target object as a detection light signal.

[0012] According to the embodiments of this disclosure, the photoelectric array can replace the scanning system in a radar device. It includes multiple photoelectric units arranged in an array. Each photoelectric unit includes three parts: a first acquisition unit collects incident light as a reference light signal; light transmitted from the light-transmitting part is reflected by the target object; and a second acquisition unit receives the light reflected by the target object as a detection light signal. That is, imaging data can be obtained at one time based on the light-transmitting part, the first acquisition unit, and the second acquisition unit, without the need for multiple transceiver modules and without the need for mechanical or micro-mechanical vibration structures, thereby reducing costs and achieving the purpose of pure solid-state operation. Furthermore, the array structure can have a larger field of view and a larger sensing range.

[0013] In some embodiments, the array is a spherical array, the concave surface of which is adapted to face the light emitting device.

[0014] In some embodiments, the photoelectric unit is a hexagonal unit, and a plurality of the hexagonal units are arranged closely to form the spherical array.

[0015] In some embodiments, the hexagonal unit is divided into the light-transmitting portion, the first acquisition portion, and the second acquisition portion.

[0016] In some embodiments, the first acquisition unit includes a first stacked structure stacked along the array thickness direction; the second acquisition unit includes a second stacked structure stacked along the array thickness direction; and the first stacked structure and the second stacked structure are arranged in opposite directions in the array thickness direction.

[0017] In some embodiments, the first stacked structure includes: a first photoelectric conversion layer, which is used to convert a probe optical signal into a probe electrical signal; a first pixel transistor layer, which is correspondingly connected to the first photoelectric conversion layer and is used to control the transmission of the probe electrical signal; and a first readout circuit layer, which is connected to the first pixel transistor layer and is used to read out the probe electrical signal.

[0018] In some embodiments, the second stacked structure includes: a second photoelectric conversion layer, which is used to convert the reference optical signal into a reference electrical signal; a second pixel transistor layer, which is correspondingly connected to the second photoelectric conversion layer and is used to control the transmission of the reference electrical signal; and a second readout circuit layer, which is connected to the second pixel transistor layer and is used to read out the reference electrical signal.

[0019] In some embodiments, the light-transmitting portion includes light-transmitting glass.

[0020] A second aspect of this disclosure provides a radar device, comprising: an optoelectronic array as described in the above embodiments; and a light emitting device for emitting light, the light being incident on the optoelectronic array.

[0021] According to the radar device of the present disclosure, by using the photoelectric array of the above embodiment to replace the scanning system, there is no need for mechanical scanning or micro-mechanical vibration, which achieves the purpose of reducing costs and meeting the requirements of pure solid-state. Imaging data can be obtained at one time without the need for multiple transceiver modules to be stitched together. Using the photoelectric array can have a larger field of view and obtain a larger sensing range.

[0022] In some embodiments, the radar device further includes an electro-optical conversion module connected to the control module, and the electro-optical conversion module is also adapted to be connected to an optical fiber line for converting target information obtained through the photoelectric array into a target optical signal and sending the target optical signal to the optical fiber line.

[0023] In some embodiments, the target information is carried at least in the reference electrical signal and the detection electrical signal output by the photoelectric array; and / or, the target information is carried in the target electrical signal, which is obtained based on the reference electrical signal and the detection electrical signal output by the photoelectric array.

[0024] In some embodiments, the electro-optical conversion module includes: a protocol conversion chip connected to the control module, used to convert the Ethernet protocol of the target information into an optical network protocol; an optical receiver driver chip connected to the protocol conversion chip, used to convert the target information into the target optical signal; an optical transceiver component connected to the optical receiver driver chip, used to transmit and receive the target optical signal; and an optical fiber connector connected to the optical transceiver component, used to transmit the target optical signal to the optical fiber line.

[0025] In some embodiments, the light emitted by the light emitting device is a light wave with a continuous frequency.

[0026] In some embodiments, the optical emitting device includes: a laser for emitting laser light; a frequency modulation signal source for transmitting a frequency modulation signal; and a single-sideband modulator connected to the laser and the frequency modulation signal source for modulating the laser light into a light wave with a continuous frequency according to the frequency modulation signal.

[0027] In some embodiments, the light emitting device further includes: an integrated optical amplifier connected to the single-sideband modulator, used to amplify the frequency-continuous light wave, and the amplified frequency-continuous light wave is projected onto the photoelectric array.

[0028] In some embodiments, the light emitting device further includes a laser driving circuit connected to the laser for controlling the emission period of the laser, wherein an interval is provided between two adjacent emission periods.

[0029] In some embodiments, the target information is point cloud information including the target's distance, velocity, and azimuth.

[0030] In some embodiments, the radar device further includes: a row and column selection control circuit, connected to the control module and the photoelectric array, for controlling the output of the reference electrical signal and the detection electrical signal collected by each photoelectric unit in the photoelectric array.

[0031] In some embodiments, the radar device further includes a signal processing module connected to the optoelectronic array, used to process and convert the reference electrical signals and detection electrical signals collected by each optoelectronic unit in the optoelectronic array.

[0032] In some embodiments, the signal processing module includes: a coupler connected to the photoelectric array for coupling the reference electrical signal and the detection electrical signal and outputting a coupled signal; a balanced amplifier connected to the coupler for balancing the coupled signal; a signal amplification circuit connected to the balanced amplifier for amplifying the balanced coupled signal and outputting an amplified signal; and an analog-to-digital conversion circuit connected to the signal amplification circuit for converting the amplified signal into a digital signal.

[0033] In some embodiments, the radar device further includes a control module connected to the light emitting device and the photoelectric array, for acquiring a reference electrical signal and a detection electrical signal output by the photoelectric array, and obtaining target information based on the reference electrical signal and the detection electrical signal.

[0034] In some embodiments, the radar device further includes a power supply module connected to each power consumption module of the radar device, for supplying power to each power consumption module.

[0035] In some embodiments, the radar device further includes a bus interface connected to the control module for receiving a wake-up command on the bus when the radar device is in a sleep state.

[0036] To achieve the above objectives, a communication system according to a third aspect of this disclosure includes an optical fiber line; a main control module connected to the optical fiber line, configured to acquire optical signals transmitted on the optical fiber line and generate control information based on the optical signals; the optical signals at least include target information detected by the radar device.

[0037] According to the communication system of this disclosure, target information of the radar device is transmitted using fiber optic communication. The transmission bandwidth of fiber optic communication can reach up to 25Gbps, which is much higher than the Ethernet used by existing lidar, and is much faster. Furthermore, the radar device using fiber optic communication transmits optical signals in the optical fiber, rather than the traditional form of electrical current, thus possessing natural immunity and stability to electromagnetic fields and exhibiting good anti-interference capabilities.

[0038] In some embodiments, the main control module includes: a photoelectric conversion unit connected to the optical fiber line, used to convert optical signals transmitted on the optical fiber line into electrical signals; and a control unit connected to the photoelectric conversion unit, used to obtain control information based on the electrical signals.

[0039] A fourth aspect of this disclosure provides an electronic and electrical system, including the radar device described in the above embodiments.

[0040] According to the electronic and electrical system of the present disclosure, the radar device can acquire imaging data at once without the need for multiple transceiver modules to be stitched together. The use of an optoelectronic array can have a larger field of view, obtain a larger sensing range, and is low in cost.

[0041] In some embodiments, the electronic and electrical system further includes an information acquisition device for collecting environmental information.

[0042] Furthermore, fiber optic communication offers fast information transmission speeds and good anti-interference capabilities, enabling accurate vehicle positioning and navigation even in environments with weak signals, without the need for any additional sensors.

[0043] In some embodiments, the electronic and electrical system further includes the communication system described in the above embodiments.

[0044] In some embodiments, the information acquisition device includes at least one of a camera and a millimeter-wave radar.

[0045] A fifth aspect of this disclosure provides a vehicle, including: a radar device as described in the above embodiments; or a communication system as described in the above embodiments; or an actuator and an electronic and electrical system, the electronic and electrical system being connected to the actuator.

[0046] According to the vehicle of the present disclosure, imaging data can be acquired in one go through the radar device or electronic and electrical system of the above embodiments, without the need for multiple transceiver modules and mechanical or micro-mechanical vibration structures, thus achieving the purpose of reducing costs and achieving a purely solid-state solution. The communication system of the above embodiments offers faster communication speeds, and the use of fiber optic communication provides fast information transmission and good anti-interference capabilities. It can achieve accurate vehicle positioning and navigation even in environments with weak signals, without the need for any additional sensors.

[0047] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0048] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0049] Figure 1 is a schematic diagram of an optoelectronic array according to an embodiment of the present disclosure;

[0050] Figure 2(1) is a schematic diagram of a hexagonal photoelectric unit structure according to an embodiment of the present disclosure, and Figure 2(2) is a schematic diagram of a hexagonal photoelectric unit receiving an optical signal according to an embodiment of the present disclosure;

[0051] Figure 3 is a schematic diagram of a spherical array according to an embodiment of the present disclosure;

[0052] Figure 4 is a schematic diagram of a first stacked structure according to an embodiment of the present disclosure;

[0053] Figure 5 is a schematic diagram of a second stacked structure according to an embodiment of the present disclosure;

[0054] Figure 6 is a structural block diagram of a radar device according to an embodiment of the present disclosure;

[0055] Figure 7 is a schematic diagram of a radar device according to an embodiment of the present disclosure;

[0056] Figure 8 is a schematic diagram of radar device hardware according to an embodiment of the present disclosure;

[0057] Figure 9 is a schematic diagram of the technical architecture of a radar device according to an embodiment of the present disclosure;

[0058] Figure 10 is a schematic diagram of the laser emission cycle according to an embodiment of the present disclosure;

[0059] Figure 11 is a schematic diagram of a communication system according to an embodiment of the present disclosure;

[0060] Figure 12 is a schematic diagram of an electronic and electrical system according to an embodiment of the present disclosure;

[0061] Figure 13 is a schematic diagram of an electronic and electrical system according to an embodiment of the present disclosure;

[0062] Figure 14 is a structural block diagram of a vehicle according to an embodiment of the present disclosure.

[0063] Reference numerals: Vehicle 400; Actuator 401; Electronic and electrical system 300; Radar device 200; Optoelectronic array 100; Optoelectronic unit 110; Light-transmitting part 111; First acquisition part 112; Second acquisition part 113; First stacked structure 120; Second stacked structure 130; First photoelectric conversion layer 121; First pixel transistor layer 122; First readout circuit layer 123; Second photoelectric conversion layer 131; Second pixel transistor layer 132; Second readout circuit layer 133; Control module 201; Row and column selection control circuit 203; Power supply module 204; Bus interface 205; Memory 206; Light emitting device 210; Electro-optical conversion module 220; Signal processing module 23 0; Laser 211; Frequency Modulated Signal Source 212; Single Sideband Modulator 213; Integrated Optical Amplifier 214; Laser Driver Circuit 215; Protocol Conversion Chip 221; Optical Receiver Driver Chip 222; Optical Transceiver Assembly 223; Fiber Optic Connector 224; Coupler 231; Balanced Amplifier 232; Signal Amplification Circuit 233; Analog-to-Digital Conversion Circuit 234; Information Acquisition Device 310; Main Control Module 320; Communication System 330; Camera 311; Millimeter-Wave Radar 312; Optoelectronic Conversion Unit 321; Control Unit 322; Fiber Optic Line 323. Detailed Implementation

[0064] The embodiments of this disclosure are described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary.

[0065] The first aspect of this disclosure provides an optoelectronic array 100 that can acquire reference light signals and probe light signals at the same time, providing data for one-time imaging, and has a larger field of view, enabling it to acquire a larger sensing range.

[0066] As shown in Figure 1, the photoelectric array 100 includes multiple photoelectric units 110.

[0067] In this array, multiple photoelectric units 110 are arranged in an array, as shown in Figure 2 (1). Each photoelectric unit 110 includes a light-transmitting part 111, a first collection part 112, and a second collection part 113. Incident light incident on the array passes through the light-transmitting part 111. The first collection part 112 is used to collect the incident light as a reference light signal. The light transmitted from the light-transmitting part 111 is reflected by the target object. The second collection part 113 is used to receive the light reflected by the target object as a detection light signal.

[0068] Specifically, the light-transmitting part 111 in the photoelectric unit 110 can transmit light, and the incident light incident on the photoelectric array 100 can pass through the light-transmitting part 111. The first collection part 112 is used to collect the incident light passing through the light-transmitting part 111 as a reference light signal. The light passing through the light-transmitting part 111 propagates forward and is reflected by the target object after encountering it. The second collection part 113 receives the light reflected by the target object as a detection light signal.

[0069] The photoelectric array 100 according to the embodiments of this disclosure can replace the scanning system in a radar device. It includes multiple photoelectric units arranged in an array. Each photoelectric unit includes three parts: a first acquisition unit 112 acquires incident light as a reference light signal; light transmitted from the light-transmitting unit 111 is reflected by the target object; and a second acquisition unit 113 receives the light reflected by the target object as a detection light signal. That is, imaging data can be obtained at one time based on the light-transmitting unit 111, the first acquisition unit 112, and the second acquisition unit 113, without the need for multiple transceiver modules and without the need for mechanical or micro-mechanical vibration structures. This can reduce costs and achieve the purpose of pure solid-state operation. Furthermore, the array structure can have a larger field of view and a larger sensing range.

[0070] In some embodiments, as shown in FIG3 and in conjunction with FIG6, the array is a spherical array, and the concave surface of the spherical array is adapted to face the light emitting device 210.

[0071] Specifically, multiple photoelectric units 110 form a spherical array, with the concave surface of the spherical array facing the light emitting device 210, so that the angles between the four corners of the spherical array and the light emitting device 210 constitute the field of view of the lidar. The larger the field of view, the larger its sensing range.

[0072] In some embodiments, as shown in Figure 2(1), the photoelectric unit is a hexagonal unit, and multiple hexagonal units are arranged closely to form a spherical array.

[0073] Specifically, this disclosure innovatively uses a spherical array, where the photoelectric unit 110 is a hexagonal unit, and the spherical array is composed of multiple hexagonal units. Taking the spherical array as an example, the photoelectric unit 110 is a hexagonal unit, but the photoelectric unit 110 can also be a rectangular array, a square array, or a rhombus, etc. For point light emitting devices, the incident light on the spherical array can be more uniform.

[0074] In some embodiments, as shown in FIG2(1), the hexagonal unit is divided into a light-transmitting part 111, a first collection part 112, and a second collection part 113.

[0075] Specifically, the hexagonal unit is divided into three equal parts of the same shape, as shown in Figure 2 (2). The light-transmitting part 111 allows incident light to pass through the light-transmitting part 111. Light waves with continuous frequency are emitted through the light-transmitting part 111. The first collection part 112 collects the incident light as a reference light signal, and the second collection part 113 receives the light reflected by the target object as a detection light signal.

[0076] Since the basic unit is divided into three parts: the light-transmitting part 111, the first acquisition part 112, and the second acquisition part 113, it is called a spherical array. The pixel unit of the spherical array can be made very small, down to the μm level, and can achieve a high angular resolution. Angular resolution refers to the distance between two laser points, which determines the sparsity of the 3D model of the lidar.

[0077] In some embodiments, as shown in FIG4, the first acquisition unit 112 includes a first stacked structure 120 stacked along the array thickness direction; as shown in FIG5, the second acquisition unit 113 includes a second stacked structure 130 stacked along the array thickness direction; the first stacked structure 120 and the second stacked structure 130 are arranged in opposite directions in the array thickness direction.

[0078] Specifically, the first stacked structure 120 and the second stacked structure 130 are arranged in opposite directions in the array thickness direction, that is, the detection surface of the first stacked structure 120 can face the light emitting device 210, while the detection surface of the second stacked structure 130 faces away from the light emitting device 210, so that the light reflected by the target object can be detected from the other side.

[0079] In some embodiments, as shown in FIG4, the first stacked structure 120 includes: a first photoelectric conversion layer 121, a first pixel transistor layer 122, and a first readout circuit layer 123.

[0080] The first photoelectric conversion layer 121 is used to convert the detection light signal into a detection electrical signal; the first pixel transistor layer 122 is connected to the first photoelectric conversion layer 121 and is used to control the transmission of the detection electrical signal; the first readout circuit layer 123 is connected to the first pixel transistor layer 122 and is used to read out the detection electrical signal.

[0081] Specifically, the first stacked structure 120 can be understood as a stacked structure located in the first acquisition unit 112. In the first stacked structure 120, the first photoelectric conversion layer 121 receives the detection light signal and converts the detection light signal into a detection electrical signal; the first pixel transistor layer 122 controls the transmission of the detection electrical signal to the first readout circuit layer 123; the first readout circuit layer 123 reads out the detection electrical signal; the detection electrical signal can be understood as the detection electrical signal generated in the first stacked structure 120.

[0082] In some embodiments, as shown in FIG5, the second stacked structure 130 includes: a second photoelectric conversion layer 131, a second pixel transistor layer 132, and a second readout circuit layer 133.

[0083] The second photoelectric conversion layer 131 is used to convert the reference optical signal into a reference electrical signal; the second pixel transistor layer 132 is connected to the second photoelectric conversion layer 131 and is used to control the transmission of the reference electrical signal; the second readout circuit layer 133 is connected to the second pixel transistor layer 132 and is used to read out the reference electrical signal.

[0084] Specifically, the second stacked structure 130 can be understood as a stacked structure located in the second acquisition unit 113. In the second stacked structure 130, the second photoelectric conversion layer 131 receives the reference optical signal and converts the reference optical signal into a reference electrical signal. The second pixel transistor layer 132 controls the transmission of the reference electrical signal to the second readout circuit layer 133, and the second readout circuit layer 133 reads out the reference electrical signal.

[0085] For example, by comparing the reference light signal acquired by the first acquisition unit with the probe light signal received by the second acquisition unit, range, azimuth, and velocity information can be obtained. The shape of the reference light signal is similar to that of the probe light signal, but it shifts in time with the time Δt taken for the two-way journey from the radar to the target. This shift is proportional to the distance to the target R, as shown by the following formula:

[0086] Where c is the speed of light.

[0087] The reference and probe optical signals for each photoelectric unit are acquired via a row and column selection circuit. The target's flight distance is determined by measuring the flight time of the probe optical signal. Since continuous-frequency light waves are signals whose frequency increases or decreases over time, comparing the reference and probe optical signals at any given moment allows for the observation of a frequency shift Δf. Due to the Doppler effect, an additional frequency shift fD, indicating the target's approach or departure from the radar, can be detected, thus determining the target's velocity. Finally, by considering different pixels and using a fixed distance between two or more spherical arrays, the direction of arrival of the target's reflected signal can be determined, thus obtaining the target's two-dimensional or three-dimensional position.

[0088] A triangular wave sweep signal is generated by a single-sideband modulator 213. The light-transmitting part 111 serves as the transmitter, the first acquisition part 112 serves as the transmission reference, and the second acquisition part 113 serves as the receiver. The distance, velocity, and azimuth angle are detected by the beat frequency signal obtained after mixing the reference light and the probe light, achieving high resolution. The spherical optoelectronic array used can replace the laser scanning deflection mechanism of the original lidar, and the signals of the transmitted and received light can be obtained at the basic unit, thus achieving a purely solid-state purpose.

[0089] In some embodiments, the light-transmitting portion 111 includes light-transmitting glass.

[0090] Specifically, the area within the light-transmitting portion 111 allows light to pass through. Due to the transparent or translucent properties of the light-transmitting glass itself, it can be used as a light-transmitting material. Therefore, the light-transmitting portion 111 includes light-transmitting glass.

[0091] A second aspect of this disclosure provides a radar device 200, as shown in FIG6. The radar device 200 includes an optoelectronic array 100 and a light emitting device 210.

[0092] The light emitting device 210 is used to emit light, which is incident on the photoelectric array 100. The photoelectric array 100 adopts the three-part structure of the above embodiment. Specifically, the incident light incident on the photoelectric array passes through its light-transmitting part 111, and its first collection part 112 is used to collect the incident light as a reference light signal. The light transmitted from the light-transmitting part 111 is reflected by the target object, and its second collection part 113 is used to receive the light reflected by the target object as a detection light signal. The reference light signal and the detection light signal can be used as imaging data.

[0093] According to the radar device 200 of the present disclosure, by using the photoelectric array 100 of the above embodiment instead of the scanning system, imaging data can be obtained at one time without the need for splicing multiple transceiver modules and without the need for mechanical or micro-mechanical vibration structures, thereby achieving the purpose of reducing costs and pure solid-state operation. Furthermore, by adopting an array structure, it can have a larger field of view and obtain a larger sensing range.

[0094] In some embodiments, the radar device 200 further includes a control module 201, which is connected to the light emitting device 210 and the photoelectric array 100, and is used to acquire the reference electrical signal and the detection electrical signal output by the photoelectric array 100, and obtain target information based on the reference electrical signal and the detection electrical signal.

[0095] Specifically, when the radar device 200 is working, the control module 201 controls the light emitting device 210 to emit light. One path of the emitted light from the light emitting device 210 is collected by the photoelectric array 100 as a reference light signal, and the other path is transmitted through the light-transmitting part 111 in the photoelectric array to continue propagating. After encountering a target object, the light is reflected by the target object and received by the photoelectric array 100 as a detection light signal. The photoelectric array 100 converts the reference light signal and the detection light signal into a reference electrical signal and a detection electrical signal, and sends the reference electrical signal and the detection electrical signal to the control module 201. The control module 201 obtains the target object information based on the reference electrical signal and the detection electrical signal.

[0096] For example, as shown in Figure 7, to address the laser deflection problem, the radar device 200 of this disclosure provides a spherical array to acquire reference light signals and probe light signals simultaneously. The signal processing unit calculates and processes the signal into point cloud information containing target depth, angle, and velocity. To address the signal transmission problem, the radar device 200 provides an optical fiber communication protocol to process the target point cloud information into modulated light, which is then transmitted in optical fiber. The development of a radar device 200 suitable for vehicle-mounted optical fiber communication meets the requirements of sensor intelligence, integration, and high speed. It also has higher security and stronger anti-electronic interference capabilities, as well as greater bandwidth, lower network transmission latency, and faster network response speed. Furthermore, because the wiring harness is reduced, the vehicle weight can be reduced.

[0097] According to the radar device 200 of the present disclosure, the control module 201 controls the light emitting device to emit light, and the photoelectric array 100 acquires the reference electrical signal and the detection electrical signal output by the photoelectric array 100. Further, the distance, speed and azimuth angle are calculated in this way to reduce costs and meet the requirements of pure solid-state. In some embodiments, fiber optic communication is used to transmit information quickly and has good anti-interference ability, which will be described in detail below.

[0098] In some embodiments, as shown in FIG8, the radar device 200 further includes an electro-optical conversion module 220.

[0099] As shown in Figure 8 and in conjunction with Figure 11, the electro-optical conversion module 220 is connected to the control module 201. The electro-optical conversion module 220 is also adapted to be connected to the optical fiber line 323 to convert the target object information obtained through the photoelectric array into a target optical signal and send the target optical signal to the optical fiber line 323.

[0100] Specifically, when the radar device 200 is working, the control module 201 controls the light emitting device 210 to emit light. One path of the emitted light from the light emitting device 210 is collected by the photoelectric array 100 as a reference light signal, and the other path is reflected by the target object after encountering the target object. The photoelectric array 100 receives the reflected light as a detection light signal. The photoelectric array 100 converts the reference light signal and the detection light signal into a reference electrical signal and a detection electrical signal, and sends the reference electrical signal and the detection electrical signal to the control module 201. The control module 201 obtains the target object information based on the reference electrical signal and the detection electrical signal. At the same time, the control module 201 sends the target object information to the electro-optical conversion module 220. The electro-optical conversion module 220 converts the target object information into a target light signal and sends the target light signal to the optical fiber line 323 for transmission.

[0101] In one embodiment, the target information is at least carried in the reference electrical signal and the detection electrical signal obtained by the photoelectric array; and / or, the target information is carried in the target electrical signal, which is obtained based on the reference electrical signal and the detection electrical signal output by the photoelectric array 100.

[0102] In some embodiments, as shown in FIG8, the electro-optical conversion module 220 further includes: a protocol conversion chip 221, an optical receiver driver chip 222, an optical transceiver assembly 223, and an optical fiber connector 224.

[0103] The protocol conversion chip 221 is connected to the control module 201 and is used to convert the Ethernet protocol of the target information into an optical network protocol; the optical receiver driver chip 222 is connected to the protocol conversion chip 221 and is used to convert the target information into a target optical signal; the optical transceiver component 223 is connected to the optical receiver driver chip 222 and is used to transmit and receive the target optical signal; the optical fiber connector 224 is connected to the optical transceiver component 223 and is used to send the target optical signal to the optical fiber line 323.

[0104] Specifically, the controller 201 first sends the target object information to the protocol conversion chip 221. The protocol conversion chip 221 converts the Ethernet protocol of the point cloud data into the optical network protocol and sends it to the optical receiver driver chip 222. The optical receiver driver chip 222 then converts the point cloud data into a target optical signal. The optical transceiver component 223 sends the received target optical signal to the fiber optic connector 224. The fiber optic connector 224 sends the target optical signal to the fiber optic line 323.

[0105] In some embodiments, the light emitted by the light emitting device 210 is a light wave with a continuous frequency. For example, the light emitting device 210 is used to modulate a laser into a light wave with a continuous frequency and emit the light wave with the continuous frequency.

[0106] In some embodiments, as shown in FIG9, the light emitting device 210 includes a laser 211, a frequency modulation signal source 212, and a single sideband modulator 213.

[0107] Among them, laser 211 is used to emit laser light; frequency modulation signal source 212 is used to send frequency modulation signal; single sideband modulator 213 is connected to laser 211 and frequency modulation signal source 212, and is used to modulate laser light into a light wave with a continuous frequency according to the frequency modulation signal.

[0108] Specifically, the control module 201 calculates and processes the received signal, drives the continuously rotating laser source, and controls various functional units. The control module 201 needs to store data and perform calculations, requiring memory 206. The optical emitting device 210 uses a frequency-modulated continuous wave system, emitting a continuous wave at a specific frequency. Then, over a period of time, the frequency-modulated signal source 212 and the single-sideband modulator 213 modulate the wave. The laser driving circuit 215 is responsible for driving the laser 211 to emit laser light. The laser 211 is periodically switched on and off at a certain time T, emitting one laser beam and then turning it off. The next laser cycle is emitted only after the received signal is read.

[0109] In some embodiments, as shown in FIG9, the light emitting device 210 further includes an integrated optical amplifier 214.

[0110] The integrated optical amplifier 214 is connected to the single-sideband modulator 213 to amplify the continuous frequency light wave, and the amplified continuous frequency light wave is projected onto the photoelectric array 100.

[0111] Specifically, the integrated optical amplifier 214 uses active particles in the photoexcitation material (such as optical fibers or semiconductor materials doped with rare earth ions) to amplify the optical signal. When the input optical signal passes through the integrated optical amplifier 214, it interacts with the active particles, thereby triggering the photoexcitation process and releasing photons with the same frequency, phase and direction as the input optical signal, thus amplifying the optical signal.

[0112] In some embodiments, as shown in FIG9, the light emitting device 210 further includes a laser driving circuit 215.

[0113] The laser driving circuit 215 is connected to the laser 211 and is used to control the emission period of the laser 211. An interval is set between two adjacent emission periods.

[0114] Specifically, the laser driving circuit 215 controls the emission cycle of the laser 211. Each emission cycle has an interval, so that there is an interval between two adjacent emission cycles. During the interval, the light emitting device is turned off and reserved for signal processing and calculation. The transmission and reception of radar signals are shown in Figure 10. The time required for the radar device 200 to reach the target can be calculated according to the formula.

[0115] In some embodiments, the target information is point cloud information including the target's distance, velocity, and azimuth.

[0116] Specifically, the radar device 200 uses the time-of-flight method for detection. It continuously sends light pulses to the target and then uses a laser detector to receive the light returning from the object. Simultaneously, a laser detector at the transmitting end detects the incident light. Since the speed of light is known and constant, the distance point cloud information of the target object is obtained by detecting the round-trip time of the light pulses. The radar device 200 emits continuous light modulated by a carrier wave. By measuring the frequency difference between the emitted wave and the echo, the target velocity point cloud information is obtained. The radar device 200 can acquire the instantaneous velocity of each point, providing one more dimension of velocity information than traditional three-dimensional lidar, making it a four-dimensional lidar. Compared to traditional lidar, the radar device 200 disclosed here has a high signal-to-noise ratio and low power consumption. The radar device 200 can obtain the azimuth point cloud information by comparing the reference light signal and the detection light signal received by the photoelectric array 100.

[0117] A point cloud is a data structure that represents the surface features of an object in three-dimensional space. It consists of a large number of spatial points arranged in a certain order to represent the geometric shape and texture information of the object's surface. Some point clouds also contain additional information such as color, reflection intensity, and normal vectors.

[0118] For example, the technology used in this disclosure is a laser optical carrier frequency modulated light source, an array receiving the lidar, and the resulting point cloud data is transmitted via fiber optic communication. This lidar device 200 uses a gated spherical optoelectronic array instead of a scanner, i.e., a pure solid-state lidar without a scanning device. Pure solid-state is defined as having virtually no mechanical or micromechanical vibrations; the continuous-frequency laser is the modulated light, which reduces interference from external light.

[0119] Traditional lidar systems, lacking velocity information, often only detect walls during sandstorms. However, this device and system, with its added velocity information of target points, can perfectly distinguish between sand particles and stationary obstacles. In tunnels and signal-free environments, by acquiring the positions and relative velocities of surrounding objects, and with powerful software and computing capabilities, it can predict its own and external states at the next time point. This replaces IMU (Inertial Measurement Unit) inertial navigation or GPS (Global Positioning System) navigation. While IMU inertial navigation combined with GPS navigation exhibits significant inaccuracies in signal-free environments, this system can obtain accurate vehicle positioning and navigation from four-dimensional point cloud information.

[0120] In some embodiments, as shown in FIG8, the radar device 200 further includes a row and column selection control circuit 203.

[0121] The row and column selection control circuit 203 is connected to the control module 201 and the photoelectric array 100. The row and column selection control circuit 203 is used to control the output of the reference electrical signal and the detection electrical signal collected by each photoelectric unit in the photoelectric array.

[0122] Specifically, after each photoelectric unit 110 in the photoelectric array 100 acquires the reference electrical signal and the detection electrical signal, the row and column selection control circuit 203 controls the photoelectric unit 110 to output the reference electrical signal and the detection electrical signal to the control module 201. The control module 201 obtains the target information based on the reference electrical signal and the detection electrical signal, and determines the point cloud information of the target's distance, speed and azimuth angle.

[0123] In some embodiments, as shown in FIG8, the radar device 200 further includes a signal processing module 230.

[0124] The signal processing module 230 is connected to the photoelectric array 100 and the control module 201. The signal processing module 230 is used to process the reference electrical signal and the detection electrical signal and perform data format conversion, such as converting them into the data mode required by the control module 201.

[0125] Specifically, after each photoelectric unit 110 in the photoelectric array 100 acquires the reference electrical signal and the detection electrical signal, the row and column selection control circuit 203 controls the photoelectric unit 110 to output the reference electrical signal and the detection electrical signal to the signal processing module 230. The signal processing module 230 processes the reference electrical signal and the detection electrical signal and converts them into the data mode required by the control module 201. The signal processing module 230 sends the processed data to the control module 201. The control module 201 obtains the target information based on the reference electrical signal and the detection electrical signal and determines the point cloud information of the target's distance, speed and azimuth angle.

[0126] In some embodiments, as shown in FIG9, the signal processing module 230 includes: a coupler 231, a balanced amplifier 232, a signal amplification circuit 233, and an analog-to-digital conversion circuit 234.

[0127] Coupler 231 is connected to opto-array 100 and is used to couple reference electrical signal and detection electrical signal and output coupled signal; balanced amplifier 232 is connected to coupler 231 and is used to balance coupled signal; signal amplification circuit 233 is connected to balanced amplifier 232 and is used to amplify balanced coupled signal and output amplified signal; analog-to-digital conversion circuit 234 is connected to signal amplification circuit 233 and control module 201 and is used to convert amplified signal into digital signal.

[0128] Specifically, after each photoelectric unit 110 in the photoelectric array 100 acquires the reference electrical signal and the detection electrical signal, the row and column selection control circuit 203 controls the photoelectric unit 110 to output the reference electrical signal and the detection electrical signal to the signal processing module 230. In the processing module 230, the coupler 231 couples the reference electrical signal and the detection electrical signal and outputs the coupled signal to the balanced amplifier 232. The balanced amplifier 232 balances the coupled signal and outputs the balanced coupled signal to the signal amplification circuit 233. The signal amplification circuit 233 amplifies the balanced coupled signal and outputs the amplified signal to the analog-to-digital converter circuit 234. The analog-to-digital converter circuit 234 converts the amplified signal into a digital signal and sends the digital signal to the control module 201.

[0129] In some embodiments, as shown in FIG8, the radar device 200 further includes a power supply module 204.

[0130] The power supply module 204 is connected to each power-consuming module of the radar device 200 and is used to supply power to each power-consuming module 204.

[0131] In some embodiments, as shown in FIG8, the radar device 200 further includes a bus interface 205.

[0132] The bus interface 205 is connected to the control module 201 and is used to receive wake-up commands on the bus when the radar device 200 is in a sleep state.

[0133] Specifically, the sleep-wake mechanism of the radar device 200 disclosed herein communicates via the CAN protocol. When the radar device 200 is in a low-power sleep state, the main control chip of the background domain sends a wake-up command to the CAN network. The radar device 200 parses the wake-up command from the CAN network, turns on the power of each function, and enters the normal working mode.

[0134] For example, this disclosure provides a spherical array radar device 200 for optical fiber communication, as shown in Figures 8 and 9. The radar device 200 includes: a control module 201, a row and column selection control circuit 203, a power supply module 204, a bus interface 205, a memory 206, an optical transmitter 210, an electro-optical conversion module 220, and a signal processing module 230.

[0135] This radar device 200 innovatively utilizes fiber optic communication. The target point cloud information, processed by the control module 201, is converted into an optical signal via photoelectric conversion and transmitted through the optical fiber. The signal protocol processed by the control module 201 is RGMII (Reduced Gigabit Media Independent Interface). The optical protocol conversion chip 221 of the electro-optical conversion module 220 converts the Ethernet RGMII protocol into a PON (Passive Optical Network) protocol. Then, the optical receiver driver chip 222 and the optical transceiver assembly 223 convert the electrical signal back into an optical signal for communication in the optical fiber. PON is a point-to-multipoint passive optical fiber access technology that can provide high bandwidth and is an important technology for accessing optical networks with electrical signals. The PON system uses single-fiber bidirectional transmission technology, requiring only one optical fiber to complete bidirectional data transmission from the optical line terminal to the optical network unit. The main components used in the photoelectric conversion circuit are: the protocol conversion chip 221, the optical receiver driver chip 222, the optical transceiver assembly 223, and the optical fiber connector 224.

[0136] The radar device 200 disclosed herein is mainly used in automobiles and is one of the core sensors of the automotive driver assistance system. It has made a breakthrough by using a spherical optoelectronic array and switching to fiber optic communication, which can send out early warning and perception information faster and provide a larger scale of perception data to the central computing unit for calculation and decision-making, showing great development potential. At the same time, because it uses continuous frequency light waves, it can obtain the target's velocity value through the Doppler effect, which provides one more dimension of velocity data than traditional lidar, so it can be called a four-dimensional lidar.

[0137] Compared to existing lidar, this disclosed radar device 200 uses a gated spherical photoelectric array instead of a laser scanner to emit laser light and acquire both the reference incident light and the probe light signal simultaneously. This allows for the calculation of distance, velocity, and azimuth, providing an additional velocity dimension compared to traditional lidar, thus reducing costs and meeting the requirements of a purely solid-state system. Fiber optic communication is used to transmit lidar point cloud information. Fiber optic communication bandwidth can reach up to 25Gbps, far exceeding the Ethernet used by existing lidar, resulting in significantly faster speeds. Fiber optic lidar transmits optical signals in the fiber, rather than the traditional electrical current, exhibiting natural immunity and stability to electromagnetic fields, good anti-interference capabilities, and sleep / wake-up functionality, meeting low power consumption requirements. It better aligns with the concept of multi-sensor information fusion, aggregating raw data from multiple independent environmental sensing sensors (such as cameras and lidar) to the main control unit for information processing and unified decision-making. Even in environments with weak signals, it can achieve accurate vehicle positioning and navigation without any additional sensors (such as IMU or GPS).

[0138] A third aspect of this disclosure provides a communication system 330.

[0139] As shown in Figure 11, the communication system 330 includes an optical fiber line 323 and a main control module 320. The main control module 320 is connected to the optical fiber line 323 and is used to acquire the optical signal transmitted on the optical fiber line 323 and generate control information based on the optical signal.

[0140] In this embodiment, the optical signal transmitted on the optical fiber line 323 may include at least the target information detected by the radar device 200 in the above embodiment.

[0141] According to the communication system 330 of this disclosure, the target information of the radar device 200 is transmitted by optical fiber communication. The transmission bandwidth of optical fiber communication can be up to 25Gbps, which is much higher than the Ethernet used by existing lidar and is faster. In addition, the radar device 200 of optical fiber communication transmits optical signals in optical fiber instead of the traditional form of current, which has natural immunity and stability to electromagnetic fields and has good anti-interference ability.

[0142] In some embodiments, as shown in FIG11, the main control module 320 includes a photoelectric conversion unit 321 and a control unit 322.

[0143] The photoelectric conversion unit 321 is connected to the optical fiber line 323 and is used to convert the optical signal transmitted on the optical fiber line 323 into an electrical signal; the control unit 322 is connected to the photoelectric conversion unit 321 and is used to obtain control information based on the electrical signal.

[0144] In this embodiment, the control information may be control information of a control actuator generated based on optical signals transmitted on the optical fiber line 323, such as sensor information. The actuator may be a device that performs actions according to the control information.

[0145] A fourth aspect of this disclosure provides an electronic and electrical system 300, as shown in FIG12, which includes a radar device 200. The radar device 200 may adopt the structure of the above embodiments, and will not be described again here.

[0146] In some embodiments, the electronic and electrical system 300 may include, but is not limited to, an autonomous driving system.

[0147] According to the electronic and electrical system 300 of the present disclosure, the radar device 200 can acquire imaging data at once without the need for multiple transceiver modules to be stitched together. The use of an optoelectronic array can have a larger field of view, obtain a larger sensing range, and has low cost.

[0148] In some embodiments, as shown in FIG12, the electronic and electrical system 300 further includes an information acquisition device 310.

[0149] Among them, the information collection device 310 is used to collect environmental information.

[0150] In some embodiments, as shown in FIG12, the information acquisition device 310 includes at least one of a camera 311 and a millimeter-wave radar 312.

[0151] Specifically, the camera 311 can acquire rich information such as texture and color, which helps in the differentiation and classification of object information. It has a large field of view and can cover a wider area. The millimeter-wave radar 312 can accurately measure the distance and speed of targets, and is particularly good at detecting moving targets. The millimeter-wave radar 312 is not easily affected by adverse weather conditions (such as rain, snow, and fog), and can work stably in various environments. The integrated use of the camera 311 and the millimeter-wave radar 312 compensates for their respective shortcomings, improves the perception capability of the information acquisition device 310, and realizes comprehensive perception and accurate judgment of the surrounding environment.

[0152] As shown in Figure 13, the electronic and electrical system 300 also includes the communication system 330 of the above embodiment. The main control module 320 is connected to the radar device 200 and the information acquisition device 310 through optical fiber, and is used to obtain control information based on the target information output by the radar device 200 and the environmental information collected by the information acquisition device 310.

[0153] In this embodiment, the target information output by the radar device 200 and the environmental information collected by the information acquisition device 310 are both sent to the optical fiber line 323, that is, optical fiber communication is used, which has a fast transmission speed and high anti-interference ability.

[0154] Specifically, the main control module 320 is connected to the radar device 200 and the information acquisition device 310 via optical fiber, and is used to obtain control information based on the target information and environmental information sent by the radar device 200. Specifically, the main control module 320 acquires the environmental information collected by the information acquisition device 310 and the target information acquired by the radar device 200. The devices communicate via optical fiber, which offers high transmission speed and perfectly solves the signal volume ratio problem encountered during the transmission of large amounts of point cloud data. It also aligns well with the concept of multi-sensor information fusion, that is, fusing the original images from the information acquisition device 310 and the radar device 200 at the raw layer, transmitting them via optical fiber to the main control module 320 for unified processing and calculation, and finally outputting a result-level instruction.

[0155] According to the electronic and electrical system 300 of the present disclosure, environmental information is collected by radar device 200 and information acquisition device 310. The main control module 320 controls the vehicle driving based on the collected information. It can better fit the concept of multi-sensor information fusion. The raw data of multiple independent environmental sensing sensors are collected to the main control module 320 for information processing and unified decision-making. The information transmission speed is fast using fiber optic communication, and it has good anti-interference ability. It can achieve accurate vehicle positioning and navigation in environments with weak signals without any additional sensors.

[0156] Figure 13 uses the sensing information of the electronic and electrical system 300 as an example of optical signal transmission via optical fiber. As shown in Figure 13, specifically, the main control module 320 acquires environmental information collected by the information acquisition device 310 and target information acquired by the radar device 200. The devices communicate with each other using optical fiber, which has a fast transmission speed and can also better fit the concept of multi-sensory information fusion. That is, the original images of the information acquisition device 310 and the radar device 200 are fused together at the raw layer and transmitted to the main control module 320 via optical fiber. The electrical conversion unit 321 in the main control module 320 converts the optical signal transmitted by optical fiber into an electrical signal. The control unit 322 obtains control information based on the electrical signal, thereby controlling the vehicle's movement.

[0157] A fifth aspect of this disclosure provides a vehicle 400.

[0158] In some embodiments, the vehicle 400 includes the radar device 200 of the above embodiment. Through the radar device 200 or the electronic and electrical system 300 of the above embodiment, imaging data can be obtained at one time without the need for splicing multiple transceiver modules and without the need for mechanical or micro-mechanical vibration structures, thereby achieving the purpose of reducing costs and pure solid-state operation.

[0159] Alternatively, in some embodiments, vehicle 400 includes the communication system 330 of the above embodiment, which has a faster communication speed and uses fiber optic communication to transmit information quickly, has better anti-interference capabilities, and can achieve accurate vehicle positioning and navigation in environments with weak signals without the need for any additional sensors.

[0160] Alternatively, in some embodiments, as shown in FIG14, vehicle 400 includes actuator 401 and electronic and electrical system 300.

[0161] The electronic and electrical system 300 is connected to the actuator 401 and is used to control the actuator 401 according to the control information.

[0162] According to the vehicle 400 of this disclosure, imaging data can be acquired in one go through the radar device 200 or the electronic and electrical system 300 of the above embodiments, without the need for multiple transceiver modules or mechanical or micro-mechanical vibration structures, thus achieving cost reduction and a purely solid-state solution. The communication system 330 of the above embodiments offers faster communication speeds, and the use of fiber optic communication provides fast information transmission and good anti-interference capabilities, enabling accurate vehicle positioning and navigation even in environments with weak signals, without the need for any additional sensors.

[0163] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0164] Although embodiments of this disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A photoelectric array (100), characterized in that, include: Multiple photoelectric units (110) are arranged in an array; Each of the photoelectric units (110) includes a light-transmitting part (111), a first collecting part (112), and a second collecting part (113); Incident light incident on the array passes through the light-transmitting part (111), the first collection part (112) collects the incident light as a reference light signal, the light transmitted through the light-transmitting part (111) is reflected by the target object when it encounters the target object, and the second collection part (113) receives the light reflected by the target object as a detection light signal.

2. The photoelectric array (100) according to claim 1, characterized in that, The array is a spherical array, and the concave surface of the spherical array is adapted to face the light emitting device (210).

3. The photoelectric array (100) according to claim 2, characterized in that, The photoelectric unit (110) is a hexagonal unit, and multiple hexagonal units are arranged closely to form the spherical array.

4. The photoelectric array (100) according to claim 3, characterized in that, The hexagonal unit is divided into the light-transmitting part (111), the first acquisition part (112), and the second acquisition part (113).

5. The photoelectric array (100) according to any one of claims 1-4, characterized in that, The first acquisition unit (112) includes a first stacked structure (120) stacked along the thickness direction of the array; The second acquisition unit (113) includes a second stacked structure (130) stacked along the thickness direction of the array; and The first stacked structure (120) and the second stacked structure (130) are arranged in opposite directions in the array thickness direction.

6. The photoelectric array (100) according to claim 5, characterized in that, The first stacked structure (120) includes: The first photoelectric conversion layer (121) is used to convert the detection optical signal into a detection electrical signal; A first pixel transistor layer (122), which is correspondingly connected to the first photoelectric conversion layer (121), is used to control the transmission of the detection electrical signal; and A first readout circuit layer (123) is connected to the first pixel transistor layer (122) and is used to read out the detection electrical signal.

7. The photoelectric array (100) according to claim 5 or 6, characterized in that, The second stacked structure (130) includes: The second photoelectric conversion layer (131) is used to convert the reference optical signal into a reference electrical signal; A second pixel transistor layer (132), correspondingly connected to the second photoelectric conversion layer (131), is used to control the transmission of the reference electrical signal; and The second readout circuit layer (133) is connected to the second pixel transistor layer (132) and is used to read out the reference electrical signal.

8. The photoelectric array (100) according to any one of claims 1-7, characterized in that, The light-transmitting part (111) includes light-transmitting glass.

9. A radar device (200), characterized in that, include: The optoelectronic array (100) according to any one of claims 1-8; and A light emitting device (210) is used to emit light, which is incident on the photoelectric array.

10. The radar device (200) according to claim 9, characterized in that, The radar device (200) also includes: An electro-optical conversion module (220) is adapted to be connected to an optical fiber line (323) for converting the target object information obtained by the photoelectric array (100) into a target optical signal and sending the target optical signal to the optical fiber line (323).

11. The radar device (200) according to claim 10, characterized in that, The target information is carried at least in the reference electrical signal and the detection electrical signal output by the photoelectric array (100); and / or The target information is carried in the target electrical signal, which is obtained based on the reference electrical signal and the detection electrical signal output by the photoelectric array (100).

12. The radar device (200) according to claim 10 or 11, characterized in that, The electro-optic conversion module (220) includes: Protocol conversion chip (221), which is connected to control module (201), is used to convert the Ethernet protocol of the target information into an optical network protocol; A light receiving driver chip (222) is connected to the protocol conversion chip (221) and is used to convert the target information into the target light signal; An optical transceiver component (223), connected to the optical receiver driver chip (222), is used to transmit and receive the target optical signal; and An optical fiber connector (224) is connected to the optical transceiver assembly (223) and is used to transmit the target optical signal to the optical fiber line (323).

13. The radar device (200) according to any one of claims 9-12, characterized in that, The light emitted by the light emitting device (210) is a light wave with a continuous frequency.

14. The radar device (200) according to claim 13, characterized in that, The light emitting device (210) includes: Laser (211), used to emit laser light; Frequency modulation signal source (212), used to transmit frequency modulation signals; and A single-sideband modulator (213) is connected to the laser (211) and the frequency modulation signal source (212) and is used to modulate the laser into a light wave with the frequency continuous according to the frequency modulation signal.

15. The radar device (200) according to claim 14, characterized in that, The light emitting device (210) further includes: An integrated optical amplifier (214) is connected to the single-sideband modulator (213) to amplify the continuous frequency light wave, and the amplified continuous frequency light is projected onto the photoelectric array (100).

16. The radar device (200) according to claim 14 or 15, characterized in that, The light emitting device (210) further includes: A laser driving circuit (215) is connected to the laser (211) and is used to control the emission period of the laser (211), wherein an interval is provided between two adjacent emission periods.

17. The radar device (200) according to any one of claims 10-12 and 14-16, characterized in that, The target information is point cloud information including the target's distance, velocity, and azimuth.

18. The radar device (200) according to claim 9, characterized in that, The radar device (200) also includes: The row and column selection control circuit (203) is connected to the photoelectric array (100) and is used to control the output of the reference electrical signal and the detection electrical signal collected by each photoelectric unit in the photoelectric array (100).

19. The radar device (200) according to any one of claims 9-18, characterized in that, The radar device (200) also includes: The signal processing module (230) is connected to the photoelectric array (100) and is used to process and convert the reference electrical signals and detection electrical signals collected by each photoelectric unit in the photoelectric array (100).

20. The radar device (200) according to claim 19, characterized in that, The signal processing module (230) includes: A coupler (231) is connected to the optoelectronic array (100) and is used to couple the reference electrical signal and the detection electrical signal and output a coupling signal. A balanced amplifier (232), connected to the coupler (231), is used to balance the coupled signal; A signal amplification circuit (233), connected to the balanced amplifier (232), is used to amplify the balanced coupled signal and output an amplified signal; and An analog-to-digital converter (234) is connected to the signal amplifier circuit (233) and is used to convert the amplified signal into a digital signal.

21. The radar device (200) according to any one of claims 9-20, characterized in that, The radar device (200) also includes: The control module (201) is connected to the light emitting device (210) and the photoelectric array (100) and is used to acquire the reference electrical signal and the detection electrical signal output by the photoelectric array (100) and obtain target information based on the reference electrical signal and the detection electrical signal.

22. The radar device (200) according to any one of claims 9-21, characterized in that, The radar device (200) also includes: The power supply module (204) is connected to each power-consuming module of the radar device (200) and is used to supply power to each of the power-consuming modules.

23. The radar device (200) according to claim 12, characterized in that, The radar device (200) also includes: The bus interface (205), connected to the control module (201), is used to receive a wake-up command on the bus when the radar device (200) is in a sleep state.

24. A communication system (330), characterized in that, include: Fiber optic line (323); and The main control module (320) is connected to the optical fiber line (323) and is used to acquire the optical signal transmitted on the optical fiber line (323) and generate control information based on the optical signal. The optical signal includes at least the target information detected by the radar device (200) according to any one of claims 9-23.

25. The communication system (330) according to claim 24, characterized in that, The main control module (320) includes: A photoelectric conversion unit (321), connected to the optical fiber line (323), is used to convert the optical signal transmitted on the optical fiber line (323) into an electrical signal; and A control unit (322) is connected to the photoelectric conversion unit (321) and is used to obtain control information based on the electrical signal.

26. An electronic and electrical system (300), characterized in that, Includes the radar device (200) according to any one of claims 9-23.

27. The electronic and electrical system (300) according to claim 26, characterized in that, The electronic and electrical system (300) further includes an information acquisition device (310) for acquiring environmental information.

28. The electronic and electrical system (300) according to claim 27, characterized in that, The electronic and electrical system (300) further includes a communication system (330) according to claim 24 or 25.

29. The electronic and electrical system (300) according to claim 27 or 28, characterized in that, The information acquisition device (310) includes at least one of a camera (311) and a millimeter-wave radar (312).

30. A vehicle (400), characterized in that, include: The radar device (200) according to any one of claims 9-23; or The communication system (330) according to claim 24 or 25; or The actuator (401) and the electronic and electrical system (300) according to any one of claims 26-29, the electronic and electrical system (300) being connected to the actuator (401).

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