Receiver for lidar, emitter for lidar, and lidar and terminal device

Abstract

The present disclosure relates to a receiver for a LiDAR, an emitter for a LiDAR, and a LiDAR and a terminal device. The receiver comprises a plurality of detection regions, which comprise a first detection region, a second detection region and other detection regions, wherein the first detection region and the second detection region are located at different positions in a first direction; the first detection region and the second detection region are located at different positions in a second direction; the first direction is perpendicular to the second direction; and the distance between the first detection region and the second detection region is less than or equal to the distance between the first detection region and each of the other detection regions.

Description

Receiver and transmitter for lidar, lidar and terminal device

[0001] This application claims priority to Chinese Patent Application No. 202411382127.4, filed September 29, 2024, entitled “Receiver and transmitter for lidar, lidar and terminal device,” Chinese Patent Application No. 202422399081.9, filed September 29, 2024, entitled “Receiver and transmitter for lidar, lidar and terminal device,” the contents of which are incorporated by reference in their entirety in the present disclosure. TECHNICAL FIELD

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

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

[0004] The angular resolution of a lidar can be determined by the focal length of the optical system of the lidar and the channel pitch of the transmitter or receiver. A channel can include one or more light-emitting regions in the transmitter and one or more detection regions in the receiver. The arrangement of the light-emitting regions of the transmitter and the detection regions of the receiver affects the angular resolution of the lidar. SUMMARY

[0005] The present disclosure aims to overcome the above and / or other problems in the prior art by providing a receiver and transmitter for lidar that facilitates flexible adjustment of the angular resolution of the lidar.

[0006] According to a first aspect of the present disclosure, a receiver for a lidar is provided. The receiver includes a plurality of detection regions, including a first detection region, a second detection region, and other detection regions, wherein the first and second detection regions are located at different positions in a first direction, the first and second detection regions are located at different positions in a second direction, the first direction is perpendicular to the second direction, and the distance between the first and second detection regions is less than or equal to the distance between the first and other detection regions.

[0007] Optionally, the receiver further comprises a third detection region and a fourth detection region. The third detection region and the fourth detection region are located at different positions in the first direction. The third detection region and the fourth detection region are located at the same position in the second direction.

[0008] Optionally, the receiver further comprises a fifth detection region and a sixth detection region. The fifth detection region and the sixth detection region are located at different positions in the first direction. The fifth detection region and the sixth detection region are located at the same position in the second direction. The fifth detection region and the sixth detection region are located at different positions in the second direction than the third detection region and the fourth detection region.

[0009] Optionally, the receiver comprises a first region and a second region. The first detection region and the second detection region are located in the first region and the third detection region and the fourth detection region are located in the second region. The first region receives light closer to a center of a field of view of the lidar than the second region.

[0010] Optionally, the receiver comprises a plurality of detection region sets. Each detection region set comprises one or more detectors. The detectors comprise one or more detection regions.

[0011] Optionally, the plurality of detection region sets comprises a first detection region set. The first detection region set comprises at least two detection regions. The at least two detection regions of the first detection region set are arranged along a third direction. The third direction is different from the first direction and the second direction.

[0012] Optionally, the plurality of detection region sets further comprises a second detection region set. The second detection region set comprises at least two detection regions. The at least two detection regions of the second detection region set are arranged along the first direction. The first detection region set receives light closer to a center of a field of view of the lidar than the second detection region set.

[0013] Optionally, the plurality of detection region sets comprises a third detection region set. The third detection region set comprises at least two detection regions. The at least two detection regions of the third detection region set are arranged along a fourth direction. The fourth direction is different from the third direction. The first detection region set receives light closer to a center of a field of view of the lidar than the third detection region set.

[0014] Optionally, an angle of the fourth direction relative to the first direction is smaller than an angle of the third direction relative to the first direction.

[0015] Optionally, an angle between the fourth direction and the second direction is greater than an angle between the third direction and the second direction.

[0016] Optionally, the one or more detectors include a fourth set of detection regions. The fourth set of detection regions includes at least two detection regions. The at least two detection regions of the fourth set of detection regions are arranged along a fifth direction. The fifth direction is different from the third direction and the fourth direction. The third set of detection regions receives light closer to a center of a field of view of the lidar than the fourth set of detection regions.

[0017] Optionally, an angle between the fifth direction and the first direction is less than an angle between the fourth direction and the first direction.

[0018] Optionally, an angle between the fifth direction and the second direction is greater than an angle between the fourth direction and the second direction.

[0019] According to a second aspect of the present disclosure, a transmitter for a lidar is provided. The transmitter includes a plurality of light emitting regions, the plurality of light emitting regions including a first light emitting region, a second light emitting region, and other light emitting regions, wherein the first light emitting region and the second light emitting region are located at different positions in a first direction, the first light emitting region and the second light emitting region are located at different positions in a second direction, the first direction is perpendicular to the second direction, and a distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

[0020] Optionally, the transmitter further includes a third light emitting region and a fourth light emitting region. The third light emitting region and the fourth light emitting region are located at different positions in the first direction. The third light emitting region and the fourth light emitting region are located at the same position in the second direction.

[0021] Optionally, the transmitter further includes a fifth light emitting region and a sixth light emitting region. The fifth light emitting region and the sixth light emitting region are located at different positions in the first direction. The fifth light emitting region and the sixth light emitting region are located at the same position in the second direction. The position of the fifth light emitting region and the sixth light emitting region in the second direction is different from the position of the third light emitting region and the fourth light emitting region in the second direction.

[0022] Optionally, the transmitter includes a first region and a second region. The first light emitting region and the second light emitting region are located in the first region and the third light emitting region and the fourth light emitting region are located in the second region. Light emitted by the first region is closer to a center of a field of view of the lidar than light emitted by the second region.

[0023] Optionally, the emitter includes a plurality of light emitting region sets. Each light emitting region set includes one or more lasers. The lasers include one or more light emitting regions.

[0024] Optionally, the plurality of light emitting region sets includes a first light emitting region set. The first light emitting region set includes at least two light emitting regions. The at least two light emitting regions of the first light emitting region set are arranged along a third direction. The third direction is different from the first direction and the second direction.

[0025] Optionally, the plurality of light emitting region sets further includes a second light emitting region set. The second light emitting region set includes at least two light emitting regions. The at least two light emitting regions of the second light emitting region set are arranged along the first direction. The light rays emitted by the first light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the second light emitting region set.

[0026] Optionally, the plurality of light emitting region sets includes a third light emitting region set. The third light emitting region set includes at least two light emitting regions. The at least two light emitting regions of the third light emitting region set are arranged along a fourth direction. The fourth direction is different from the third direction. The light rays emitted by the first light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the third light emitting region set.

[0027] Optionally, an angle of the fourth direction relative to the first direction is smaller than an angle of the third direction relative to the first direction.

[0028] Optionally, an angle of the fourth direction relative to the second direction is larger than an angle of the third direction relative to the second direction.

[0029] Optionally, the one or more light emitting lasers include a fourth light emitting region set. The fourth light emitting region set includes at least two light emitting regions. The at least two light emitting regions of the fourth light emitting region set are arranged along a fifth direction. The fifth direction is different from the third direction and the fourth direction. The light rays emitted by the third light emitting region set are closer to the center of the field of view of the lidar than the light rays emitted by the fourth light emitting region set.

[0030] Optionally, an angle of the fifth direction relative to the first direction is smaller than an angle of the fourth direction relative to the first direction.

[0031] Optionally, an angle of the fifth direction relative to the second direction is larger than an angle of the fourth direction relative to the second direction.

[0032] According to a third aspect of the present disclosure, there is provided a lidar comprising at least one of a receiver and a transmitter as described above.

[0033] According to a fourth aspect of the present disclosure, there is provided a terminal device comprising a lidar as described above. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the present disclosure. In the drawings:

[0035] FIG. 1 illustrates a structural block diagram of an exemplary lidar, consistent with some embodiments of the present disclosure.

[0036] FIG. 2 illustrates a structural block diagram of an exemplary vehicle system, consistent with some embodiments of the present disclosure.

[0037] FIG. 3 illustrates an example of channel arrangement of a lidar, consistent with some embodiments of the present disclosure.

[0038] FIG. 4 illustrates another example of channel arrangement of a lidar, consistent with some embodiments of the present disclosure.

[0039] FIG. 5 illustrates a distribution diagram of a plurality of regions in a receiver or a transmitter for a lidar of a first exemplary embodiment, consistent with some embodiments of the present disclosure.

[0040] FIG. 6 illustrates a distribution diagram of a plurality of regions in a receiver or a transmitter for a lidar of a second exemplary embodiment, consistent with some embodiments of the present disclosure.

[0041] FIG. 7A illustrates an exemplary diagram of differentiation of a first azimuthal resolution for a receiver or a transmitter of a lidar, consistent with some embodiments of the present disclosure.

[0042] FIG. 7B illustrates an exemplary chart of channel spacing values and vertical azimuthal resolution corresponding to different selected values of a rotation angle, consistent with some embodiments of the present disclosure.

[0043] FIG. 8 illustrates a distribution diagram of a plurality of regions in a receiver or a transmitter for a lidar of a third exemplary embodiment, consistent with some embodiments of the present disclosure.

[0044] FIG. 9 illustrates a distribution diagram of a plurality of regions in a receiver or a transmitter for a lidar of a fourth exemplary embodiment, consistent with some embodiments of the present disclosure.

[0045] FIG. 10 shows a distribution diagram of multiple regions in a receiver or transmitter of a lidar, according to some embodiments of the present disclosure.

[0046] FIG. 11 shows an example of channel arrangement in a receiver or transmitter of a lidar, according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0047] Embodiments of the present disclosure will be described below. It is noted that in the course of the detailed description of the embodiments, for the sake of brevity and conciseness, the present specification cannot possibly describe all the features of the actual embodiments in detail. It should be understood that in the actual implementation of any one embodiment, changes can occur from one embodiment to another in order to achieve a specific goal. In addition, it should also be understood that although the efforts made in this development process can be complex and lengthy, some design, manufacturing or production changes made on the basis of the technical content disclosed in the present disclosure by those of ordinary skill in the art related to the content of the present disclosure are only routine technical means and should not be understood as insufficient disclosure of the present disclosure.

[0048] Unless otherwise defined, technical and scientific terms used in the claims and specification shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The use of the terms "first", "second", and similar terms do not imply any order, quantity, or importance, but are used to distinguish one element from another, and are used arbitrarily. The use of the terms "one" or "a" or "the" or similar referents is not limited to the singular, but includes the plural, unless the context clearly dictates otherwise. The terms "comprises", "comprising", "includes", "including" and the like can mean the presence of a stated element or item in addition to other elements or items not recited. The terms "connected", "coupled", or "linked" and the like can not necessarily mean physically or mechanically connected or linked, but can also mean logically connected or linked.

[0049] In the present disclosure, all the embodiments mentioned herein can be combined with each other to form new technical solutions, unless otherwise specified. In the present disclosure, all the technical features and preferred features mentioned herein can be combined with each other to form new technical solutions, unless otherwise specified.

[0050] In the present disclosure, the term “or” and “and / or” describes the relationship between associated objects, and indicates a non-exclusive inclusion. For example, “A and / or B” and “A or B” can include: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. For another example, “A, B and / or C” and “A, B or C” can include: only A, only B, only C, A and B exist at the same time, A and C exist at the same time, B and C exist at the same time, and A, B and C exist at the same time, where A, B and C can be singular or plural. In addition, the symbol “ / ” in the present disclosure indicates that the associated objects before and after the symbol have an “or” relationship. In the present disclosure, the term “at least one A or B” has the same meaning as “A or B” described above. The term “at least one A, B or C” has the same meaning as “A, B or C” described above.

[0051] Light detection and ranging (LiDAR) 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 the object's 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 location 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.

[0052] In some examples, the lidar can generate a point cloud, which can make the processing of the assisted driving algorithm simple and efficient. The lidar can provide high-resolution 3D vision for vehicles (e.g., intelligent vehicles), cooperated with cameras and radars, to enhance the perception ability of the vehicle to handle more complex road conditions (e.g., unknown objects in dark environments or on highways). The lidar can further provide a high-performance automotive-grade lidar solution to ensure 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 (e.g., autonomous 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.

[0053] 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 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.

[0054] 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 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 ability to assist with lane keeping and / or lane changing operations.

[0055] In some examples, the lidar can be configured as a mid-range lidar sensor. The mid-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 mid-range lidar sensor can be installed on the front bumper, side panel, or rear bumper to detect objects near the vehicle, and thus is suitable for parking and detecting nearby objects during urban driving.

[0056] 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 ranges and fields of view to cover the 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 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.

[0057] 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.

[0058] FIG. 1 shows an example block diagram of an example laser radar, consistent with some embodiments of the present disclosure. Referring to 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 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.

[0059] The laser emission system 110 is configured to emit laser light, and the laser light 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 laser radar 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. The process is repeated multiple times to create an accurate and real-time three-dimensional environment map, such as a point cloud. The computer in the terminal device, such as a vehicle, can use the point cloud for safe navigation.

[0060] The laser emission system 110 includes a driving circuit 1102, a laser 1104, and an emission optical device 1106. The laser emits laser light under the driving of the driving circuit, and the laser light is emitted through the emission optical device. The laser can include a semiconductor laser, such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or other semiconductor lasers capable of generating laser light. In 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.

[0061] The laser receiving system 120 includes a receiving optics 1206 and a receiver 1204. The receiving optics collects the backscattered echoes from the object and focuses the echoes onto the receiver. The receiver converts the echoes into electrical signals using the photoelectric effect. The receiver can include single-photon detectors such as avalanche photodiodes (APD), single-photon avalanche diodes (SPAD), or silicon photomultipliers (SiPM). The lidar 100 can also include a pre-processing circuit 150. The pre-processing circuit can include a digitization circuit, e.g., including an analog to digital converter (ADC), to convert the analog signals into digital signals for the control and processing system 130. The pre-processing circuit can also include a time to digital converter (TDC) to convert the time information (e.g., time stamp) of the echoes into digital signals 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 in a system on chip (SOC) or an application specific integrated circuit (ASIC). The transmitting optics and the receiving optics can include one or more of lenses / lens groups, mirrors, filters, beam splitters, diaphragms, homogenizers, etc. The transmitting optics and the receiving optics can be separate optics or can be all or partially multiplexed.

[0062] The control and processing system 130 can include an information processing circuit 1302 and a light source control circuit 1304. The information processing circuit is configured to process electrical signals and determine information of the object. For example, the information processing circuit includes an Application Specific Integrated Circuit (ASIC), or 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 a Central Processing Unit (CPU). The light source control circuit 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 realize pulsed emission of the laser. For example, the light source control circuit can send timing signals to control the timing of the laser emission. For another example, the light source control circuit can increase the pulse coding function by controlling one or more of the pulse interval, the pulse intensity, and the pulse width, thereby enhancing the anti-interference capability of the lidar. The light source control circuit and the information processing circuit can be integrated together, for example, integrated into a master control chip, or can be independent or partially independent chips. When the lidar 100 includes a scanning system 140, the control and processing system 130 can further include a scanning control circuit 1306 configured to control the scanning system. The scanning control circuit can be integrated with one or all of the light source control circuit and the information processing circuit, for example, the scanning control circuit, the light source control circuit, and the information processing circuit 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).

[0063] 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 realize one or more functions such as analysis, decision, or control. The terminal device can include 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.

[0064] FIG. 2 illustrates a structural block diagram of an example vehicle system, consistent with some embodiments of the present disclosure. Referring to 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 the vehicle to operate partially or fully without human intervention, including but not limited to fully autonomous vehicles (e.g., vehicles that relinquish dependence on human intervention), highly autonomous vehicles (e.g., vehicles that relinquish dependence on human intervention in certain situations), and / or the like. Sensor system 202 includes one or more devices, such as lidar 202a, radar 202b, camera 202c, sonar 202d, global positioning system (GPS) 202e, and inertial measurement unit (IMU) 202f, 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 the environment in which the vehicle is located.

[0065] In some examples, perception system 204 receives data related to at least one object in the 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.

[0066] 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 the vehicle can travel to the destination. In some embodiments, planning system 206 receives data from perception system 204 on a periodic or continuous basis and updates the route or trajectory according to the data generated by perception system 204.

[0067] 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 start, stop, accelerate, decelerate, turn left, turn right, or the like of the vehicle. The steering control system 208a is configured to receive control signals from the control system 208 to turn one or more wheels of the vehicle. In some examples, when the trajectory includes a left turn, the control system 208 transmits control signals to cause the steering control system 208a to adjust the direction.

[0068] FIG. 3 illustrates an example of a channel arrangement of a lidar consistent with some embodiments of the present disclosure, in which a plurality of channels 30 are arranged along the y direction. The lidar can have transmitting channels and receiving channels. A transmitting channel can correspond to one or more light emitting regions in a transmitter. A receiving channel can correspond to one or more detection regions in a receiver. Hereinafter, the term “channel” can refer to a transmitting channel, or can also refer to a receiving channel. At a predetermined focal length and channel spacing, the spacing between the y direction fields of view corresponding to adjacent channels 30 (e.g., the included angle in the y direction of the field of view centers of the light emitting regions / detection regions of adjacent channels in space after the optical system) is 0.4°, so that the y direction angular resolution of the lidar can be 0.4°. Under such a channel arrangement, when the focal length of the optical system of the lidar changes or the lidar needs a larger or smaller y direction angular resolution, then the size of each channel 30 and the spacing between adjacent channels 30 need to be redesigned according to the new focal length or the required resolution, which consumes a lot of manpower and material resources and time cost.

[0069] A solution of staggered arrangement of multiple columns of optoelectronic devices is proposed, which can improve the angular resolution of a lidar. Referring to FIG. 4, a smaller vertical angular resolution is achieved by adding one or more columns of channels 40 to the arrangement of channels shown in FIG. 3. For example, when the added channels 40 overlap 50% with the channels 30 in the y direction, the y direction angular resolution of the lidar can be 0.2°. However, this solution has limited adjustment for angular resolution, and can only achieve equal proportion allocation of one-half, one-third, etc. In addition, if the number of added columns 40 is large, the overall width of the channel array in the x direction will be large, which on one hand will occupy more PCB area, and on the other hand, the optical performance of the channels far from the optical axis will be degraded. As the size of the lidar becomes smaller and smaller, the focal length becomes shorter and shorter, and the channel spacing becomes smaller and smaller, but limited by the PCB process, the spacing between two columns of channels is difficult to continuously reduce. In view of this, a new channel arrangement is proposed in the present disclosure, which can achieve flexible adjustment of angular resolution. In the present disclosure, one or more light emitting regions of a transmitter represent one channel of the transmitter, and one or more detection regions of a receiver represent one channel of the receiver.

[0070] According to some embodiments of the present disclosure, a receiver for a lidar is provided. The receiver includes a plurality of detection regions. The plurality of detection regions includes a first detection region, a second detection region, and other detection regions. The first detection region and the second detection region are located at different positions in a first direction. The first detection region and the second detection region are located at different positions in a second direction. The first direction is perpendicular to the second direction. A distance between the first detection region and the second detection region is less than or equal to a distance between the first detection region and the other detection regions.

[0071] According to some embodiments of the present disclosure, a transmitter for a lidar is provided. The transmitter includes a plurality of light emitting regions. The plurality of light emitting regions includes a first light emitting region, a second light emitting region, and other light emitting regions. The first light emitting region and the second light emitting region are located at different positions in a first direction. The first light emitting region and the second light emitting region are located at different positions in a second direction. The first direction is perpendicular to the second direction. A distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

[0072] Referring to FIG. 5, a distribution diagram of a plurality of regions in a receiver 300 or a transmitter 400 for a lidar is shown, which is consistent with some embodiments of the present disclosure. For brevity, in describing the receiver 300, the regions shown in FIG. 5 are used to represent the light sensing regions, and in describing the transmitter 400, the regions shown in FIG. 5 are used to represent the light emitting regions.

[0073] The receiver 300 can include a plurality of detection regions. The plurality of detection regions can include the detection region 301, the detection region 302, and other detection regions. It is shown in FIG. 5 that the receiver 300 includes 8 detection regions only for illustrative purposes, and the present disclosure is not intended to limit the specific number of detection regions included in the receiver 300. In other embodiments, the receiver 300 can include more (e.g., 16, 24, 32, 64, or 128) or less (e.g., 2, 3, 4, 5, 6, or 7) detection regions.

[0074] The detection region 301 and the detection region 302 can be located at different positions in a first direction (e.g., the y direction). For example, the center of the detection region 301 can have a coordinate y1 in the y direction, and the center of the detection region 302 can have a coordinate y2 in the y direction, y1≠ y2. The detection region 301 and the detection region 302 can be located at different positions in a second direction (e.g., the x direction). For example, the center of the detection region 301 can have a coordinate x1 in the x direction, and the center of the detection region 302 can have a coordinate x2 in the x direction, x1≠ x2. The first direction can be perpendicular to the second direction. For example, the x direction can be a horizontal direction, and the y direction can be a vertical direction. The distance between the detection region 301 and the detection region 302 can be less than or equal to the distance between the detection region 301 and other detection regions. In other words, the detection region 302 is the closest detection region to the detection region 301. In some embodiments, the distance between the detection region 301 and the detection region 302 can be less than or equal to the distance between the detection region 302 and other detection regions, so that the detection region 301 is also the closest detection region to the detection region 302. The distance between a detection region A and a detection region B can be represented by, for example, the distance between the center of the detection region A and the center of the detection region B. In some embodiments, adjacent detection regions 301 and 302 in the receiver 300 are located at different positions in the first direction and the second direction, so that the detection angles corresponding to the detection regions 301 and 302 of the receiver 300 can be flexibly configured by setting the positions of the detection regions 301 and 302 in the first direction and the second direction. Some embodiments can achieve flexible adjustment of the angular resolution (e.g., the interval between the detection angles corresponding to the detection regions 301 and 302).

[0075] In some embodiments of the present disclosure, the receiver can include a plurality of sets of detection regions. For example, the receiver 300 shown in FIG. 5 includes a set of detection regions 31 and a set of detection regions 32. Each set of detection regions can include one or more detectors. The detectors can include a photodiode, a photodiode array, an APD, an APD array, a SPAD, a SPAD array, a SiPM, or a SiPM array. The detectors can include one or more detection regions. Taking the set of detection regions 31 as an example, the set of detection regions 31 can include one detector that provides detection regions 301 and 302 whose data can be read out independently; or, the set of detection regions 31 can include at least two detectors, one providing detection region 301 and the other providing detection region 302.

[0076] In some embodiments, a set of detection regions can include at least two detection regions, and the at least two detection regions are arranged along a third direction, which is different from the first direction and the second direction. For example, the set of detection regions 31 can include detection regions 301 and 302, which can be arranged along the o direction.

[0077] In some embodiments, a set of detection regions can include a plurality of sets of discrete detectors. In other embodiments, a set of detection regions can include one or more detectors integrated on a chip, for example, implemented as a detector chip.

[0078] In some embodiments, the transmitter 400 can include a plurality of light emitting regions. The plurality of light emitting regions can include light emitting region 401, light emitting region 402, and other light emitting regions. The transmitter 400 is shown in FIG. 5 to include 8 light emitting regions for illustrative purposes only, and the present disclosure is not intended to limit the specific number of light emitting regions included in the transmitter 400.

[0079] The light emitting region 401 and the light emitting region 402 can be located at different positions in a first direction (e.g., the y direction). For example, the center of the light emitting region 401 can have a coordinate y1 in the y direction, and the center of the light emitting region 402 can have a coordinate y2 in the y direction, y1≠y2. The light emitting region 401 and the light emitting region 402 can be located at different positions in a second direction (e.g., the x direction). For example, the center of the light emitting region 401 can have a coordinate x1 in the x direction, and the center of the light emitting region 402 can have a coordinate x2 in the x direction, x1≠x2. The first direction can be perpendicular to the second direction. For example, the x direction can be a horizontal direction, and the y direction can be a vertical direction. The distance between the light emitting region 401 and the light emitting region 402 can be less than or equal to the distance between the light emitting region 401 and other light emitting regions. In other words, the light emitting region 402 is the closest light emitting region to the light emitting region 401. In some embodiments, the distance between the light emitting region 401 and the light emitting region 402 can be less than or equal to the distance between the light emitting region 402 and other light emitting regions, so that the light emitting region 401 is also the closest light emitting region to the light emitting region 402. The distance between the light emitting region A and the light emitting region B can be represented by the distance between the center of the light emitting region A and the center of the light emitting region B.

[0080] In some embodiments, adjacent light emitting regions 401 and 402 in the emitter 400 can be located at different positions in the first direction and the second direction, so that the light emitting angles corresponding to the light emitting regions 401 and 402 of the emitter 400 can be flexibly configured by setting the positions of the light emitting regions 401 and 402 in the first direction and the second direction. Some embodiments can achieve flexible adjustment of the angular resolution (e.g., the interval between the light emitting angles corresponding to the light emitting regions 401 and 402).

[0081] In some embodiments of the present disclosure, an emitter can include a plurality of light emitting region sets. For example, the emitter 400 shown in FIG. 5 can include a light emitting region set 41 and a light emitting region set 42. Each light emitting region set can include one or more lasers. The lasers can include VCSELs, EELs, or fiber lasers. The lasers can include one or more light emitting regions. Taking the light emitting region set 41 as an example, the light emitting region set 41 can include one laser that provides the light emitting regions 401 and 402 that can emit light independently; or the light emitting region set 41 can include at least two lasers, one laser providing the light emitting region 401 and the other laser providing the light emitting region 402.

[0082] In some embodiments, the set of light emitting regions can include at least two light emitting regions, and the at least two light emitting regions are arranged along a third direction. The third direction is different from the first direction and the second direction. For example, the set of light emitting regions 41 can include the light emitting region 401 and the light emitting region 402, and the light emitting region 401 and the light emitting region 402 can be arranged along the o direction.

[0083] In some embodiments, the set of light emitting regions can include a set of a plurality of discrete lasers. In other embodiments, the set of light emitting regions can include one or more lasers integrated on a chip, for example implemented as a laser chip.

[0084] Referring to FIG. 6, a distribution diagram of a plurality of regions in a receiver 500 or a transmitter 600 for a lidar is shown, consistent with some embodiments of the present disclosure. For brevity, in describing the receiver 500, the regions shown in FIG. 6 are used to represent light sensing regions, while in describing the transmitter 600, the regions shown in FIG. 6 are used to represent light emitting regions. Several details of the second example embodiment are similar to the first example embodiment, and are not repeated here. The following mainly describes the particularities of the second example embodiment.

[0085] The receiver 500 can include the detection regions 301, 302, and other detection regions in the receiver 300 described above with respect to FIG. 5. The receiver 500 can also include a detection region 501 and a detection region 502.

[0086] As shown in FIG. 6, the detection region 501 and the detection region 502 can be located at different positions in a first direction (e.g., the y direction) and at the same position in a second direction (e.g., the x direction). For example, the center of the detection region 501 can have a coordinate y3 in the y direction, the center of the detection region 602 can have a coordinate y4 in the y direction, y3≠ y4, and the centers of the detection region 501 and the detection region 502 can have the same coordinate x3 in the x direction.

[0087] In some embodiments, the receiver 500 can include a first region and a second region. The detection regions 301 and 302 can be located in the first region. The detection regions 501 and 502 can be located in the second region. The light received by the first region is closer to the center of the field of view of the lidar than the light received by the second region.

[0088] In some embodiments, the set of a plurality of detection regions of the receiver can also include a set of detection regions in which at least two detection regions are arranged along the first direction. For example, the set of detection regions 51 can include at least the detection region 501 and the detection region 502, and the detection region 501 and the detection region 502 can be arranged along the y direction.

[0089] When the sets of detection regions 31 and 51 have the same configuration (e.g., formed by the same detector or detector array), the sets of detection regions 31 and 51 can achieve different angular resolutions.

[0090] In some other embodiments, the sets of detection regions 31 and 51 can also have different configurations. For example, the sets of detection regions 31 and 51 can have different detector types. Or, the sets of detection regions 31 and 51 can have different numbers of detectors. Or, the spacing between adjacent detectors in the set of detection regions 31 is different from the spacing between adjacent detectors in the set of detection regions 51.

[0091] FIG. 7A illustrates an exemplary schematic diagram for a receiver or transmitter of a lidar to achieve differentiation in the first direction angular resolution, consistent with some embodiments of the present disclosure. Taking the distance between the centers of the detection regions of the sets of detection regions 31 and 51 as L, the detection regions in the set of detection regions 51 are arranged along the y direction with a channel spacing D1 equal to the distance L between the centers of the detection regions; the detection regions in the set of detection regions 31 are arranged along the o direction with a channel spacing D2 depending on the rotation angle a of the o direction relative to the x direction, D2 = L x sin a. Assuming that the channel spacing D1 of the set of detection regions 51, in combination with the focal length of the receiving lens, can achieve a y direction angular resolution of 0.4°, the y direction angular resolution of the set of detection regions 31 can be set by choosing the rotation angle a of the arrangement direction o of the detection regions in the set of detection regions 31 relative to the x direction. FIG. 7B illustrates an exemplary chart of the channel spacing values D and the first direction (e.g., vertical direction) angular resolution w corresponding to different chosen values of the rotation angle a, consistent with some embodiments of the present disclosure. In this example, taking L as 300 pm, it can be seen from the chart that as the rotation angle a increases from small to large, the y direction angular resolution that the set of detection regions 31 can achieve also gradually increases.

[0092] Some embodiments can use the same type of set of detection regions (e.g., the same type of detector or detector array with the same size and detector distribution) to achieve differentiation in the first direction (e.g., y direction) angular resolution of the receiver.

[0093] In some embodiments, since the y-direction angular resolution of the set of detection regions 31 is higher than the y-direction angular resolution of the set of detection regions 51, the set of detection regions 31 can be configured such that it receives light closer to a region of interest (ROI) of the field of view of the lidar than the set of detection regions 51, which helps to improve the resolution of the ROI of the field of view of the lidar. For example, the ROI of the field of view of the lidar can include the center of the field of view of the lidar.

[0094] The emitter 600 can include the light emitting regions 401, 402, and other light emitting regions in the emitter 400 described above with respect to FIG. 5. The emitter 600 can also include a light emitting region 601 and a light emitting region 602.

[0095] As shown in FIG. 6, the light emitting region 601 and the light emitting region 602 can be located at different positions in a first direction (e.g., the y-direction) and at the same position in a second direction (e.g., the x-direction). For example, the center of the light emitting region 601 can have a coordinate y3 in the y-direction, the center of the light emitting region 602 can have a coordinate y4 in the y-direction, y3≠ y4, and the centers of the light emitting region 601 and the light emitting region 602 can have the same coordinate x3 in the x-direction.

[0096] In some embodiments, the emitter 600 can include a first region and a second region. The light emitting region 601 and the light emitting region 602 can be located in the first region. The light emitting region 601 and the light emitting region 602 can be located in the second region. The light emitted by the first region can be closer to the center of the field of view of the lidar than the light emitted by the second region.

[0097] In some embodiments, the set of multiple light emitting regions of the emitter can also include a set of light emitting regions in which at least two light emitting regions are arranged in a first direction. For example, the set of light emitting regions 61 can include at least the light emitting region 601 and the light emitting region 602, which can be arranged in the y-direction.

[0098] When the set of light emitting regions 41 and the set of light emitting regions 61 have the same configuration (e.g., formed by the same laser or laser array), the set of light emitting regions 41 and the set of light emitting regions 61 can achieve different angular resolutions.

[0099] In other embodiments, the sets of light emitting regions 41 and 61 can also have different configurations. For example, the sets of light emitting regions 41 and 61 can have different laser types. Or, the sets of light emitting regions 41 and 61 can have different numbers of lasers. Or, the spacing between adjacent lasers in the set of light emitting regions 41 is different from the spacing between adjacent lasers in the set of light emitting regions 61.

[0100] Referring to FIG. 7A, taking the distance between the centers of the light emitting regions of the sets of light emitting regions 41 and 61 as L, the light emitting regions in the set of light emitting regions 61 are arranged along the y direction with a channel spacing D1 equal to the distance L between the centers of the light emitting regions; the light emitting regions in the set of light emitting regions 41 are arranged along the o direction with a channel spacing D2 depending on the rotation angle a of the o direction relative to the x direction, D2 = L x sin a. Assuming that the channel spacing D1 of the set of light emitting regions 61, in cooperation with the focal length of the emission lens, can achieve a y direction angular resolution of 0.4°, the y direction angular resolution of the set of light emitting regions 41 can be set by selecting the rotation angle a of the arrangement direction o of the light emitting regions in the set of light emitting regions 41 relative to the x direction. Referring to FIG. 7B, which shows a chart of the channel spacing values and the y direction angular resolutions corresponding to different selected values of the rotation angle a according to this example. In this example, taking L as 300 pm, it can be seen from the chart that as the rotation angle a increases from small to large, the y direction angular resolution that the set of light emitting regions 41 can achieve also gradually increases.

[0101] Some embodiments can use the same type of set of light emitting regions (e.g., the same type of laser or laser array with the same size and laser distribution) to achieve the differentiation of the angular resolution of the emitter in the first direction (e.g., the y direction).

[0102] In some embodiments, since the y direction angular resolution of the set of light emitting regions 31 is higher than that of the set of light emitting regions 51, the set of light emitting regions 31 can be set so that the light rays it emits are closer to the region of interest of the lidar field of view than the light rays emitted by the set of light emitting regions 51. For example, the region of interest of the lidar field of view can include the center of the field of view of the lidar.

[0103] Referring to FIG. 8, a distribution diagram of a plurality of areas in a receiver 700 or a transmitter 800 for a lidar consistent with some embodiments of the present disclosure is shown. For brevity, in describing the receiver 700, the areas shown in FIG. 8 are used to represent photosensitive areas, while in describing the transmitter 800, the areas shown in FIG. 8 are used to represent light-emitting areas. Several details of the third example embodiment are the same as the first or second example embodiments, which will not be repeated here. The following mainly describes the particularities of the third example embodiment.

[0104] The receiver 700 can include the detection areas 301, 302, and other detection areas in the receiver 300 described above with respect to FIG. 5. The receiver 700 can also include the detection areas 501 and 502 in the receiver 500 described above with respect to FIG. 6.

[0105] The receiver 700 can also include detection areas 701 and 702. As shown in FIG. 7, the detection areas 701 and 702 can be located at different positions in a first direction (e.g., the y direction) and at the same position in a second direction (e.g., the x direction). For example, the center of the detection area 701 can have a coordinate y5 in the y direction, and the center of the detection area 702 can have a coordinate y6 in the y direction, y5≠ y6. The positions of the detection areas 701 and 702 in the second direction (e.g., the y direction) can be different from the positions of the detection areas 501 and 502 in the second direction. For example, the centers of the detection areas 501 and 502 can have the same coordinate x3 in the x direction, and the centers of the detection areas 701 and 702 can have the same coordinate x4 in the x direction, x3≠ x4.

[0106] The transmitter 800 can include the light-emitting areas 401, 402, and other light-emitting areas in the transmitter 400 described above with respect to FIG. 5. The transmitter 800 can also include the light-emitting areas 601 and 602 in the transmitter 600 described above with respect to FIG. 6.

[0107] The transmitter 800 can further include a light emitting region 801 and a light emitting region 802. As shown in FIG. 8, the light emitting region 801 and the light emitting region 802 can be located at different positions in the first direction (e.g., the y direction) and at the same position in the second direction (e.g., the x direction). For example, the center of the light emitting region 801 can have a coordinate y5 in the y direction, and the center of the light emitting region 802 can have a coordinate y6 in the y direction, y5≠ y6. The positions of the light emitting region 801 and the light emitting region 802 in the second direction (e.g., the y direction) can be different from the positions of the light emitting region 601 and the light emitting region 602 in the second direction. For example, the centers of the light emitting region 601 and the light emitting region 602 can have the same coordinate x3 in the x direction, and the centers of the light emitting region 801 and the light emitting region 802 can have the same coordinate x4 in the x direction, x3≠ x4.

[0108] Referring to FIG. 9, shown therein is a distribution diagram of a plurality of regions in a receiver 900 or a transmitter 1000 for a lidar consistent with some embodiments of the present disclosure. For brevity, in describing the receiver 900, the regions shown in FIG. 9 are used to represent light sensing regions, and in describing the transmitter 1000, the regions shown in FIG. 9 are used to represent light emitting regions. Several details of the third example embodiment are the same as the first, second, or third example embodiments, and are not repeated here. The following mainly describes the particularities of the fourth example embodiment.

[0109] The receiver 900 can include the detection region 301, the detection region 302, and other detection regions in the receiver 300 described above with respect to FIG. 5. The detection region set 31 can include at least the detection region 301 and the detection region 302, which can be arranged along a third direction (e.g., the o direction).

[0110] The receiver 900 can further include a detection region set 91. The detection region set 91 can include at least the detection region 901 and the detection region 902, which can be arranged along a fourth direction (e.g., the p direction).

[0111] In some embodiments, the third direction can be different from the fourth direction. For example, an angle βp of the fourth direction (e.g., the p direction) relative to the first direction (e.g., the y direction) is smaller than an angle βo of the third direction (e.g., the o direction) relative to the first direction (e.g., the y direction). For example, an angle ap of the fourth direction (e.g., the p direction) relative to the second direction (e.g., the x direction) is larger than an angle ao of the third direction (e.g., the o direction) relative to the second direction (e.g., the x direction).

[0112] In some embodiments, since the first direction (e.g., y direction) angular resolution of the set of detection regions 31 is higher than the first direction (e.g., y direction) angular resolution of the set of detection regions 91, the set of detection regions 31 can be arranged such that it receives light closer to the region of interest of the lidar field of view than the set of detection regions 91, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0113] The emitter 1000 can include the light emitting regions 401, 402, and other light emitting regions in the emitter 400 described above with respect to FIG. 5. The set of light emitting regions 41 can include at least the light emitting regions 401 and 402, which can be arranged along a third direction (e.g., o direction).

[0114] The emitter 1000 can further include a set of light emitting regions 101. The set of light emitting regions 101 can include at least the light emitting regions 1001 and 1002, which can be arranged along a fourth direction (e.g., p direction).

[0115] In some embodiments, the third direction can be different from the fourth direction. For example, the angle βp of the fourth direction (e.g., p direction) with respect to the first direction (e.g., y direction) is smaller than the angle βo of the third direction (e.g., o direction) with respect to the first direction (e.g., y direction). For example, the angle αp of the fourth direction (e.g., p direction) with respect to the second direction (e.g., x direction) is larger than the angle αo of the third direction (e.g., o direction) with respect to the second direction (e.g., x direction).

[0116] In some embodiments, since the first direction (e.g., y direction) angular resolution of the set of light emitting regions 41 is higher than the first direction (e.g., y direction) angular resolution of the set of light emitting regions 101, the set of light emitting regions 41 can be arranged such that it emits light closer to the region of interest of the lidar field of view than the set of light emitting regions 101, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0117] Referring to FIG. 10, a distribution diagram of a plurality of regions in a receiver 1100 or a transmitter 1200 for a lidar consistent with some embodiments of the present disclosure is shown. For brevity, in describing the receiver 1100, the regions shown in FIG. 10 are used to represent light sensing regions, while in describing the transmitter 1200, the regions shown in FIG. 10 are used to represent light emitting regions. Some details of the third exemplary embodiment are similar to the first, second, third, or fourth exemplary embodiments, and are not repeated here. The following mainly describes the particularities of the fifth exemplary embodiment.

[0118] The receiver 1100 can include the detection region 301, the detection region 302, and other detection regions in the receiver 300 described above with respect to FIG. 5. The set of detection regions 31 can include at least the detection region 301 and the detection region 302, which can be arranged along a third direction (e.g., the o direction).

[0119] The receiver 1100 can also include a set of detection regions 91. The set of detection regions 91 can include at least a detection region 901 and a detection region 902, which can be arranged along a fourth direction (e.g., the p direction).

[0120] The receiver 1100 can also include a set of detection regions 111. The set of detection regions 111 can include at least a detection region 1101 and a detection region 1102, which can be arranged along a fifth direction (e.g., the q direction).

[0121] In some embodiments, the fifth direction can be different from the third direction and the fourth direction. For example, the fifth direction (e.g., the q direction) has a smaller angle βq with respect to the first direction (e.g., the y direction) than the fourth direction (e.g., the p direction) has with respect to the first direction (e.g., the y direction). For example, the fifth direction (e.g., the q direction) has a larger angle αq with respect to the second direction (e.g., the x direction) than the fourth direction (e.g., the p direction) has with respect to the second direction (e.g., the x direction).

[0122] In some embodiments, because the set of detection regions 91 has a higher angular resolution in the first direction (e.g., the y direction) than the set of detection regions 111 has in the first direction (e.g., the y direction), the set of detection regions 91 can be arranged such that it receives light closer to a region of interest of the lidar field of view than the set of detection regions 111, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include a center of the lidar field of view.

[0123] Referring to FIG. 11, an example of channel arrangement in a receiver or transmitter for a lidar consistent with some embodiments of the present disclosure is shown. The receiver or transmitter can include a set of channels 50. The set of channels 50 can include a plurality of channels 50 arranged along an o direction. Eight sets of channels 50 are shown in FIG. 11 and each set includes four channels 50 for illustrative purposes only, and the present disclosure is not intended to limit the number of channel sets included in the receiver or transmitter and the number of channels in each set. In the case that the channels 50 are the same as the channels 30 shown in FIG. 3 and the focal length of the optical system is consistent, the y-direction angular resolution of the lidar can be flexibly adjusted by setting the angle of the o direction relative to the x direction or the y direction. For example, the angle of the o direction relative to the x direction or the y direction can be set such that the set of channels 50 can achieve a y-direction angular resolution of 0.2°, which is twice the y-direction angular resolution achieved by the set of channels 30 shown in FIG. 3. In addition, limited by the PCB process, the spacing between adjacent channel sets must be greater than a minimum limit, and the channel arrangement shown in FIG. 11 can result in a smaller span of the plurality of sets of channels 50 in the x direction compared to the channel arrangement shown in FIG. 4, thereby helping to reduce the x-direction size of the receiver or transmitter.

[0124] Thus far, the receiver and transmitter for a lidar, the lidar, and the terminal device according to the present disclosure have been described. The receiver for a lidar of the present disclosure employs adjacent detection regions located at different positions in the first direction and the second direction, and thus the detection angle corresponding to the adjacent detection regions of the receiver can be flexibly configured by setting the positions of the adjacent detection regions in the first direction and the second direction, thereby achieving flexible adjustment of the angular resolution (the interval between the detection angles corresponding to the adjacent detection regions). The transmitter for a lidar of the present disclosure employs adjacent light emitting regions located at different positions in the first direction and the second direction, and thus the detection angle corresponding to the adjacent light emitting regions of the receiver can be flexibly configured by setting the positions of the adjacent light emitting regions in the first direction and the second direction, thereby achieving flexible adjustment of the angular resolution (the interval between the laser emission angles corresponding to the adjacent light emitting regions).

[0125] Optionally, the receiver for a lidar of the present disclosure can employ the same type of detection region set (e.g., the same type of detector or detector array having the same size and detector distribution) to achieve differentiated design of the first direction angular resolution of the receiver. For example, a detection region set can include a plurality of detection regions extending along a direction, a plurality of such detection region sets can be arranged at different positions of the receiver, and the detection regions in the detection region sets at different positions can have different included angles relative to the first direction with respect to the extending direction, so that the detection region sets at different positions of the receiver have different detection angular resolutions.

[0126] Optionally, the transmitter for lidar of the present disclosure can employ the same type of light emitting region set (e.g., the same laser or laser array with the same size and laser distribution) to realize the differentiated design of the transmitter in the first direction angle resolution. For example, the light emitting region set can include a plurality of light emitting regions extending along a direction, a plurality of such light emitting region sets can be arranged at different positions of the transmitter, and the extension directions of the light emitting regions in the light emitting region sets at different positions have different included angles with respect to the first direction, so that the light emitting region sets at different positions of the transmitter have different emission angle resolutions.

[0127] In the lidar of the present disclosure, the arrangement of the light emitting regions in the transmitter and the arrangement of the detection regions in the receiver can have a corresponding relationship satisfying the following requirement: the field of view of each light emitting region corresponds to the field of view of at least one detection region, so that at least part of the first light beams emitted by each light emitting region can form a return wave after being reflected by an object in space and returning to the corresponding detection region.

[0128] It should be noted that the above description is illustrative rather than restrictive. Any modification, equivalent replacement, improvement, etc. made to the embodiments of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A receiver for a lidar, comprising: a plurality of detection regions, the plurality of detection regions comprising a first detection region, a second detection region, and other detection regions, wherein the first and second detection regions are located at different positions in a first direction, the first and second detection regions are located at different positions in a second direction, the first direction is perpendicular to the second direction, a distance between the first and second detection regions is less than or equal to a distance between the first and other detection regions.

2. The receiver of claim 1, wherein, the receiver further comprising: a third detection region and a fourth detection region, wherein the third and fourth detection regions are located at different positions in the first direction, the third and fourth detection regions are located at the same position in the second direction.

3. The receiver of claim 2, wherein, the receiver further comprising: a fifth detection region and a sixth detection region, wherein the fifth and sixth detection regions are located at different positions in the first direction, the fifth and sixth detection regions are located at the same position in the second direction, the fifth and sixth detection regions are located at different positions in the second direction than the third and fourth detection regions.

4. The receiver of claim 2, wherein, the receiver comprising a first region and a second region, wherein the first and second detection regions are located in the first region and the third and fourth detection regions are 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.

5. The receiver of claim 1, wherein, the receiver comprising a plurality of detection region sets, each detection region set comprising one or more detectors, the detectors comprising one or more detection regions.

6. The receiver of claim 5, wherein, the plurality of detection region sets comprising a first detection region set, the first detection region set comprising at least two detection regions, the at least two detection regions of the first detection region set being arranged along a third direction, the third direction being different from the first direction and the second direction.

7. The receiver of claim 6, wherein: the plurality of detection region sets further comprising a second detection region set, the second detection region set comprising at least two detection regions, the at least two detection regions of the second detection region set being arranged along the first direction, the first detection region set receives light closer to a center of a field of view of the lidar than the second detection region set.

8. The receiver of claim 6, wherein: the plurality of detection region sets comprising a third detection region set, the third detection region set comprising at least two detection regions, the at least two detection regions of the third detection region set being arranged along a fourth direction, the fourth direction being different from the third direction, the first detection region set receives light closer to a center of a field of view of the lidar than the third detection region set.

9. The receiver of claim 8, wherein, an angle of the fourth direction relative to the first direction is less than an angle of the third direction relative to the first direction.

10. The receiver of claim 8, wherein, An angle of the fourth direction relative to the second direction is greater than an angle of the third direction relative to the second direction.

11. A transmitter for a lidar, comprising: a plurality of light emitting regions, the plurality of light emitting regions comprising a first light emitting region, a second light emitting region, and other light emitting regions, wherein the first and second light emitting regions are located at different positions in a first direction, the first and second light emitting regions are located at different positions in a second direction, the first direction is perpendicular to the second direction, a distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

12. The transmitter of claim 11, wherein, The transmitter further comprises: a third light emitting region and a fourth light emitting region, wherein the third and fourth light emitting regions are located at different positions in the first direction, the third and fourth light emitting regions are located at the same position in the second direction.

13. The transmitter of claim 12, wherein, The transmitter further comprises: a fifth light emitting region and a sixth light emitting region, wherein the fifth and sixth light emitting regions are located at different positions in the first direction, the fifth and sixth light emitting regions are located at the same position in the second direction, the fifth and sixth light emitting regions are located at different positions in the second direction than the third and fourth light emitting regions.

14. The transmitter of claim 12, wherein, The transmitter comprises a first region and a second region, wherein the first and second light emitting regions are located in the first region and the third and fourth light emitting regions are located in the second region, wherein light rays emitted by the first region are closer to a center of a field of view of the lidar than light rays emitted by the second region.

15. The transmitter of claim 11, wherein, The transmitter comprises a plurality of light emitting region sets, each light emitting region set comprising one or more lasers, the lasers comprising one or more light emitting regions.

16. The transmitter of claim 15, wherein, The plurality of light emitting region sets comprises a first light emitting region set, the first light emitting region set comprising at least two light emitting regions, the at least two light emitting regions of the first light emitting region set being arranged along a third direction, the third direction being different from the first direction and the second direction.

17. The transmitter of claim 16, wherein the plurality of light emitting region sets further comprises a second light emitting region set, the second light emitting region set comprising at least two light emitting regions, the at least two light emitting regions of the second light emitting region set being arranged along the first direction, light rays emitted by the first light emitting region set are closer to a center of a field of view of the lidar than light rays emitted by the second light emitting region set.

18. The transmitter of claim 16, wherein the plurality of light emitting region sets comprises a third light emitting region set, the third light emitting region set comprising at least two light emitting regions, the at least two light emitting regions of the third light emitting region set being arranged along a fourth direction, the fourth direction being different from the third direction, light rays emitted by the first light emitting region set are closer to a center of a field of view of the lidar than light rays emitted by the third light emitting region set.

19. The transmitter of claim 18, wherein, An angle of the fourth direction relative to the first direction is smaller than an angle of the third direction relative to the first direction.

20. The transmitter of claim 18, wherein, An angle of the fourth direction relative to the second direction is larger than an angle of the third direction relative to the second direction.

21. A lidar comprising at least one of: The receiver of any one of claims 1-10; and The transmitter of any one of claims 11-20.

Images