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WO2023015562A1 - 一种激光雷达及终端设备 - Google Patents

一种激光雷达及终端设备 Download PDF

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Publication number
WO2023015562A1
WO2023015562A1 PCT/CN2021/112523 CN2021112523W WO2023015562A1 WO 2023015562 A1 WO2023015562 A1 WO 2023015562A1 CN 2021112523 W CN2021112523 W CN 2021112523W WO 2023015562 A1 WO2023015562 A1 WO 2023015562A1
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WO
WIPO (PCT)
Prior art keywords
light
module
signal
lidar
light source
Prior art date
Application number
PCT/CN2021/112523
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English (en)
French (fr)
Inventor
汪帅
郭琦
安凯
余安亮
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2021/112523 priority Critical patent/WO2023015562A1/zh
Priority to CN202180101019.3A priority patent/CN117751306A/zh
Priority to EP21953175.3A priority patent/EP4379421A4/en
Publication of WO2023015562A1 publication Critical patent/WO2023015562A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present application relates to the technical field of laser detection, in particular to a laser radar and terminal equipment.
  • Lidar is playing an increasingly important role on smart terminals.
  • Lidar installed on smart terminals can sense the surrounding environment, collect data, identify and track moving objects, and static scenes such as lane lines and signs identification, and combined with navigator and map data for path planning.
  • the laser radar emits signal light and can receive the echo signal obtained after the signal light is reflected by the target, so that the distance information of the target can be determined according to the echo signal.
  • the echo signal is affected by the transmission power, target reflectivity, atmospheric conditions, and the distance between the target and the lidar, only weaker echo signals can be received by the lidar. Therefore, lidar usually uses a single-photon detector with high sensitivity (that is, a single-photon detector can detect and count a single photon), such as a single-photon avalanche diode (SPAD).
  • a single-photon detector with high sensitivity (that is, a single-photon detector can detect and count a single photon), such as a single-photon avalanche diode
  • a single photon detector includes a photosensitive unit (cell) array, and when the number of photons incident on the photosensitive unit reaches a certain value, the photosensitive unit will be in a saturated state. That is to say, for a photosensitive unit that is already in a saturated state, even if more photons hit the photosensitive unit, the output signal of the photosensitive unit will not increase any more. Based on this, the dynamic range of lidar is limited.
  • the present application provides a laser radar and a terminal device, which are used to improve the dynamic range of the laser radar as much as possible.
  • the present application provides a laser radar, which includes a transmitting module, a receiving optical module, and a detecting module.
  • the emitting module is used for emitting signal light.
  • the receiving optical module is used to receive the echo signal obtained by reflecting the signal light from the target in the detection area, widen the light spot corresponding to the echo signal in the horizontal direction or vertical direction, and project the widened light spot to the detection module Group.
  • the detection module is used to photoelectrically convert the received widened light spot to obtain an electrical signal used to determine the associated information of the target.
  • the light spot corresponding to the echo signal propagated by the receiving optical module is widened in the horizontal direction or the vertical direction. It can also be understood that the light spot corresponding to the echo signal propagated by the receiving optical module is diffuse or diffuse in the horizontal direction Diffuse in the vertical direction. In other words, the horizontal or vertical size of the spot corresponding to the echo signal propagated by the receiving optical module is larger than the size threshold, and the size threshold may be the corresponding spot size when the echo signal propagated by the receiving optical module is focused owned.
  • the corresponding light spot is widened in the horizontal or vertical direction, and the light spot in the widened direction can cover a large area of the photosensitive area of the detection module. Therefore, it helps to reduce the number of photons received by the photosensitive area per unit area of the detection module, thereby improving the anti-saturation capability of the detection module, and further helping to improve the dynamic range of the laser radar.
  • the strong background stray light is also difficult to cause saturation of the detection module (that is, the threshold of the lidar receiving stray light is increased) , which helps to improve the ability of LiDAR to resist background stray light, and then can improve the ranging ability of LiDAR under strong background stray light.
  • the receiving optical module includes an optical component for non-uniform imaging.
  • the non-proportional imaging optical component is used to separate the horizontal focal plane corresponding to the echo signal in the horizontal direction from the vertical focal plane corresponding to the vertical direction.
  • the detection module is located on the horizontal focal plane, the light spot corresponding to the echo signal received by the detection module is widened in the horizontal direction (that is, diffuse in the horizontal direction), and focused in the vertical direction. If the detection module is located on the vertical focal plane, the light spot corresponding to the echo signal received by the detection module is widened in the vertical direction (that is, diffused in the vertical direction), and focused in the horizontal direction. In this way, the horizontal focal plane and the vertical focal plane of the echo signal are separated by the non-proportional imaging optical component, so that the light spot corresponding to the echo signal can be widened (that is, diffused) in the horizontal direction or in the vertical direction.
  • the non-proportional imaging optical component is such as a focal power element, and the equivalent focal power of the focal power element in the horizontal direction is different from the equivalent focal power in the vertical direction.
  • the optical power element includes a one-dimensional optical power element or a two-dimensional optical power element.
  • the one-dimensional optical power element includes at least one or more combinations of one-dimensional cylindrical mirror, one-dimensional grating or one-dimensional optical wedge;
  • the two-dimensional optical power element includes toroidal mirror, two-dimensional cylindrical mirror , a saddle mirror, a two-dimensional grating, or a combination of at least one of two-dimensional optical wedges.
  • the signal light is a line beam.
  • the lidar By emitting the signal light of the line beam from the emission module, the lidar can realize the line scan mode.
  • the lidar adopts the line scan mode, it can meet the long-distance range and the optical design is simple.
  • the emission module includes a light source array, and the light source array can time-select the light source by row or by column, and the row of the light source selected by the row or the column of the light source selected by the column are used to transmit Signal light for line beams.
  • the transmitting module can emit the signal light of the line beam, and then the laser radar can realize the line-scanning mode.
  • the emitting module includes a first laser and a first beam adjustment component.
  • the first laser is used for emitting the first signal light
  • the first light beam adjusting component is used for adjusting the first signal light into the signal light of the line beam.
  • the first signal light emitted by the first laser can be adjusted into a line beam through the first beam adjustment component, so that the laser radar can realize a line scan mode.
  • the lidar further includes a scanning module, which is configured to reflect the signal light from the transmitting module to the detection area, wherein the signal light is a line beam.
  • the line beam emitted by the emitting module can be reflected to the detection area at different scanning angles, so as to realize the scanning of the detection area, thereby realizing the detection of the detection area.
  • the scanning module includes at least one of a rotating mirror, an oscillating mirror, and a micro-electro-mechanical system (MEMS) mirror.
  • MEMS micro-electro-mechanical system
  • the detection module includes a pixel array, and the pixel array gates pixels in time division by row or by time division by column.
  • the detection module can realize line receiving by time-sharing gating by row or by time-sharing gating the pixels in the pixel array by column.
  • the light source array selects the light source by row, correspondingly, the pixel array also selects the pixel by row; the light source array selects the light source by column, correspondingly, the pixel array also selects the pixel by column.
  • the laser radar Based on the light source array emitting the signal light of the line beam, and the pixel array receiving the echo signal time-sharing by row or column, the laser radar can realize the line-scanning-line-receiving mode.
  • the signal light is a surface beam.
  • the lidar By emitting the signal light of the surface beam emitted by the module, the lidar can realize the surface emission of the detection area.
  • the scanning efficiency is higher.
  • the emitting module includes a light source array, and the light source array gates the light sources according to the surface, and the light sources selected according to the surface are used to emit the signal light of the surface beam.
  • strobing the light sources in the light source array by area refers to strobing the light sources in the light source array once and the rows and columns are both greater than 1.
  • the transmitting module can emit the signal light of the surface beam, so that the laser radar can realize the surface light emission of the detection area.
  • the transmitting module includes a second laser and a second beam adjustment component
  • the second laser is used to emit the second signal light
  • the second beam adjustment component is used to adjust the second signal light into a surface beam signal light
  • the second signal light emitted by the second laser can be adjusted to a surface beam through the second beam adjustment component, so that the laser radar can realize a surface emission mode.
  • the detection module includes a pixel array, and the pixel array gates pixels by plane.
  • selecting pixels by plane in the pixel array refers to selecting both rows and columns in the pixel array once greater than 1.
  • the lidar By gating the pixels in the pixel array according to the area, the lidar can realize the area receiving mode. Furthermore, based on the signal light of the surface beam emitted by the transmitting module, the laser radar can realize surface transmission and surface reception.
  • a pixel in the pixel array includes at least two combined photosensitive units.
  • the echo signals (that is, photons) sensed by each photosensitive unit in the at least two combined photosensitive units are superimposed and read out in the form of one pixel, which helps to reduce the The number of photons sensed by a small single photosensitive unit enables the lidar to have the ability to achieve a high dynamic range.
  • the lidar further includes a processing control module, the processing control module is configured to receive the electrical signal from the detection module, and determine the associated information of the target according to the electrical signal.
  • the present application provides a terminal device, and the terminal device may include the first aspect or any one of the first aspect includes a laser radar.
  • the terminal device may also include a processing control module, the processing control module is used to receive the electrical signal from the detection module, and determine the relevant information of the target according to the electrical signal; Correlation information, path planning, etc.
  • Figure 1a is a schematic diagram of the principle of an isometric imaging provided by the present application.
  • Figure 1b is a schematic diagram of the principle of non-equal-scale imaging provided by the present application.
  • Figure 1c is a schematic structural diagram of a detection module provided by the present application.
  • Figure 1d is a schematic diagram of the positional relationship between a meridian plane and a sagittal plane provided by the present application;
  • FIG. 2 is a schematic diagram of an application scenario provided by the present application.
  • FIG. 3 is a schematic structural diagram of a laser radar provided by the present application.
  • Figure 4a is a schematic structural diagram of a light source array provided by the present application.
  • Fig. 4b is a schematic structural diagram of another light source array provided by the present application.
  • Fig. 4c is a schematic structural diagram of another light source array provided by the present application.
  • FIG. 5 is a schematic structural diagram of a transmitting optical module provided by the present application.
  • Fig. 6a is a schematic structural diagram of a transmitting module provided by the present application.
  • Fig. 6b is a schematic structural diagram of a transmitting module provided by the present application.
  • FIG. 7 is a schematic structural diagram of a lens group provided by the present application.
  • FIG. 8 is a schematic diagram illustrating the positional relationship between an optical component and a lens group for non-equal-scale imaging in the present application
  • Fig. 9a is a schematic diagram of the coverage of the corresponding light spot in the pixel array after the echo signal passes through the first aperture and the non-equal imaging optical component provided by the present application;
  • Fig. 9b is a schematic diagram of the coverage of the pixel array corresponding to the light spot after the echo signal passes through the optical component without non-proportional imaging provided by the present application;
  • Fig. 9c is a schematic diagram of the coverage of the corresponding light spot in the pixel array after passing through the first aperture and the non-equal-scale imaging optical component of another echo signal provided by the present application;
  • Fig. 9d is a schematic diagram of the coverage of the corresponding spot in the pixel array after another echo signal provided by the present application passes through the optical component without non-uniform imaging;
  • FIG. 10 is a schematic diagram of the architecture of a laser radar provided by the present application.
  • FIG. 11 is a schematic diagram of the size of a spot corresponding to an echo signal provided by the present application.
  • Fig. 12 is a three-dimensional diagram of a light spot corresponding to a simulated echo signal provided by the present application.
  • FIG. 13 is a schematic diagram of a simulation result of echo signals in some rows of the pixel array provided by the present application.
  • Fig. 14a is a schematic diagram of another laser radar provided by the present application.
  • FIG. 14b is a schematic diagram of another laser radar provided by the present application.
  • FIG. 15 is a schematic diagram of the location of a laser radar system provided by the present application on a vehicle
  • FIG. 16 is a schematic structural diagram of a terminal device provided by the present application.
  • Scale imaging refers to the reduction or enlargement of the horizontal and vertical directions when the object space is mapped to the image space. It can also be understood as reducing or enlarging the imaging space proportionally to the object space in the horizontal direction and the vertical direction.
  • the object space can be mapped to the image space through the proportional imaging optical components, and the proportional imaging optical components can reduce the object space proportionally to the imaging space in the horizontal direction and the vertical direction.
  • Non-proportional imaging refers to the fact that when the object space is mapped to the image space, the magnification ratios in the horizontal direction and the vertical direction are different, or the reduction ratios in the horizontal direction and the vertical direction are different. In other words, the object space is disproportionately enlarged in the horizontal direction and the vertical direction; or, the imaging space is disproportionately reduced in the horizontal direction and the vertical direction of the object space.
  • Fig. 1b which is an example where the magnification ratio in the horizontal direction is greater than that in the vertical direction when the object space is mapped to the image space.
  • Binning is an image readout method. In this way, the signals (such as photons) sensed by each photosensitive unit in the merged photosensitive unit (or called a pixel) (cell) are added together to form a pixel (Pixel) read out.
  • Binning can generally be divided into horizontal (or horizontal) binning and vertical (or vertical) binning. Binning in the horizontal direction is to superimpose the signals of adjacent rows together and read out in the form of one pixel (see Figure 1c below), and Binning in the vertical direction is to superimpose the signals of adjacent columns together and read in the form of one pixel out. It should be understood that the Binning manner may also be other possible manners, such as Binning along a diagonal direction, which is not limited in the present application.
  • Dynamic range is an important parameter of lidar.
  • dynamic range usually refers to the interval between the values that can identify the minimum signal and the maximum signal. When the minimum signal that can be identified is fixed, the larger the dynamic range, the greater the value of the maximum signal that can be identified.
  • the detection module includes 6 ⁇ 6 photosensitive units (cells) as an example.
  • each cell is saturated when it senses 1 photon.
  • a cell is a pixel (Pixel).
  • the Pixel can output signal 1; when 2 or more photons shoot to a Pixel at the same time, a Pixel The output signal is still 1.
  • a Pixel includes 1 ⁇ 3 cells as an example, when 1 photon shoots to the Pixel, the Pixel can output signal 1; when 2 photons shoot to the Pixel at the same time When the Pixel is on, and the two photons do not shoot to the same cell at the same time, the Pixel outputs signal 2; when three or more photons shoot to the Pixel at the same time, the Pixel outputs signal 3.
  • the dynamic range of lidar based on 1 ⁇ 3 cells merged into one Pixel can be expanded by three times compared with the dynamic range of lidar without cell merger.
  • the light spot generally refers to the spatial energy distribution formed by the light beam on the cross section (such as the photosensitive surface of the detection module in this application).
  • the shape of the light spot can be a rectangle, an ellipse, a circle, or other regular or irregular figures.
  • the light spot corresponding to the echo signal refers to the spatial energy distribution formed by the echo signal on the photosensitive surface of the detection module. It should be noted that those skilled in the art know that the overall energy distribution of the light spot is different in intensity, the energy density of the core area is relatively high, and the shape of the light spot is relatively obvious, while the edge part gradually extends outward, and the energy density of the edge part is relatively low.
  • the shape is not clear, and with the gradual weakening of the energy intensity, the recognition of the spot near the edge is relatively low. Therefore, the light spot with a certain shape mentioned in this application can be understood as a light spot with an easily identifiable boundary formed by a part with strong energy and high energy density, not the whole of the light spot in the technical sense.
  • the meridian plane (or vertical plane) in optics refers to the plane formed by the main beam of the off-axis object point and the main axis of the optical system, which is called the meridian plane of optical system imaging.
  • the beam located in the meridian plane is called meridian beam (or called vertical beam), and the position where the meridian beam is focused is called meridian image plane (or called vertical focal plane or vertical image plane).
  • the image formed by the meridian beam is called the meridian image point
  • the image plane where the meridian image point is located is called the meridian image plane.
  • the sagittal plane (or water surface) and the meridian plane are perpendicular to each other.
  • the beam located in the sagittal plane is called a sagittal beam (or called a horizontal beam), and the focused position of the sagittal beam is called a sagittal image plane (or called a horizontal focal plane or a horizontal square image plane).
  • a sagittal image plane or called a horizontal focal plane or a horizontal square image plane.
  • the image formed by the sagittal light beam is called a sagittal image point
  • the image plane where the sagittal image point is located is called a sagittal image plane.
  • the direction corresponding to the meridian plane is called the meridian direction (or called the vertical direction), and the direction corresponding to the sagittal plane is called the sagittal direction (or called the horizontal direction).
  • the angle between the meridian plane and the sagittal plane is equal to 90 degrees, and the angle between the meridian plane and the sagittal plane can also be less than 90 degrees or greater than 90 degrees, allowing a certain range of engineering error.
  • the row address can be the abscissa, and the column address can be the ordinate.
  • the rows of the pixel array correspond to the horizontal direction and the columns of the pixel array correspond to the vertical direction as an example.
  • the row-column strobe signal can be used to extract data at a specified location in the memory, and the pixel corresponding to the extracted specified location is the gated pixel. It should be understood that the pixels in the pixel array can store the detected signals in corresponding memories.
  • FIG. 2 schematically shows a schematic diagram of a possible application scenario of the present application.
  • the receiving optical module is applied to the lidar
  • the lidar is installed on the vehicle
  • the vehicle is driving on the road as an example.
  • the vehicle may be, for example, an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital vehicle.
  • LiDAR can be deployed in various positions of the vehicle.
  • lidar can be deployed in any direction or multiple directions in the front, rear, left and right directions of the vehicle to capture information about the surrounding environment of the vehicle.
  • Figure 2 is an example where the lidar is deployed in front of the vehicle.
  • the lidar can perceive the fan-shaped area shown in the dotted box shown in Figure 2, and the fan-shaped area can be called the detection area of the lidar.
  • the laser radar can acquire the car's latitude and longitude, speed, orientation, or related information (such as the distance of the target, the movement of the target) within a certain range (such as other vehicles around) in real time or periodically. speed, the attitude of the target or the grayscale image of the target, etc.).
  • the lidar or the vehicle can determine the vehicle's position and/or path planning, etc. based on this associated information. For example, use the latitude and longitude to determine the position of the vehicle, or use the speed and orientation to determine the driving direction and destination of the vehicle in the future, or use the distance of surrounding objects to determine the number and density of obstacles around the vehicle.
  • an advanced driving assistant system can also be combined to realize assisted driving or automatic driving of the vehicle.
  • ADAS advanced driving assistant system
  • the principle of the laser radar to detect the associated information of the target is: the laser radar emits signal light in a certain direction, if there is a target in the detection area of the laser radar, the target can reflect the received signal light back to the laser radar (reflected The signal light can be called the echo signal), and the laser radar determines the relevant information of the target according to the echo signal.
  • lidar can also be mounted on drones as airborne radar.
  • lidar can also be installed in a roadside unit (RSU), as a roadside traffic lidar, which can realize intelligent vehicle-road collaborative communication.
  • lidar can be installed on an automated guided vehicle (AGV).
  • AGV automated guided vehicle
  • the AGV is equipped with an automatic navigation device such as electromagnetic or optical, and can drive along a prescribed navigation path. It has safety protection and various Transporter with transfer function. They are not listed here.
  • the application scenarios can be applied to areas such as unmanned driving, automatic driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping, or artificial intelligence.
  • FIG. 3 is a schematic diagram of a lidar architecture provided in this application.
  • the lidar can include a transmitting module 301 , a receiving optical module 302 and a detecting module 303 .
  • the emitting module 301 is used for emitting signal light.
  • the receiving optical module 302 is used to receive the echo signal obtained by reflecting the signal light from the target in the detection area, widen the light spot corresponding to the echo signal in the horizontal direction or vertical direction, and project the widened light spot to the detection module. Group 303. It can also be understood that after the echo signal from the detection area propagates through the receiving optical module 302, the light spot corresponding to the echo signal widens in the horizontal direction or the vertical direction.
  • the echo signal from the detection area passes through the receiving optical module 302, it is imaged in a non-equal ratio in the horizontal direction and the vertical direction.
  • the detection module 303 is used to perform photoelectric conversion on the received widened light spot to obtain an electrical signal used to determine the associated information of the target.
  • the echo signal can also be understood as including the reflected light that the signal light directed to the detection area is reflected by the target in the detection area.
  • receiving optical module 302 and the detection module 303 may also be collectively referred to as a receiving module.
  • the light spot corresponding to the echo signal is widened in the horizontal or vertical direction, and the light spot in the widened direction can cover a larger area of the detection module Therefore, it helps to reduce the number of photons received on the photosensitive area per unit area, which can improve the anti-saturation ability of the detection module, which in turn helps to improve the dynamic range of the lidar.
  • the dynamic range of the lidar can be improved without reducing the spatial resolution of the lidar in the vertical direction; when the echo signal corresponds to When the spot widens in the vertical direction and remains unchanged in the horizontal direction, the dynamic range of the lidar can be improved without reducing the spatial resolution of the lidar in the horizontal direction.
  • the strong background stray light is also difficult to cause saturation of the detection module (that is, the threshold of the lidar receiving stray light is increased) , which helps to improve the ability of lidar to resist background stray light, and then can improve the ranging ability of lidar under strong background stray light.
  • the widening of the light spot corresponding to the echo signal in the horizontal direction or the vertical direction includes but is not limited to: the widening of the light spot corresponding to the echo signal in the horizontal direction does not change in the vertical direction, or the widening of the light spot corresponding to the echo signal in the horizontal direction Invariably widens in the vertical direction, or the light spot corresponding to the echo signal decreases in the horizontal direction and widens in the vertical direction, or the light spot corresponding to the echo signal widens in the horizontal direction and decreases in the vertical direction. In other words, at the same position, the size of the light spot corresponding to the echo signal is different in the horizontal direction and in the vertical direction. Wherein, the size of the light spot corresponding to the echo signal refers to the size of the shape formed by the echo signal on the cross section.
  • the associated information of the target includes but not limited to distance information of the target, orientation of the target, speed of the target, and/or grayscale information of the target.
  • the horizontal direction in this application is parallel to the horizontal direction in the world coordinate system
  • the vertical direction is parallel to the vertical direction in the world coordinate system. If the detection module is installed obliquely, there is a certain included angle between the horizontal direction in this application and the horizontal direction in the world coordinate system, and the vertical direction is parallel to the vertical direction in the world coordinate system.
  • Each functional module shown in FIG. 3 is introduced and described below to give an exemplary specific implementation solution.
  • the transmitting module, receiving optical module and detecting module in the following are not marked.
  • the emitting module is used to emit signal light.
  • the signal light may be a line beam, or may also be a surface beam.
  • the emitting module includes a light source array and an emitting optical module.
  • the light source array can be understood as being composed of multiple light sources, and the light sources in the light source array can be, for example, vertical cavity surface emitting lasers (vertical cavity surface emitting lasers, VCSELs), edge emitting lasers (edge emitting laser, EEL).
  • vertical cavity surface emitting lasers vertical cavity surface emitting lasers, VCSELs
  • edge emitting lasers edge emitting laser, EEL
  • the light source array can realize independent addressing, that is, the light sources in the light source array can be independently selected (or referred to as lighting or turning on or energized), and the selected light sources can be used to emit signal light.
  • the light sources in the light source array can be selected column by column, or the light sources in the light source array can be selected row by row, or the light sources in the light source array can be selected point by point, or all the light sources in the light source array can be selected at once. No matter which gating method is used, when all the light sources in the light source array are selected, full-field scanning of the lidar can be realized. It can also be understood that the splicing of the emission field of view of each light source in the light source array can obtain the full field of view of the lidar.
  • the light source array includes M rows and N columns of light sources, where both M and N are integers greater than 1.
  • the light source array can time-select the light sources by row or by column, and the signal light emitted by the rows of the light sources selected by the rows or the columns of the light sources selected by the columns is a line beam.
  • the so-called time-division strobing of light sources by row refers to strobing at least one row of light sources in the light source array at the same time.
  • the time-divisional strobing of light sources by column refers to the strobing of at least one column of light sources in the light source array at the same time.
  • the light source row gated by row at the same time may be one row of light sources or multiple rows of light sources
  • the column of light sources gated by column may be one column of light sources or multiple columns of light sources, which is not limited in this application.
  • FIG. 4 a it is a schematic structural diagram of a light source array provided by the present application.
  • the signal light emitted by the selected light source columns may be line beams.
  • the first row of light sources in the light source array is selected at the first time
  • the second row of light sources in the light source array is selected at the second time
  • so on, and the light source is selected at the fifth time.
  • the signal light emitted by a row of light sources selected at each moment is a line beam.
  • the first row of light sources in the light source array is selected at the first time
  • the second row of light sources in the light source array is selected at the second time
  • the signal light emitted by the row of light sources selected at each moment is a line beam.
  • the light source array may gate the light sources by plane, and the signal light emitted by the light source gate by plane is a plane beam.
  • the so-called strobing the light sources in the light source array by area refers to strobing all the light sources in the light source array at one time, and the light source array includes at least two rows and two columns.
  • the signal light emitted by the light source array is a plane beam. If the light source row in the light source array is time-selected by row or the light source column in the light source array is time-shared by column, the signal light emitted by the selected light source row or the selected light source column is a line beam.
  • the light source array including M rows and N columns of light sources can realize emission line Beam or surface beam signal light.
  • the light source array includes K rows and 1 column of light sources, where K is an integer greater than 1.
  • FIG. 4 b it is a schematic structural diagram of another light source array provided by the present application.
  • the light source array includes 1 row and L columns of light sources, where L is an integer greater than 1.
  • FIG. 4 c it is a schematic structural diagram of another light source array provided by the present application.
  • the laser radar in order to achieve a larger range of detection of the detection area, the laser radar usually also includes a scanning module.
  • the scanning module can be used to reflect the signal light emitted by the emitting module to the detection area. Specifically, the scanning module changes the scanning angle of the scanning module by rotating around the scanning axis, so that the scanning module reflects the signal light from the emitting module to different positions in the detection area at different scanning angles, thereby realizing the detection of Scanning of the detection area. Further, optionally, the scanning module is also used to reflect the echo signal from the detection area to the receiving optical module. It should be noted that the scanning module can rotate around the scanning axis in a continuous operation mode, or in a stepping operation mode around the scanning axis, which is not limited in this application. In practical applications, which mode of rotation is used can be preset.
  • the scanning module may be, for example, one or more of rotating mirrors (such as four-sided mirrors, six-sided mirrors, or eight-sided mirrors), or MEMS mirrors or oscillating mirrors.
  • the scanning module can be a rotating mirror or a MEMS mirror or an oscillating mirror.
  • the scanning module can be a combination of rotating mirror and swing mirror; for another example, the scanning module can be a combination of rotating mirror and MEMS mirror; for another example, the scanning module can be a combination of MEMS mirror and swing mirror; for another example , The scanning module can be a combination of MEMS mirror, swing mirror and rotating mirror.
  • the present application does not limit the type of the scanning module, any structure that can transmit the signal light emitted by the transmitting module to the detection area and propagate the echo signal to the receiving optical module can be used.
  • the present application does not limit the specific forms of the rotating mirror, the MEMS mirror and the oscillating mirror.
  • the transmitting module and the receiving optical module may share a scanning module, and the shared scanning module may be, for example, a rotating mirror, a MEMS mirror or an oscillating mirror.
  • the transmitting module and the receiving optical module can correspond to a scanning module respectively; for example, the scanning module corresponding to the transmitting module can be a rotating mirror, and the scanning structure corresponding to the receiving optical module is also a rotating mirror;
  • the scanning module corresponding to the group can be a oscillating mirror, and the scanning structure corresponding to the receiving optical module is also a oscillating mirror; for another example, the scanning module corresponding to the transmitting module can be a MEMS mirror, and the scanning structure corresponding to the receiving optical module is also a MEMS mirror ;
  • the scanning module corresponding to the transmitting module can be a rotating mirror, and the scanning structure corresponding to the receiving optical module is also a MEMS mirror;
  • the scanning module corresponding to the transmitting module can be a rotating mirror, and the scanning structure corresponding to the receiving optical module is also
  • FIG. 5 is a schematic structural diagram of a transmitting optical module provided in this application.
  • the emitting optical module is used for propagating the signal light emitted by the emitting module to the detection area.
  • the emitting optical module includes three lenses as an example. Since the divergence angle of the signal light from the transmitting module may be relatively large, and there may be beams with poor astigmatism quality, the transmitting optical module can also collimate and/or shape and/or homogenize the signal light, thereby The divergence angle of the signal light emitted to the detection area is made smaller, so that more signal light can be irradiated to the detection area.
  • the present application does not limit the type of the lens included in the emission optical module, for example, it may be a plano-convex lens, a plano-concave lens, a concave-convex lens, a bi-convex lens, or a bi-concave lens.
  • the number of lenses included in the above-mentioned emission optical module is only an example.
  • the number of lenses included in the emission optical module may be more than the above-mentioned figure 5, or may be less than the above-mentioned figure 5.
  • the application does not limit the number of lenses included in the emitting optical module.
  • the above-mentioned FIG. 5 exemplifies that the emission optical module includes only lenses, and the emission optical module may also include mirrors, etc., which is not limited in the present application.
  • the emitting optical module may be rotationally symmetrical about the optical axis of the emitting optical module.
  • the emitting mirror in the emitting optical module can be a single spherical lens, or a combination of multiple spherical lenses.
  • the emitting optical module may also be a non-rotationally symmetrical emitting optical module.
  • the emitting mirror in the emitting optical module can be a single aspheric lens, or a combination of multiple aspheric lenses. The combination of multiple spherical lenses and/or aspheric lenses helps to improve the imaging quality of the emission optical system and reduce the aberration of the optical imaging system.
  • the emission module may include a light source array and an emission optical module.
  • the light source array can be the structure 1.1, or the structure 1.2, or the structure 1.3, and the emitting optical module can be, for example, the lens group shown in FIG. 5 above.
  • the emission module includes a first laser and a first beam adjustment component.
  • the emitting module includes a first laser and a first beam adjusting component.
  • the first laser is used to emit the first signal light, which may be, for example, an EEL.
  • the first light beam adjusting component is used for adjusting the first signal light into the signal light of the line beam. Further, the first light beam adjustment component can also be used to shape and/or collimate and/or homogenize the first signal light.
  • the first light beam adjustment component may be, for example, a lens, or a lens group, or a lens array.
  • the number of first lasers included in the emission module may be one or multiple, which is not limited in this application.
  • Fig. 6a is an example where the emission module includes two first lasers.
  • the laser radar can also include a scanning module.
  • a scanning module For the introduction of the scanning module, please refer to the above-mentioned related introductions, which will not be repeated here.
  • the emitting module includes a second laser and a second beam adjustment component.
  • the emission module includes a second laser and a second beam adjustment assembly.
  • the second laser is used to emit the second signal light, for example, it may be a VCSEL.
  • the second light beam adjustment component is used to adjust the second signal light to be the signal light of the surface beam. Further, the second light beam adjustment component can also be used to shape and/or collimate and/or homogenize the second signal light.
  • the second light beam adjustment component may be, for example, a lens, a lens group, or a lens array. It should be noted that the number of the second laser included in the transmitting module may be one or multiple, which is not limited in this application.
  • first laser may be the same as the second laser, or may also be different, which is not limited in this application.
  • the horizontal focal plane refers to the focal plane corresponding to the horizontal direction
  • the vertical focal plane refers to the focal plane corresponding to the vertical direction
  • the horizontal equivalent optical power refers to the equivalent optical power in the horizontal direction
  • the vertical equivalent optical power refers to The equivalent optical power in the vertical direction.
  • the detection module may be located on the vertical focal plane, and the beam spot projected by the echo signal to the detection module is widened in the horizontal direction, including but not limited to, the beam spot is diffused in the horizontal direction and focused in the vertical direction.
  • the detection module can be located on the horizontal focal plane, and the light spot projected by the echo signal to the detection module is widened in the vertical direction, including but not limited to, the light spot is diffused in the vertical direction and focused in the horizontal direction.
  • the receiving optical module includes optical components for non-proportional imaging.
  • the equivalent focal length of the optical components in the non-proportional imaging is different in the horizontal direction and the equivalent focal length in the vertical direction. In this way, the non-equal imaging optical component can separate the vertical focal plane and the horizontal focal plane of the received echo signal.
  • the vertical focal plane and the horizontal focal plane of the light spot of the echo signal sent to the detection module after passing through the non-equal imaging optical component are separated.
  • the detection module receives The light spot of the echo signal received by the detection module is focused in the vertical direction and diffuse in the horizontal direction; when the detection module is located at the horizontal focal plane, the light spot of the echo signal received by the detection module is focused in the horizontal direction , is diffuse in the vertical direction.
  • the light spot in the diffuse direction can cover the larger photosensitive area of the detection module, so the number of photons received per unit photosensitive area is reduced, so that the unit photosensitive area can detect higher intensity echo signals, which in turn helps to improve the response of the detection module The dynamic range of the echo signal.
  • the detection module when the detection module is located at the vertical focal plane, the light spot of the echo signal received by the detection module is focused in the vertical direction, that is, the size of the light spot in the vertical direction is constant, so the space in the vertical direction Resolution is not affected.
  • the detection module when the detection module is located at the horizontal focal plane, the light spot of the echo signal received by the detection module is focused in the horizontal direction, that is, the size of the light spot in the horizontal direction is constant. Therefore, in the horizontal direction The spatial resolution of is not affected.
  • an optical component for non-proportional imaging such as a focal power element.
  • the equivalent optical power in the horizontal direction of the optical power element is different from the equivalent optical power in the vertical direction.
  • the equivalent focal length in the horizontal direction of the optical power element is different from the equivalent focal length in the vertical direction.
  • the echo signals passing through the optical power element are respectively focused on the horizontal focal plane and the vertical focal plane, and the horizontal focal plane and the vertical focal plane are separated.
  • the difference between the equivalent optical power in the horizontal direction and the equivalent optical power in the vertical direction is small.
  • the optical power element may be a one-dimensional optical power element, and the one-dimensional optical power element means that the optical power in one dimension is not 0, and the optical power in other dimensions is 0 optical components.
  • the one-dimensional focal power element may be an optical element with zero horizontal focal power and non-zero vertical focal power; or an optical element with non-zero horizontal focal power and zero vertical focal power.
  • the one-dimensional optical power element includes at least one or more of a one-dimensional cylindrical lens, a one-dimensional optical wedge, or a one-dimensional grating.
  • the one-dimensional cylindrical mirror is, for example, a one-dimensional cylindrical lens or a one-dimensional cylindrical mirror.
  • the reflective surface of the cylindrical reflector is a cylindrical surface, and the reflective surface can be a surface coated with a reflective film.
  • the reflective film includes but is not limited to an ordinary protective aluminum film, a protective ultraviolet reflective aluminum film, a protective silver film, a protective Gold film, etc.
  • the optical power element may also be a two-dimensional optical power element.
  • the two-dimensional optical power element refers to an optical element whose equivalent optical power in two dimensions is not 0, and the equivalent optical power of these two dimensions is different.
  • the two-dimensional optical power element may be an element whose vertical optical power is not zero and horizontal optical power is not zero.
  • the two-dimensional optical power element may be a lens, a mirror, or a combination of a lens and a mirror.
  • the two-dimensional optical power element includes, but is not limited to, at least one or a combination of a toroidal mirror, a two-dimensional cylindrical mirror, a saddle mirror, a two-dimensional grating, or a two-dimensional wedge.
  • the toroidal mirror includes a toroidal reflecting mirror or a toroidal transmitting mirror
  • the two-dimensional cylindrical mirror includes a two-dimensional cylindrical emitting mirror or a two-dimensional cylindrical transmitting mirror.
  • optical components for non-proportional imaging are only examples, and the application does not limit the specific form of the optical components for non-proportional imaging, as long as the horizontal focal plane and vertical focal plane of the echo signal can be separated optics are available.
  • the number of one-dimensional cylindrical mirrors and/or one-dimensional optical wedges and/or one-dimensional gratings included in the one-dimensional optical power element may be one or more, and this application does not make any limited.
  • the number of toroidal mirrors and/or two-dimensional cylindrical mirrors and/or saddle mirrors and/or two-dimensional gratings and/or two-dimensional optical wedges included in the two-dimensional optical power element can be one, or can be More than one, this application does not limit it.
  • both surfaces of the focal element may be curved surfaces; or one surface may be curved and the other may be a plane, and the present application does not limit which surface of the focal element is a curved surface.
  • the focal element is a one-dimensional cylindrical lens or a two-dimensional cylindrical lens
  • one surface of the cylindrical lens may be concave and the other surface may be flat, and such a cylindrical lens may be called a plano-concave cylindrical lens.
  • one surface of the cylindrical mirror may be convex and the other surface may be flat, and such a cylindrical mirror may be called a plano-convex cylindrical mirror.
  • both surfaces of the cylindrical mirror may also be concave, and such a cylindrical mirror may be called a biconcave cylindrical mirror.
  • the cylindrical mirror can also have two convex surfaces, and this type of cylindrical mirror can be called a biconvex cylindrical mirror.
  • one surface of the cylindrical mirror may be concave and the other convex.
  • This type of cylindrical mirror may be called a concave-convex cylindrical mirror or a convex-concave cylindrical mirror. The application does not limit the specific shape of the cylindrical mirror.
  • the material of the optical power element may be optical materials such as glass, resin, or crystal.
  • the material of the power element is resin, the mass of the receiving optical system can be reduced.
  • the material of the focal power element is glass, it is helpful to improve the imaging quality of the receiving optical system.
  • the receiving optical module may also include a lens group.
  • FIG. 7 it is a schematic structural diagram of a lens group provided by the present application.
  • the lens group includes 4 lenses as an example.
  • the lens group may be rotationally symmetrical about the optical axis.
  • the lens in the lens group may be a single spherical lens, or a combination of multiple spherical lenses (such as a combination of concave lenses, a combination of convex lenses, or a combination of convex and concave lenses, etc.).
  • convex lenses include biconvex lenses, plano-convex lenses, and meniscus lenses
  • concave lenses include biconvex lenses, plano-concave lenses, and meniscus lenses
  • the lens group may also be a non-rotationally symmetrical lens group.
  • the lens in the lens group may be a single aspheric lens, or a combination of multiple aspheric lenses. The combination of multiple spherical lenses or aspheric lenses helps to improve the imaging quality of the receiving optical system and reduce the aberration of the optical imaging system.
  • the number of lenses included in the lens group shown in FIG. 7 is just an example. In the present application, the lens group may include more or fewer lenses than in FIG. 7 .
  • the receiving optical module may also include reflective mirrors, etc., which is not limited in this application.
  • the material of the lenses in the lens group may be an optical material such as glass, resin, or crystal.
  • the material of the lens is resin, it helps to reduce the mass of the receiving optical system.
  • the material of the lens is glass, it is helpful to further improve the imaging quality of the receiving optical system.
  • the lens group includes at least one lens made of glass material. It should be understood that when the lens group includes at least three lenses, the material of some lenses may be resin, the material of some lenses may be glass, and the material of some lenses may be crystal.
  • the following exemplarily shows the possible positional relationship between the non-uniform imaging optical component and the lens group in the receiving optical module.
  • the optical components for non-uniform imaging can be located on the object side of the lens group.
  • the optical component for non-proportional imaging is arranged on the inner surface of the window.
  • the interference of the external environment to the laser radar can be isolated through the window.
  • the above-mentioned non-proportional imaging optical component may be arranged (for example, glued) on the inner surface of the glass window (ie, the surface close to the lidar or the surface away from the external environment).
  • the optical components for non-proportional imaging can also be arranged on any surface of the optical filter.
  • the laser radar can also include an optical filter. Before the echo signal is sent to the receiving optical module, in order to prevent invalid photons outside the spectrum corresponding to the echo signal from interfering with the echo signal by the detection module, the invalid photons can be filtered out through the filter first.
  • the non-scaled imaging optical component may be disposed (eg bonded) on either side of the filter.
  • the optical component for non-proportional imaging is arranged on the first lens of the lens group close to the object side.
  • the non-proportional imaging optical component may be disposed (for example bonded) on the first lens in the first lens group close to the object side.
  • the optical components for non-proportional imaging are set independently.
  • the optical component for non-proportional imaging may also be independently arranged on the object side of the lens group.
  • the optical components for non-uniform imaging can be located at the image side of the lens group. It can also be understood that the non-proportional imaging optical component is located between the lens group and the detection module.
  • the following exemplarily shows two possible implementation manners in which the optical components for non-equal-scale imaging are located at the image side of the lens group.
  • Implementation mode 1 the optical component for non-proportional imaging is arranged on the first lens close to the image side in the lens group.
  • the non-proportional imaging optical component may be arranged (for example, cemented) on the first lens on the image side of the lens group.
  • the optical components for non-proportional imaging are independently arranged between the lens group and the detection module.
  • the optical component for non-proportional imaging may also be independently arranged between the lens group and the detection module.
  • the non-proportional imaging optical components can also be independently arranged on the image side of the lens group.
  • FIG. 8 is an exemplary structural diagram of a non-proportional imaging optical component independently disposed on the image side of the lens group in the present application.
  • the lens group includes four rotationally symmetrical lenses as an example, and the non-proportional imaging optical component is a double-concave cylindrical mirror as an example, and the non-proportional imaging optical component is located at the image side of the lens group.
  • the number of non-uniform imaging optical components included in the receiving optical module may be one or multiple.
  • FIG. 8 is an example of two, which is not limited in the present application.
  • the third positional relationship is that the non-proportional imaging optical component is located between any two adjacent lenses in the lens group, wherein the lens group includes at least two lenses.
  • the non-proportional imaging optical component can be independently arranged between any two adjacent lenses in the lens group, or it can also be glued to the image side of the lens near the object side in the lens group The surface of the lens, or it can also be bonded to the surface of the lens near the image side near the object side.
  • the structure of the receiving optical module given above is only an example, and any structure that can expand the light spot corresponding to the echo signal in the horizontal direction or in the vertical direction is acceptable, and this application is not limited thereto.
  • the detection module is configured to perform photoelectric conversion on the received widened light spot to obtain an electrical signal for determining associated information of the target.
  • the detection module can implement binning photosensitive units in the row and/or column direction. When the rows and columns use the same number of photosensitive units Binning at the same time, the aspect ratio of the image does not change; when the number of photosensitive units of the row and column Binning is different, the aspect ratio of the image will change.
  • the photosensitive unit may be a SPAD, a digital silicon photomultiplier (silicon photomultiplier, SiPM) or an APD.
  • the detection module includes a pixel array, and the pixels in the pixel array include at least two photosensitive units combined. Please refer to FIG. 1c above, which is an example of combining three photosensitive units in a row direction including a pixel.
  • the detection module may be located on the horizontal focal plane or on the vertical focal plane.
  • the following is an introduction based on the situation where the detection module is located on the horizontal focal plane or on the vertical focal plane.
  • the detection module is located on the vertical focal plane.
  • the equivalent optical power in the horizontal direction of the optical component for non-proportional imaging is greater than the equivalent optical power in the vertical direction.
  • the horizontal focal plane and the vertical focal plane of the echo signal can be separated, and the beam in the horizontal direction is first focused to the horizontal focal plane, and the vertical focal plane
  • the beam in the direction is focused to the vertical focal plane, that is, along the optical axis of the receiving optical module from the object side to the image side, the horizontal focal plane is closer to the object side than the vertical focal plane, that is, the vertical focal plane is closer to the horizontal focal plane than the horizontal The focal plane is closer to the image side.
  • the beam in the horizontal direction is diffuse. Therefore, when the detection module is located on the vertical focal plane, the light spot of the received echo signal is diffuse in the horizontal direction, that is, the light spot of the echo signal is widened in the horizontal direction and focused in the vertical direction.
  • the first aperture can be placed on the horizontal focal plane.
  • the shape of the first aperture can be the same as the shape of the spot corresponding to the echo signal from the detection area
  • the shape of the light spot corresponding to the echo signal from the detection area is the same as the shape of the light spot corresponding to the signal light directed to the detection area.
  • the shape of the light spot corresponding to the signal light may be a rectangle
  • the shape of the first aperture may also be a rectangle (please refer to FIG. 9a or FIG. 9b below).
  • the shape of the light spot corresponding to the signal light may be elliptical, and correspondingly, the shape of the first aperture may also be elliptical.
  • the shape of the light spot of the signal light may be circular, and correspondingly, the shape of the first aperture may also be circular.
  • the laser radar may include at least one first aperture. It should be understood that the shape of the first aperture may also be other regular shapes, such as quadrilateral; or it may also be other irregular shapes.
  • the following takes the shape of the first aperture as a rectangle as an example for description.
  • the short side of the first diaphragm is parallel to the horizontal direction
  • the long side of the first diaphragm is parallel to the vertical direction.
  • ⁇ 1 represents the horizontal angular resolution of the receiving optical system
  • f 1 represents the equivalent focal length f 1 of the receiving optical system in the horizontal direction.
  • the length L 1 of the short side of the first aperture may also satisfy: L 1 > ⁇ 1 ⁇ f 1 .
  • n 1 can be a number greater than 1 such as 1.2, 1.5 or 2.
  • the length L 1 of the short side of the first aperture may also satisfy: L 1 ⁇ 1 ⁇ f 1 .
  • the length L 1 of the short side of the first aperture satisfies L 1 > ⁇ 1 ⁇ f 1 , the utilization rate of echo signals can be improved as much as possible.
  • the length L 1 of the short side of the first diaphragm satisfies L 1 ⁇ 1 ⁇ f 1 , background stray light can be suppressed from being directed to the detection module as much as possible.
  • the length L 2 of the long side of the first aperture satisfies: L 2 ⁇ ⁇ 1 ⁇ f 2 , where ⁇ 1 represents the vertical viewing angle of the receiving optical system, and f 2 represents the vertical field angle of the receiving optical system
  • L 2 ⁇ 1 ⁇ f 2 the echo signal in the vertical direction can be directed to the detection module as much as possible, thereby improving the utilization rate of the echo signal.
  • the vertical viewing angle of the optical receiving system refers to the maximum angle detectable by the optical receiving system in the vertical direction.
  • echo signals in the effective field of view in the horizontal direction can be allowed to pass through, and echo signals outside the effective field of view can be suppressed (or blocked).
  • the background stray light helps to reduce the stray light to the detection module.
  • the first aperture is parallel to the photosensitive surface of the detection module, that is, the angle between the first aperture and the photosensitive surface of the detection module is equal to 0 degrees.
  • the length L 2 of the long side of the first diaphragm satisfies: L 2 ⁇ 1 ⁇ f 2 .
  • the angle between the first aperture and the photosensitive surface of the detection module is not equal to 0, in order to minimize the influence of background stray light on the signal light
  • the component L y of the long side of the first aperture in the vertical direction satisfies: L y ⁇ 1 ⁇ f 2 .
  • the spot coverage dx in the horizontal direction is related to the equivalent focal length fx of the receiving optical system in the horizontal direction, the equivalent focal length fy in the vertical direction, the divergence angle ⁇ of the echo signal, and the receiving optical system
  • the image-side numerical aperture NA of the system is related, which can be referred to the following formula 1.
  • the short axis of the elliptical first aperture is consistent with the length of the short side of the rectangular first aperture
  • the long axis of the elliptical first aperture is consistent with the length of the long side of the rectangular aperture.
  • the first diaphragm may be, for example, a slit diaphragm (or called an aperture diaphragm or an effective diaphragm), and refer to the diaphragm shown in Fig. 9a or Fig. 9b below.
  • the first aperture can also be printed with the required light-transmitting shape on glass, etc. by silk screen printing technology, and the other areas are black ink (the black ink area does not allow light transmission), please refer to Figure 9c or Figure 9d the aperture. It should be understood that the shape of the slit or light passage of the first aperture determines the aperture angle of the echo signal on the horizontal focal plane.
  • the above-mentioned shape of the first aperture specifically refers to the shape of the slit (or aperture) of the first aperture.
  • the shape of the first aperture is a rectangle means that the shape of the slit of the first aperture is a rectangle, and the long side and short side of the first aperture refer to the long sides of the slit (or aperture) of the first aperture and short sides.
  • FIG. 9a it is a schematic diagram of the scope of the photosensitive unit covered by the corresponding light spot on the pixel array after the echo signal passes through the first aperture and the non-equal imaging optical component provided by the present application.
  • FIG. 9a it is a schematic diagram of the scope of the photosensitive unit covered by the corresponding light spot on the pixel array after the echo signal passes through the first aperture and the non-equal imaging optical component provided by the present application.
  • FIG b shows a schematic diagram of the range of the photosensitive unit covered by the corresponding light spot on the pixel array after the echo signal passes through the first aperture. From the comparison of Fig. 9a and Fig. 9b, it can be concluded that after the echo signal passes through the non-uniform imaging optical component, the light spot corresponding to the echo signal expands in the horizontal direction, so that more photosensitive units in the detection module can be covered.
  • the shape of the first aperture is elliptical, which means that the shape of the slit of the first aperture is elliptical, and the major axis and minor axis of the first aperture are the major axis and the minor axis of the slit of the first aperture. axis.
  • the above-mentioned shape of the first diaphragm specifically refers to the light-transmitting shape of the first diaphragm.
  • the shape of the first aperture is a rectangle means that the light transmission shape of the first aperture is a rectangle, and the long side and short side of the first aperture refer to the long side and short side of the light transmission shape of the first aperture.
  • FIG. 9 c it is a schematic diagram of the coverage of another echo signal on the pixel array after passing through the first aperture and non-equal-scale imaging optical components provided by the present application. Fig.
  • the shape of the first aperture is elliptical, which means that the light transmission shape of the first aperture is ellipse, and the major axis and minor axis of the first aperture are the major axis and short axis of the light transmission shape of the first aperture. axis.
  • the detection module is located on the horizontal focal plane.
  • the equivalent optical power in the vertical direction of the optical component for non-proportional imaging is greater than the equivalent optical power in the horizontal direction.
  • the horizontal focal plane and the vertical focal plane of the echo signal can be separated, and the beam in the vertical direction is first focused on the vertical focal plane, and the beam in the horizontal direction is focused on the vertical focal plane.
  • the light beam on the beam is then focused to the horizontal focal plane, that is, along the direction from the object space to the image space of the receiving optical module, the vertical focal plane is closer to the object side than the horizontal focal plane, and the horizontal focal plane is closer to the vertical focal plane than the vertical focal plane. like square.
  • the beam in the vertical direction is diffuse. Therefore, when the detection module is located on the horizontal focal plane, the light spot of the received echo signal is diffuse in the vertical direction, that is, the light spot of the echo signal is expanded in the vertical direction and focused in the horizontal direction.
  • a second diaphragm can be placed on the vertical focal plane.
  • the shape of the second aperture is the same as the shape of the light spot of the echo signal from the detection area.
  • the shape of the second aperture please refer to the introduction of the aforementioned first aperture, which will not be repeated here.
  • the short side of the second diaphragm is parallel to the vertical direction
  • the long side of the second diaphragm is parallel to the horizontal direction.
  • ⁇ 2 represents the vertical angular resolution of the receiving optical system
  • f 2 is the equivalent focal length in the vertical direction of the receiving optical system
  • the length L 3 of the short side of the second aperture may also satisfy: L 3 > ⁇ 2 ⁇ f 2 .
  • n 2 can be 1.2, 1.5 or 2, etc.
  • n 2 can be the same as n 1 or different.
  • the length L 3 of the short side of the second aperture may also satisfy: L 3 ⁇ 2 ⁇ f 2 .
  • n 4 can be a number less than 1 such as 0.95, 0.8 or 0.7
  • n 4 can be the same as n 2 or different.
  • the utilization rate of the echo signal can be improved as much as possible.
  • the length L 3 of the short side of the second diaphragm satisfies: L 3 ⁇ 2 ⁇ f 2 , background stray light can be suppressed from being directed to the detection module as much as possible.
  • the length L 4 of the long side of the second diaphragm satisfies: L 4 ⁇ 2 ⁇ f 1 , where ⁇ 2 represents the horizontal field angle of the receiving optical system, and f 1 represents the horizontal field angle of the receiving optical system
  • the equivalent focal length f 1 in the direction L 4 ⁇ 2 ⁇ f 1 , where ⁇ 2 represents the horizontal field angle of the receiving optical system, and f 1 represents the horizontal field angle of the receiving optical system
  • the equivalent focal length f 1 in the direction L 4 ⁇ 2 ⁇ f 1 , where ⁇ 2 represents the horizontal field angle of the receiving optical system, and f 1 represents the horizontal field angle of the receiving optical system The equivalent focal length f 1 in the direction.
  • the horizontal viewing angle of the optical receiving system refers to the maximum detectable angle of the optical receiving system in the horizontal direction.
  • the second aperture is parallel to the photosensitive surface of the detection module, that is, the angle between the second aperture and the photosensitive surface of the detection module is equal to 0 degrees.
  • the length L 4 of the long side of the second diaphragm satisfies: L 4 ⁇ 2 ⁇ f 1 .
  • the component L x of the long side of the second aperture in the horizontal direction satisfies: L x ⁇ 2 ⁇ f 1 .
  • the second aperture is located on the vertical focal plane, and is used to allow echo signals in the effective field of view (ie, the field of view corresponding to the short side range of the second aperture) to pass through in the vertical direction, and The background stray light outside the effective field of view can be prevented from passing through, thereby helping to reduce the stray light directed to the detection module.
  • the optical path of the second aperture located on the vertical focal plane may refer to the optical path of the first aperture located on the horizontal focal plane, which will not be repeated here.
  • the spot coverage dy in the vertical direction is related to the equivalent focal length fx of the receiving optical system in the horizontal direction, the equivalent focal length fy in the vertical direction, the divergence angle ⁇ of the echo signal, and the receiving optical system
  • the image-side numerical aperture NA of the system is related, which can be referred to the following formula 2.
  • the short axis of the elliptical second aperture is consistent with the length of the short side of the rectangular second aperture
  • the long axis of the elliptical second aperture is consistent with the length of the long side of the rectangular aperture.
  • the second aperture may be, for example, a slit aperture (or called an aperture aperture or an effective aperture, refer to the aforementioned FIG. 9 a or FIG. 9 b ).
  • the second diaphragm can also be printed with the required light-transmitting shape on glass or the like by silk screen printing technology (see the above-mentioned Figure 9c or Figure 9d), and the other areas are black ink (the area of black ink is not allowed to transmit light) .
  • the shape of the slit or light passage of the second aperture determines the aperture angle of the echo signal on the vertical focal plane.
  • the above-mentioned shape of the second aperture specifically refers to the shape of the slit (or aperture) of the second aperture.
  • the shape of the second aperture is a rectangle means that the shape of the slit of the second aperture is a rectangle, and the long side and short side of the second aperture refer to the long sides of the slit (or aperture) of the second aperture and short sides.
  • the shape of the second aperture is elliptical, which means that the shape of the slit of the second aperture is elliptical, and the major axis and minor axis of the second aperture are the major axis and the minor axis of the slit of the second aperture. axis.
  • the above-mentioned shape of the second aperture specifically refers to the light-transmitting shape of the second aperture.
  • the shape of the second aperture is a rectangle means that the light transmission shape of the second aperture is a rectangle, and the long side and short side of the second aperture refer to the long side and short side of the light transmission shape of the second aperture.
  • the shape of the second diaphragm is elliptical, which means that the shape of the second diaphragm is elliptical, and the major axis and minor axis of the second diaphragm are the major axis and the shortest axis.
  • the optical components for non-proportional imaging are also horizontally and vertically placed, and the first aperture or the second aperture may also be horizontally and vertically placed.
  • the detection module rotates a certain angle around the optical axis of the receiving optical module, the non-proportional imaging optical components also need to rotate at the same angle in the same direction as the detection module, so that the non-proportional imaging optical components are separated horizontally
  • the focal plane or the vertical focal plane is matched with the detection module, and the first aperture or the second aperture can also rotate at the same angle in the same direction as the detection module.
  • the laser radar may also include a processing control module, which will be described in detail below.
  • the processing control module is configured to receive the electrical signal from the detection module, and determine the associated information of the target according to the electrical signal. Further, optionally, planning of the driving route can also be performed according to the determined associated information of the target, for example, avoiding obstacles on the driving route and the like.
  • the processing control module may include a processing unit and a control unit, and the processing unit may be a general-purpose processor, a field programmable gate array (field programmable gate array, FPGA), a signal data processing (digital signal processing, DSP) circuit, a dedicated Application specific integrated circuit (ASIC), or other programmable logic devices.
  • the control unit includes the drivers of the scanning module, the driver of the light source module, and the driver of the detection module, etc. These drivers can be integrated or separated.
  • the following uses an example in which the column direction corresponds to the vertical direction and the row direction corresponds to the horizontal direction as an example.
  • the lidar includes a transmitting module and a receiving module, and may further include a processing module.
  • the transmitting module includes a light source array and a transmitting optical module
  • the receiving module includes a pixel array and a receiving optical module.
  • the light source array includes 3 ⁇ 9 light sources as an example
  • the pixel array includes 3 ⁇ 9 pixels as an example, and each pixel takes 1 ⁇ 3 photosensitive units binned by row as an example.
  • the light sources in the light source array can realize independent addressing, and specifically can be the above-mentioned VCSEL or EEL.
  • For the light source array please refer to the introduction of the light source array in the above structure 1.1.
  • the transmitting optical module, the pixel array and the receiving optical module please refer to the above-mentioned related descriptions, which will not be repeated here.
  • the light source columns in the light source array can be time-selected by column, and the corresponding pixel columns in the pixel array can be time-selected by column.
  • light source rows in the light source array are time-selected by row, and corresponding pixel columns in the pixel array are time-selected by row.
  • the working mode of the lidar can be called the line-sweeping-line-receiving mode.
  • the so-called line sweeping line receiving mode can also be understood as the signal light emitted by the transmitting module is a line beam, and the echo signal received by the detection module is also a line beam.
  • the light spot directed to the pixel array can cover a column of cells; if the signal of the line beam emitted by the selected light source passes through the receiving optical module Expanded by 2 times in the horizontal direction, the light spot directed to the pixel array can cover 2 columns of cells. It can also be understood that the light spot corresponding to the echo signal is pulled up in the horizontal direction by the receiving optical module (that is, the light spot projected on the photosensitive surface of the pixel array is imaged in a disproportionate vertical direction and horizontal direction), thereby improving the light spot in the horizontal direction.
  • the number of photosensitive units covered in the horizontal direction can improve the dynamic range of the lidar.
  • the pixel array is the pixels obtained by binning multiple photosensitive units, and the emission module time-selects the light source columns in the light source array by column.
  • the detection area of the laser radar can be divided into multiple equal parts in units of columns, and the light source columns in the light source array are sequentially selected, and the corresponding line beams can sweep through these column areas of the detection area in turn, so that the detection can be realized. A scan of the entire area of the area.
  • the light spot corresponding to the echo signal is widened in the row direction, and the widened light spot is projected to the detection module, and the pixel corresponding to the selected light source column in the detection module
  • the column receives the widened light spot, because the light spot is widened in the row direction, therefore, the light spot corresponding to the echo signal can cover more (in this example, cover 3 as an example) photosensitive units in the row direction, Therefore, the number of photons detected by a single photosensitive unit can be reduced, thereby improving the anti-saturation capability of a unit photosensitive unit, and thus effectively improving the dynamic range of the lidar.
  • the spatial resolution in the column direction can be maintained without degradation. It can also be understood that when the laser radar scans in columns, the dynamic range of the pixel array in the row direction can be increased, and the spatial resolution in the column direction can be maintained unchanged.
  • FIG. 11 it is a schematic diagram of the result that the light spot corresponding to an echo signal is not widened (or stretched) provided by this application.
  • FIG. 11 it is a schematic diagram of a result provided by this application A schematic diagram of the light spot corresponding to the echo signal being widened in the horizontal direction.
  • FIG. 11 adopts an optical component for isometric imaging
  • FIG. 11 adopts an optical component for non-uniform imaging.
  • FIG. 12 is a three-dimensional diagram simulated to (a) in FIG. 11
  • (b) in FIG. 12 is a three-dimensional diagram simulated to (b) in FIG. 11 .
  • the laser radar shown in FIG. 10 it is also possible to realize surface emission and surface reception. For example, all light sources and all pixels are selected at one time. That is, the light source array emits the signal light of the surface beam, and the pixel array receives the echo signal of the surface beam.
  • FIG. 14a is a schematic diagram of another lidar architecture provided in this application.
  • the lidar includes a transmitting module, a receiving module and a scanning module, and further, a processing module (not shown in FIG. 14a ).
  • the transmitting module includes a light source array and a transmitting optical module
  • the receiving module includes a pixel array and a receiving optical module.
  • the light source array includes 1 ⁇ 9 light sources as an example
  • the pixel array includes 1 ⁇ 9 pixels as an example
  • each pixel binning 1 ⁇ 3 photosensitive units by row is taken as an example.
  • the light sources in the light source array can realize independent addressing, and specifically can be the above-mentioned VCSEL or EEL.
  • the light source array please refer to the introduction about the light source array in Structure 1.2 or Structure 1.3 above.
  • the transmitting optical module, pixel array, receiving optical module and scanning module please refer to the above-mentioned related descriptions, which will not be repeated here. It should be understood that the window in the lidar is used to isolate the lidar from the external environment.
  • the gated light source array is used to emit the signal light of the line beam, and by rotating the scanning module, the line beam can be projected to different positions of the detection area to realize scanning of the detection area. Further, the echo signals from different positions in the detection area are reflected to the receiving optical module through the scanning module, and the light spot corresponding to the echo signal is widened in the horizontal direction or vertical direction through the receiving optical module, and the widened The light spots are projected onto the pixel array.
  • Fig. 14b is an example with one light source, one pixel and one light spot. When the light source array is selected, a column of light spots is emitted to the detection area; correspondingly, each pixel in the pixel array can receive corresponding light spots that are widened in the row direction.
  • the scanning module is a reflective scanning module
  • the direction of the signal light emitted by the lidar to the detection area and the echo signal from the detection area are the same.
  • the signal light emitted by the lidar to the detection area and the echo signal from the detection area are parallel lights.
  • the change of the optical path of the signal light and the echo signal by the scanning module shown in FIG. 14 b above is only a possible example.
  • the laser radar can also have other possible combinations of the above-mentioned transmitting module, receiving optical module, detecting module and scanning module.
  • the emission module in FIG. 10 above can be replaced by the emission module in structure 3 above.
  • the above-mentioned light source module in FIG. 14b can be replaced by the light source module in the above-mentioned structure 2.
  • the laser radar also includes a scanning module (refer to FIG. 14bb), etc., which will not be listed here. It can also be understood that any reasonable combination of the transmitting module, receiving module, scanning module and detecting module based on the above examples is within the scope of the laser radar included in the present application.
  • the laser radar can be installed on the vehicle, please refer to FIG. 15 .
  • the position of the lidar on the vehicle in this example is only an example, and the lidar may also be disposed at any possible position around the body of the vehicle, which is not limited in the present application.
  • the lidar determines the related information of the target, it can send it to the vehicle, and the vehicle can plan the driving route according to the determined related information of the target, such as avoiding obstacles on the driving route.
  • the shape of the lidar shown in FIG. 15 is only an example, and the appearance of the lidar may also have other shapes, such as a rectangle, which is not specifically limited in the present application.
  • the present application may also provide a terminal device.
  • FIG. 16 it is a schematic structural diagram of a terminal device provided by this application.
  • the terminal device 1600 may include the lidar 1601 in any of the foregoing embodiments.
  • the terminal device may further include a processor 1602, and the processor 1602 is used to call a program or instruct to control the above-mentioned lidar 1601 to obtain electrical signals.
  • the processor 1602 may also receive the electrical signal from the lidar 1601, and determine the associated information of the target according to the electrical signal.
  • the terminal device may further include a memory 1603, and the memory 1603 is used to store programs or instructions.
  • the terminal device may also include other components, such as a memory or a wireless communication device.
  • Processor 1602 may include one or more processing units.
  • the processor 1602 may include an application processor (application processor, AP), a graphics processing unit (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), a controller, a digital signal processor (digital signal processor, DSP), etc.
  • application processor application processor
  • GPU graphics processing unit
  • ISP image signal processor
  • DSP digital signal processor
  • different processing units may be independent devices, or may be integrated in one or more processors.
  • Memory 1603 includes but not limited to random access memory (random access memory, RAM), flash memory, read-only memory (read-only memory, ROM), programmable read-only memory (programmable ROM, PROM), erasable programmable only Read memory (erasable PROM, EPROM), electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disk, removable hard disk, CD-ROM or any other form of storage medium known in the art.
  • An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
  • the storage medium may also be a component of the processor.
  • the processor and storage medium can be located in the ASIC.
  • the processor 1602 may also plan the driving route of the terminal device according to the determined associated information of the target, such as avoiding obstacles on the driving route.
  • the terminal device can be, for example, a vehicle (such as an unmanned car, a smart car, an electric car, or a digital car, etc.), a robot, a surveying and mapping device, a drone, a smart home device (such as a TV, a sweeping robot, a smart desk lamp, etc.) , audio system, intelligent lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance, etc.), intelligent manufacturing equipment (such as industrial equipment), intelligent transportation equipment (such as AGV, unmanned transport vehicle , or trucks, etc.), or smart terminals (mobile phones, computers, tablets, handheld computers, desktops, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.), etc.
  • a vehicle such as an unmanned car, a smart car, an electric car, or a digital car, etc.
  • a robot such as a robot, a surveying and mapping device, a drone, a smart home device (such as a TV, a
  • the horizontal direction may be a horizontal direction
  • the vertical direction may be a vertical direction
  • the horizontal optical power refers to the optical power in the horizontal direction
  • the vertical optical power refers to the optical power in the vertical direction
  • vertical does not refer to absolute verticality, and certain engineering errors may be allowed.
  • At least one means one or more, and “plurality” means two or more.
  • And/or describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • At least one of the following or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one item (piece) of a, b or c can mean: a, b, c, "a and b", “a and c", “b and c", or "a and b and c ", where a, b, c can be single or multiple.
  • the character “/” generally indicates that the contextual objects are an "or” relationship.
  • the character “/” indicates that the front and back related objects are in a “division” relationship.
  • the word “exemplarily” is used to mean an example, illustration or illustration. Any embodiment or design described herein as “example” is not to be construed as preferred or advantageous over other embodiments or designs. Or it can be understood that the use of the word example is intended to present a concept in a specific manner, and does not constitute a limitation to the application.

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Abstract

一种激光雷达及终端设备，用于解决现有技术中激光雷达的动态范围较低的问题。应用于自动驾驶、智能驾驶、辅助驾驶或网联车等领域。激光雷达包括发射模组、接收光学模组及探测模组; 发射模组用于发射信号光; 接收光学模组用于接收经由探测区域中的目标反射的信号光得到的回波信号，将回波信号对应的光斑在水平方向或垂直方向扩宽，将扩宽后的光斑投射至探测模组；探测模组用于对接收到的扩宽后的光斑进行光电转换，得到用于确定目标的关联信息的电信号。经接收光学模组的回波信号对应的光斑在水平方向或垂直方向扩宽，扩宽方向上的光斑可覆盖探测模组较大面积的感光区域，故可提高激光雷达的动态范围，进而可提高激光雷达在强杂散光下的测距能力。

Description

一种激光雷达及终端设备 技术领域
本申请涉及激光探测技术领域，尤其涉及一种激光雷达及终端设备。
背景技术
随着科学技术的发展，智能运输设备、智能家居设备、机器人、车辆等智能终端正在逐步进入人们的日常生活。激光雷达在智能终端上发挥着越来越重要的作用，安装在智能终端上的激光雷达，可感知周围的环境，收集数据，进行移动物体的辨识与追踪，以及静止场景如车道线、标示牌的识别，并可结合导航仪及地图数据等进行路径规划。其中，激光雷达发射信号光，并可接收经目标反射信号光后得到的回波信号，从而可根据回波信号确定目标的距离信息等。但是由于回波信号受发射功率、目标反射率、大气条件及目标与激光雷达的距离等的影响，只有较微弱的回波信号能够被激光雷达接收到。因此，激光雷达通常采用灵敏度较高的单光子探测器(即单光子探测器可以对单个光子进行探测和计数)，例如单光子雪崩二极管(single-photon avalanche diode，SPAD)。
通常单光子探测器包括感光单元(cell)阵列，当射向感光单元的光子数量达到一定值时，感光单元会处于饱和状态。也就是说，对于已处于饱和状态的感光单元，即便有更多的光子打到该感光单元上，该感光单元输出的信号也不会再增大。基于此，会限制激光雷达的动态范围。
综上，如何有效提高激光雷达的动态范围，是当前亟需解决的技术问题。
发明内容
本申请提供一种激光雷达及终端设备，用于尽可能的提高激光雷达的动态范围。
第一方面，本申请提供一种激光雷达，该激光雷达包括发射模组、接收光学模组及探测模组。其中，发射模组用于发射信号光。接收光学模组用于接收经由探测区域中的目标对信号光反射得到的回波信号，将回波信号对应的光斑在水平方向或垂直方向扩宽，并将扩宽后的光斑投射至探测模组。探测模组用于对接收到的扩宽后的光斑进行光电转换，得到用于确定目标的关联信息的电信号。
其中，经接收光学模组传播后的回波信号对应的光斑在水平方向或垂直方向扩宽，也可以理解为，经接收光学模组传播后的回波信号对应的光斑在水平方向是弥散或者在垂直方向是弥散的。换言之，经接收光学模组传播后的回波信号对应的光斑在水平方向或垂直方向的尺寸大于尺寸阈值，尺寸阈值可以是根据经接收光学模组传播后的回波信号聚焦时对应的光斑尺寸得到的。
基于该方案，来自探测区域的回波信号经接收光学模组后，对应的光斑在水平方向或垂直方向扩宽，被扩宽的方向上的光斑可以覆盖探测模组较大面积的感光区域，因此，有助于降低探测模组的单位面积的感光区域上接收到的光子数，从而可提高探测模组的抗饱和能力，进而有助于提高激光雷达的动态范围。进一步，当该激光雷达应用于强背景杂散光的场景时，由于激光雷达的动态范围较高，强的背景杂散光也较难造成探测模组的饱和(即激光雷达接收杂散光的阈值提高)，从而有助于提高激光雷达抗背景杂散光的能力， 进而可提高激光雷达在强背景杂散光下的测距能力。
在一种可能的实现方式中，接收光学模组包括非等比例成像的光学组件。进一步，可选的，非等比例成像的光学组件用于将回波信号在水平方向对应的水平焦面和在垂直方向对应的垂直焦面分离。
若探测模组位于水平焦面，探测模组接收到的回波信号对应的光斑在水平方向上是扩宽的(即在水平方向上是弥散的)，在垂直方向上是聚焦的。若探测模组位于垂直焦面，探测模组接收到的回波信号对应的光斑在垂直方向是扩宽的(即垂直方向是弥散的)，在水平方向上是聚焦的。如此，通过非等比例成像的光学组件将回波信号的水平焦面和垂直焦面分离，从而可实现回波信号对应的光斑在水平方向或在垂直方向是扩宽的(即弥散的)。
示例性地，非等比例成像的光学组件例如光焦度元件，光焦度元件的水平方向的等效光焦度与垂直方向的等效光焦度不同。进一步，光焦度元件包括一维光焦度元件或二维光焦度元件。其中，一维光焦度元件包括一维柱面镜、一维光栅或一维光楔中的至少一项或多项的组合；二维光焦度元件包括环面镜、二维柱面镜、马鞍面镜、二维光栅、或二维光楔中的至少一项或多项的组合。
在一种可能的实现方式中，信号光为线光束。
通过发射模组发射线光束的信号光，激光雷达可以实现线扫模式。当激光雷达采用线扫模式时，既能满足较远测距范围且光学设计简单。
在一种可能的实现方式中，发射模组包括光源阵列，光源阵列可以按行分时或按列分时选通光源，按行选通的光源行或按列选通的光源列用于发射线光束的信号光。
通过按行分时选通或按列分时选通的方式选通光源阵列中的光源，可以使得发射模组发射线光束的信号光，进而激光雷达可以实现线扫模式。
在一种可能的实现方式中，发射模组包括第一激光器和第一光束调整组件。其中，第一激光器用于发射第一信号光，第一光束调整组件用于将第一信号光调整为线光束的信号光。
通过第一光束调整组件可以将第一激光器发射的第一信号光调整为线光束，从而可使得激光雷达实现线扫模式。
在一种可能的实现方式中，激光雷达还包括扫描模组，该扫描模组用于将来自发射模组的信号光反射至探测区域，其中，信号光为线光束。
通过扫描模组，可以将发射模组发射的线光束按不同的扫描角反射至探测区域，以实现对探测区域的扫描，从而实现对探测区域的探测。
示例性地，扫描模组包含转镜、摆镜、微机电系统(micro electro-mechanical system，MEMS)镜的至少一种。
在一种可能的实现方式中，探测模组包括像素阵列，像素阵列按行分时或按列分时选通像素。
通过按行分时选通或按列分时选通像素阵列中的像素，可以使得探测模组实现线收。通常，光源阵列按行分时选通光源，相应地，像素阵列也按行分时选通像素；光源阵列按列分时选通光源，相应地，像素阵列也按列分时选通像素。基于光源阵列发射线光束的信号光，及像素阵列按行分时或按列分时接收回波信号，可以使得激光雷达实现线扫线收模式。
在一种可能的实现方式中，信号光为面光束。
通过发射模组发射面光束的信号光，激光雷达可以实现对探测区域的面发光。激光雷达采用面发光模式时，扫描效率较高。
在一种可能的实现方式中，发射模组包括光源阵列，光源阵列按面选通光源，按面选通的光源用于发射面光束的信号光。其中，按面选通光源阵列中的光源是指一次选通光源阵列中的行和列均大于1。
通过按面选通光源阵列中的光源，可以使得发射模组发射面光束的信号光，从而可使得激光雷达实现对探测区域的面发光。
在一种可能的实现方式中，发射模组包括第二激光器和第二光束调整组件，第二激光器用于发射第二信号光，第二光束调整组件用于将第二信号光调整为面光束的信号光。
通过第二光束调整组件可以将第二激光器发射的第二信号光调整为面光束，从而可使得激光雷达实现面发光模式。
在一种可能的实现方式中，探测模组包括像素阵列，像素阵列按面选通像素。其中，像素阵列按面选通像素是指一次选通像素阵列中的行和列均大于1。
通过按面选通像素阵列中的像素，可以使得激光雷达实现面收模式。进一步，基于发射模组发射的面光束的信号光，可以使得激光雷达实现面发面收。
在一种可能的实现方式中，像素阵列中的像素包括至少两个合并的感光单元。
通过将至少两个感光单元合并为一个像素，至少两个合并的感光单元中的各个感光单元感应到的回波信号(即光子)叠加在一起以一个像素的方式被读出，有助于减小单个感光单元感应到的光子的数量，从而可使得激光雷达具备了实现高动态范围的能力。
在一种可能的实现方式中，激光雷达还包括处理控制模组，该处理控制模组用于接收来自探测模组的电信号，并根据电信号确定目标的关联信息。
第二方面，本申请提供一种终端设备，该终端设备可包括上述第一方面或第一方面中的任意一种包括激光雷达。
进一步，可选的，该终端设备还可包括处理控制模组，该处理控制模组用于接收来自探测模组的电信号，并根据电信号确定目标的关联信息；进一步，还可根据目标的关联信息，进行路径规划等。
上述第二方面中任一方面可以达到的技术效果可以参照上述第一方面中有益效果的描述，此处不再重复赘述。
附图说明
图1a为本申请提供的一种等比例成像的原理示意图；
图1b为本申请提供的一种非等比例成像的原理示意图；
图1c为本申请提供的一种探测模组的结构示意图；
图1d为本申请提供的一种子午面和弧矢面的位置关系示意图；
图2为本申请提供的一种应用场景的示意图；
图3为本申请提供的一种激光雷达的架构示意图；
图4a为本申请提供的一种光源阵列的结构示意图；
图4b为本申请提供的另一种光源阵列的结构示意图；
图4c为本申请提供的又一种光源阵列的结构示意图；
图5为本申请提供的一种发射光学模组的结构示意图；
图6a为本申请提供的一种发射模组的结构示意图；
图6b为本申请提供的一种发射模组的结构示意图；
图7为本申请提供的一种透镜组的结构示意图；
图8为本申请示例性的示出了一种非等比例成像的光学组件与透镜组的位置关系示意图；
图9a为本申请提供的一种回波信号经第一光阑及非等比例成像的光学组件后对应的光斑在像素阵列的覆盖范围示意图；
图9b为本申请提供的一种回波信号经不经非等比例成像的光学组件后对应的光斑在像素阵列覆盖范围示意图；
图9c为本申请提供的另一种回波信号经第一光阑及非等比例成像的光学组件后对应的光斑在像素阵列的覆盖范围示意图；
图9d为本申请提供的另一种回波信号经不经非等比例成像的光学组件后对应的光斑在像素阵列的覆盖范围示意图；
图10为本申请提供的一种激光雷达的架构示意图；
图11为本申请提供的一种回波信号对应的光斑的尺寸示意图；
图12为本申请提供的一种模拟回波信号对应的光斑的三维图；
图13为本申请提供的一种的针对回波信号在像素阵列的部分行的模拟结果示意图；
图14a为本申请提供的另一种激光雷达的架构示意图；
图14b为本申请提供的另一种激光雷达的架构示意图；
图15为本申请提供的一种激光雷达系统在车辆上的位置示意图；
图16为本申请提供的一种终端设备的结构示意图。
具体实施方式
下面将结合附图，对本申请实施例进行详细描述。
以下，对本申请中的部分用语进行解释说明。需要说明的是，这些解释是为了便于本领域技术人员理解，并不是对本申请所要求的保护范围构成限定。
一、等比例成像
等比例成像指将物空间映射到像空间时，水平方向和垂直方向等比缩小或等比例放大。也可以理解为，将物空间在水平方向和垂直方向上等比例的缩小或放大成像空间。可参阅图1a，物空间可通过等比例成像的光学组件映射到像空间，等比例成像的光学组件可将物空间在水平方向和垂直方向上等比例的缩小成像空间。
二、非等比例成像
非等比例成像指将物空间映射到像空间时，水平方向和垂直方向的放大比例不同、或水平方向和垂直方向的缩小比例不同。换言之，将物空间在水平方向和垂直方向非等比例的放大成像空间；或者，将物空间在水平方向和垂直方向非等比例的缩小成像空间。请参阅图1b，是以将物空间映射到像空间时，水平方向的放大比例大于垂直方向的放大比例为例示例的。
三、Binning(称为合并)
Binning是一种图像读出方式，采用这种方式，被合并的感光单元(或称为像元)(cell)中各感光单元感应的信号(例如光子)被加在一起以一个像素(Pixel)的方式读出。Binning 通常可分为水平方向(或称为横向)Binning和垂直方向(或称为纵向)Binning。水平方向Binning是将相邻的行的信号叠加在一起以一个像素的方式读出(可参见下述图1c)，垂直方向Binning是将相邻的列的信号叠加在一起以一个像素的方式读出。应理解，Binning的方式也可以是其它可能的方式，例如沿对角线的方向Binning，本申请对此不做限定。
四、动态范围
动态范围是激光雷达的一个重要参数，对于激光雷达来说，动态范围通常是指能识别出最小信号和最大信号的值所包含的区间。在能识别的最小信号固定的情况下，动态范围越大，能识别出的最大信号的值也就越大。
如图1c所示，为本申请提供的一种探测模组的结构示意图。该探测模组以包括6×6个感光单元(cell)为例，该示例中以每个cell感应到1个光子即饱和为例。当不对cell合并时，一个cell即为一个像素(Pixel)，当有1个光子射向一个Pixel时，Pixel可输出信号1；当有2个或更多光子同时射向一个Pixel时，一个Pixel输出信号依然为1。
以将1×3个cell合并为一个Pixel，即一个Pixel包括1×3个cell为例，当有1个光子射向该Pixel时，Pixel可输出信号1；当有2个光子同时射向该Pixel时，且这2个光子不同时射向同一个cell，Pixel输出信号2；当有3个或更多个光子同时射向该Pixel，该Pixel输出信号3。基于1×3个cell合并为一个Pixel的激光雷达的动态范围相较于不对cell合并的激光雷达的动态范围可扩大三倍。
五、光斑
光斑通常是指光束在横截面(例如本申请中的探测模组的光敏面)上形成的空间能量分布。光斑的形状可以是长方形、椭圆形、圆形、或者其他规则或不规则的图形等。本申请中，回波信号对应的光斑指回波信号在探测模组的光敏面上形成的空间能量分布。需要说明的是，本领域技术人员可知，实质上光斑整体上呈不同强度的能量分布，核心区域能量密度较大，光斑形状较为明显，而边缘部分逐渐向外延伸，边缘部分的能量密度较低、形状并不清晰，且伴随能量强度的逐渐减弱，靠近边缘的光斑部分辨识度相对较低。因此，本申请所涉及的具有一定形状的光斑可以理解为能量较强且能量密度较大的部分所形成的边界易识别的光斑，并非是技术意义上的光斑的整体。
应理解，通常用最大能量密度的1/e 2来定义光斑的边界。
六、垂直焦面和水平焦面
请参阅图1d，定义本申请中的子午面和弧矢面。光学中的子午面(或称为垂直面)指轴外物点的主光束与光学系统主轴所构成的平面，称为光学系统成像的子午面。位于子午面内的光束称为子午光束(或称为垂直光束)，子午光束聚焦的位置称为子午像面(或称为垂直焦面或垂直像面)。也可以理解为，子午光束所形成的影像，称为子午像点，子午像点所在的像平面称为子午像面。
弧矢面(或称为水皮面)与子午面相互垂直。位于弧矢面内的光束称为弧矢光束(或称为水平光束)，弧矢光束聚焦的位置称为弧矢像面(或称为水平焦面或水平方像面)。也可以理解为，弧矢光束所形成的影像，称为弧矢像点，弧矢像点所在的像平面称为弧矢像面。
子午面对应的方向称为子午方向(或称为垂直方向)，弧矢面对应的方向为弧矢方向(或称为水平方向)。
需要说明的是，图1d是以子午面与弧矢面之间的夹角等于90示例的，子午面与弧矢面之间的夹角也可以小于90度或大于90度，允许有一定范围的工程误差。
七、选通像素
在像素阵列中，行地址可为横坐标，列地址可为纵坐标。在本申请中，以像素阵列的行对应水平方向，像素阵列的列对应垂直方向为例介绍。可利用行列选通信号来提取内存里指定位置的数据，被提取的指定位置对应的像素即为选通的像素。应理解，像素阵列中的像素可将检测到的信号存储于对应的内存中。
基于上述内容，下面示例性地的示出了本申请可能的一些应用场景。
请参阅图2，示例性的示出了本申请可能的一种应用场景示意图。该应用场景中，以接收光学模组应用于激光雷达，激光雷达安装于车辆上，车辆在道路上行驶为例。其中，车辆例如可以是无人车、智能车、电动车、或数字汽车等。激光雷达可以部署于车辆的各个位置。例如，激光雷达可以部署于车辆前、后、左、右四个方向中任一方向或任多个方向，以实现对车辆周围环境信息的捕获。图2是以激光雷达部署于车辆的前方为例示例的。激光雷达可感知到如图2所示的虚线框所示的扇形区域，该扇形区域可称为激光雷达的探测区域。
在一种可能的实现方式中，激光雷达可以实时或周期性地获取车的经纬度、速度、朝向、或一定范围内的目标(例如周围其它车辆)的关联信息(例如目标的距离、目标的移动速度、目标的姿态或目标的灰度图等)。激光雷达或车辆可根据这些关联信息确定车辆的位置和/或路径规划等。例如，利用经纬度确定车辆的位置，或利用速度和朝向确定车辆在未来一段时间的行驶方向和目的地，或利用周围物体的距离确定车辆周围的障碍物数量、密度等。进一步，可选的，还可结合高级驾驶辅助系统(advanced driving assistant system，ADAS)的功能可以实现车辆的辅助驾驶或自动驾驶等。应理解，激光雷达探测目标的关联信息的原理是：激光雷达以一定方向发射信号光，若在该激光雷达的探测区域内存在目标，目标可将接收到的信号光反射回激光雷达(被反射的信号光可以称为回波信号)，激光雷达再根据回波信号确定目标的关联信息。
需要说明的是，如上应用场景只是举例，本申请所提供的激光雷达(该激光雷达包括本申请所提供的接收光学模组)还可以应用在多种其它可能场景，而不限于上述示例出的场景。例如，激光雷达还可以安装在无人机上，作为机载雷达。再比如，激光雷达也可以安装在路侧单元(road side unit，RSU)，作为路边交通激光雷达，可以实现智能车路协同通信。再比如，激光雷达可以安装在自动导引运输车(automated guided vehicle，AGV)上，其中，AGV指装备有电磁或光学等自动导航装置，能够沿规定的导航路径行驶，具有安全保护以及各种移载功能的运输车。此处不再一一列举。应理解，本申请所描述的应用场景是为了更加清楚的说明本申请的技术方案，并不构成对本申请提供的技术方案的限定，本领域普通技术人员可知，随着新的应用场景的出现，本申请提供的技术方案对于类似的技术问题，同样适用。
基于上述内容，应用场景可应用于无人驾驶、自动驾驶、辅助驾驶、智能驾驶、网联车、安防监控、远程交互、测绘或人工智能等领域。
基于上述内容，下面结合附图3至附图14b，对本申请提出的激光雷达进行具体阐述。
请参阅图3，为本申请提供的一种激光雷达的架构示意图。该激光雷达可包括发射模组301、接收光学模组302及探测模组303。其中，发射模组301用于发射信号光。接收光学模组302用于接收经由探测区域中的目标反射信号光得到的回波信号，将回波信号对应的光斑在水平方向或垂直方向扩宽，并将扩宽后的光斑投射至探测模组303。也可以理解为，来自探测区域的回波信号经接收光学模组302传播后，回波信号对应的光斑在水平方向或垂直方向扩宽。或者，也可以理解为，来自探测区域的回波信号经接收光学模组302后在水平方向和垂直方向是非等比例成像的。探测模组303用于对接收到的扩宽后的光斑进行光电转换，得到用于确定目标的关联信息的电信号。其中，回波信号也可以理解为包括射向探测区域的信号光经探测区域中的目标反射的反射光。
应理解，接收光学模组302和探测模组303也可以统称为接收模组。
基于上述激光雷达，来自探测区域的回波信号经接收光学模组后，回波信号对应的光斑在水平方向或垂直方向扩宽，被扩宽的方向上的光斑可以覆盖探测模组较大面积的感光区域，因此，有助于降低单位面积的感光区域上接收到的光子数，从而可提高探测模组的抗饱和能力，进而有助于提高激光雷达的动态范围。而且，当回波信号对应的光斑在水平方向扩宽在垂直方向不变时，可以在不降低激光雷达在垂直方向的空间分辨率的情况下，提高激光雷达的动态范围；当回波信号对应的光斑在垂直方向扩宽在水平方向不变时，可以在不降低激光雷达在水平方向的空间分辨率的情况下，提高激光雷达的动态范围。进一步，当该激光雷达应用于强背景杂散光的场景时，由于激光雷达的动态范围较高，强的背景杂散光也较难造成探测模组的饱和(即激光雷达接收杂散光的阈值提高)，从而有助于提高激光雷达抗背景杂散光的能力，进而可提高激光雷达在强背景杂散光下的测距能力。
示例性地，回波信号对应的光斑在水平方向或垂直方向扩宽包括但不限于：回波信号对应的光斑在水平方向扩宽在垂直方向不变，或者回波信号对应的光斑在水平方向不变在垂直方向扩宽，或者回波信号对应的光斑在水平方向减小在垂直方向扩宽，或者回波信号对应的光斑在水平方向扩宽在垂直方向减小。换言之，在同一位置处，回波信号对应的光斑在水平方向和在垂直方向的大小是不同的。其中，回波信号对应的光斑的大小是指回波信号在横截面上形成的形状的大小。
在一种可能的实现方式中，目标的关联信息包括但不限于目标的距离信息、目标的方位、目标的速度、和/或目标的灰度信息等。
需要说明的是，若探测模组是横平竖直的放置，本申请中的水平方向与世界坐标系中的水平方向平行，垂直方向与世界坐标系中的竖直方向平行。若探测模组是倾斜设置的，本申请中的水平方向与世界坐标系中的水平方向之间有一定的夹角，垂直方向与世界坐标系中的竖直方向平行。
下面对图3所示的各个功能模组分别进行介绍说明，以给出示例性的具体实现方案。为方便说明，下文中的发射模组、接收光学模组及探测模组均未加标识。
一、发射模组
在一种可能的实现方式中，发射模组用于发射信号光。进一步，可选的，该信号光可以是线光束，或者也可以是面光束。
如下示例性地的示出了三种可能的发射模组的结构。
结构1，发射模组包括光源阵列和发射光学模组。
在一种可能的实现方式中，光源阵列可以理解为是由多个光源组成的，光源阵列中的光源例如可以是垂直腔面发射激光器(vertical cavity surface emitting laser，VCSEL)、边缘发射激光器(edge emitting laser，EEL)。
需要说明的是，光源阵列可实现独立寻址，即可独立选通(或称为点亮或开启或通电)光源阵列中的光源，选通的光源可用于发射信号光。例如，可以逐列选通光源阵列中的光源、或者逐行选通光源阵列中的光源、或者可以逐点选通光源阵列中的光源、或者也可以一次全部选通光源阵列中的光源。不论采用前述哪种选通方式，当光源阵列中的光源全部被选通后，可实现对激光雷达的全视场扫描。也可以理解为，光源阵列中每个光源的发射视场拼接可得到激光雷达的全视场。
基于上述结构1，下面示例性示出了光源阵列三种可能结构。
结构1.1，光源阵列包括M行N列光源，M和N均为大于1的整数。
在一种可能的实现方式中，光源阵列可以按行分时或按列分时选通光源，按行选通的光源行或按列选通的光源列发射的信号光为线光束。所谓按行分时选通光源是指同一时刻选通光源阵列中的至少一行光源。按列分时选通光源是指同一时刻选通光源阵列中的至少一列光源。换言之，同一时刻按行选通的光源行可以是一行光源也可以是多行光源，按列选通的光源列可以是一列光源也可以是多列光源，本申请对此不做限定。
如图4a所示，为本申请提供的一种光源阵列的结构示意图。该示例中以M＝5、N＝5为例，即光源阵列以包括5×5个光源为例。当按列分时选通光源阵列中的光源时，选通的光源列发射的信号光可为线光束。以同一时刻选通一列光源为例，具体的，第一时刻选通光源阵列中的第一列光源，第二时刻选通光源阵列中的第二列光源，依次类推，第五时刻选通光源阵列中的第五列光源，每个时刻选通的一列光源发射的信号光为线光束。以按同一时刻选通一行光源为例，第一时刻选通光源阵列中的第一行光源，第二时刻选通光源阵列中的第二行光源，依次类推，第五时刻选通光源阵列中的第五行光源，每个时刻选通的一行光源发射的信号光为线光束。
在另一种可能的实现方式中，光源阵列可以按面选通光源，按面选通的光源发射的信号光为面光束。所谓按面选通光源阵列中的光源是指一次选通光源阵列中的全部光源，且该光源阵列包括至少两行两列。
基于上述图4a所示的光源阵列，若按面选通光源阵列中的光源，该光源阵列发射的信号光是面光束。若按行分时选通光源阵列中的光源行或按列分时选通光源阵列中的光源列，选通的光源行或选通的光源列发射的信号光是线光束。
也可以理解为，包括M行N列光源的光源阵列，可基于选通光源的方式(即按行分时选通方式或按列分时选通方式或按面选通方式)，实现发射线光束或面光束的信号光。
结构1.2，光源阵列包括K行1列光源，K为大于1的整数。
如图4b所示，为本申请提供的另一种光源阵列的结构示意图。该图4b以K＝5为例，即光源阵列包括5×1个光源。具体的，可以一次选通这一列光源，选通的这一列光源发射的信号光是线光束。
结构1.3，光源阵列包括1行L列光源，L为大于1的整数。
如图4c所示，为本申请提供的又一种光源阵列的结构示意图。该图4c以L＝5为例，即光源阵列包括1×5个光源。具体的，可以一次选通光源阵列中的全部光源，即一次选通这一行光源，选通的这一行光源发射的信号光是线光束。
对于上述结构1.2或结构1.3，激光雷达为了实现对探测区域较大范围的探测，通常激光雷达还可包括扫描模组。
在一种可能的实现方式中，扫描模组可用于将发射模组发射的信号光反射至探测区域。具体的，扫描模组通过绕扫描轴转动来改变扫描模组的扫描角度，以实现扫描模组在不同的扫描角度下将来自发射模组的信号光反射至探测区域不同的位置，从而实现对探测区域的扫描。进一步，可选的，扫描模组还用于将来自探测区域的回波信号反射至接收光学模组。需要说明的是，扫描模组可以绕扫描轴按连续运转模式转动，或者绕扫描轴按步进运转模式转动，本申请对此不作限定。在实际应用中，具体采用哪种模式转动，可以预先设置。
示例性地，扫描模组例如可以是转镜(例如四面反射镜、六面反射镜或八面反射镜等)、或MEMS镜或摆镜中的一种或多种。例如，扫描模组可以是转镜或MEMS镜或摆镜。再比如，扫描模组可以是转镜和摆镜的组合；再比如，扫描模组可以是转镜和MEMS镜的组合；再比如，扫描模组可以是MEMS镜和摆镜的组合；再比如，扫描模组可以是MEMS镜、摆镜及转镜的组合。需要说明的是，本申请对扫描模组的类型不做限定，凡是可以实现将发射模组发射的信号光传播至探测区域，并将回波信号传播至接收光学模组的结构均可以。另外，本申请对转镜、MEMS镜和摆镜的具体形态也不做限定。
在一种可能的实现方式中，发射模组与接收光学模组可以共用一个扫描模组，共用的该扫描模组例如可以是转镜或MEMS镜或摆镜。或者，发射模组与接收光学模组可以分别对应一个扫描模组；例如，发射模组对应的扫描模组可以是转镜，接收光学模组对应的扫描结构也是转镜；再比如，发射模组对应的扫描模组可以是摆镜，接收光学模组对应的扫描结构也是摆镜；再比如，发射模组对应的扫描模组可以是MEMS镜，接收光学模组对应的扫描结构也是MEMS镜；再比如，发射模组对应的扫描模组可以是转镜，接收光学模组对应的扫描结构也是MEMS镜；再比如，发射模组对应的扫描模组可以是转镜，接收光学模组对应的扫描结构也是摆镜；再比如，发射模组对应的扫描模组可以是MEMS镜，接收光学模组对应的扫描结构是转镜；再比如，发射模组对应的扫描模组可以是MEMS镜，接收光学模组对应的扫描结构也是摆镜；等等，此处不再一一列举。
请参阅图5，为本申请提供的一种发射光学模组的结构示意图。发射光学模组用于将发射模组发射的信号光传播至探测区域。图5中以发射光学模组包括三个透镜为例。由于来自发射模组的信号光的发散角可能比较大，而且可能存在像散质量差的光束，因此发射光学模组还可以对信号光进行准直和/或整形和/或匀光等，从而使发射至探测区域的信号光的发散角较小，能有较多的信号光照射到探测区域。应理解，本申请对发射光学模组包括的透镜的类型也不作限定，例如可以是平凸透镜、平凹透镜、凹凸透镜、双凸透镜或双凹透镜等。
需要说明的是，上述发射光学模组中包括的透镜的数量仅是示例，本申请中，发射光学模组包括的透镜的数量可以比上述图5多，或者也可以比上述图5少，本申请对发射光学模组包括的透镜的数量不作限定。另外，上述图5是以发射光学模组仅包括透镜示例的，发射光学模组也可以包括反射镜等，本申请对此不作限定。
还需要说明的是，发射光学模组可以关于发射光学模组的光轴旋转对称。例如，发射光学模组中的发射镜可以是单片的球面透镜，也可以是多片球面透镜的组合。或者，发射光学模组也可以是非旋转对称的发射光学模组。例如，发射光学模组中的发射镜可以是单 片的非球面透镜，也可以是多片非球面透镜的组合。通过多片球面透镜和/或非球面透镜的组合，有助于提高发射光学系统的成像质量，降低光学成像系统的像差。
基于上述结构1，发射模组可包括光源阵列和发射光学模组。光源阵列可以是上述结构1.1、或结构1.2、或结构1.3，发射光学模组例如可以为上述图5所示的透镜组。
结构2，发射模组包括第一激光器和第一光束调整组件。
如图6a所示，为本申请提供的另一种发射模组的结构示意图。该发射模组包括第一激光器和第一光束调整组件。其中，第一激光器用于发射第一信号光，例如可以是EEL。第一光束调整组件用于将第一信号光调整为线光束的信号光。进一步，第一光束调整组件还可用于第一信号光进行整形和/或准直和/或匀光。第一光束调整组件例如可以是透镜、或透镜组、或透镜阵列等。
需要说明的是，发射模组包括的第一激光器的数量可以是1个，也可以是多个，本申请对此不作限定。图6a是以发射模组包括两个第一激光器示例的。
基于上述结构2，激光雷达还可包括扫描模组，关于扫描模组的介绍可参见前述相关介绍，此处不再赘述。
结构3，发射模组包括第二激光器和第二光束调整组件。
如图6b所示，为本申请提供的又一种发射模组的结构示意图。该发射模组包括第二激光器和第二光束调整组件。其中，第二激光器用于发射第二信号光，例如可以是VCSEL。第二光束调整组件用于将第二信号光调整为面光束的信号光。进一步，第二光束调整组件还可用于对第二信号光进行整形和/或准直和/或匀光等。第二光束调整组件例如可以是透镜、透镜组、或透镜阵列等。需要说明的是，发射模组包括的第二激光器的数量可以是1个，也可以是多个，本申请对此不作限定。
需要说明的是，上述第一激光器可以与第二激光器相同，或者也可以不同，本申请对此不做限定。
二、接收光学模组
下文的介绍中，水平焦面指水平方向对应的焦面，垂直焦面指垂直方向对应的焦面，水平等效光焦度指水平方向的等效光焦度，垂直等效光焦度指垂直方向的等效光焦度。
在一种可能的实现方式中，探测模组可以位于垂直焦面，回波信号投射至探测模组的光斑在水平方向扩宽包括但不限于光斑在水平方向弥散在垂直方向聚焦。探测模组可以位于水平焦面，回波信号投射至探测模组的光斑在垂直方向扩宽包括但不限于光斑在垂直方向弥散在水平方向聚焦。具体的，接收光学模组包括非等比例成像的光学组件。非等比例成像的光学组件在水平方向的等效焦距和在垂直方向的等效焦距不同。如此，该非等比例成像的光学组件可以将接收到的回波信号的垂直焦面和水平焦面分离。
也可以理解为，回波信号经非等比成像的光学组件后射向探测模组的光斑的垂直焦面与水平焦面是分离的，当探测模组位于垂直焦面处，探测模组接收到的回波信号的光斑在垂直方向上是聚焦的，在水平方向上是弥散的；当探测模组位于水平焦面处，探测模组接收到的回波信号的光斑在水平方向上是聚焦的，在垂直方向上是弥散的。弥散方向的光斑可以覆盖探测模组较大的感光面积，因此，单位感光面积接收到的光子数降低，从而单位感光面积可以检测更高强度的回波信号，进而有助于提高探测模组响应回波信号的动态范围。进一步，当探测模组位于垂直焦面处，探测模组接收到的回波信号的光斑在垂直方向上是聚焦的，即光斑在垂直方向上的大小是不变的，从而垂直方向上的空间分辨率不受影 响。类似的，当探测模组位于水平焦面处，探测模组接收到的回波信号的光斑在水平方向上是聚焦的，即光斑在水平方向上的大小是不变的，因此，水平方向上的空间分辨率不受影响。
进一步，可选的，非等比例成像的光学组件例如光焦度元件。其中，光焦度元件的水平方向的等效光焦度与垂直方向的等效光焦度不同。换言之，光焦度元件的水平方向的等效焦距与垂直方向的等效焦距不同。经此光焦度元件的回波信号在水平焦面和垂直焦面分别聚焦，且水平焦面与垂直焦面是分离的。通常，水平方向的等效光焦度与垂直方向的等效光焦度的差别较小。
在一种可能的实现方式中，光焦度元件可以是一维光焦度元件，一维光焦度元件是指在一个维度上光焦度不为0、其它维度上的光焦度为0的光学元件。例如，一维光焦度元件可以是水平光焦度为0、垂直光焦度不为0的光学元件；或者，水平光焦度不为0、垂直光焦度为0的光学元件。示例性地，一维光焦度元件包括一维柱面镜、一维光楔或一维光栅中的至少一项或多项。其中，一维柱面镜例如一维柱面透镜或一维柱面反射镜等。其中，柱面反射镜的反射面是圆柱面，反射面可以是镀有反射膜的面，反射膜包括但不限于普通保护性铝膜、保护性紫外反射铝膜、保护性银膜、保护性金膜等。
在另一种可能的实现方式中，光焦度元件也可以是二维光焦度元件。二维光焦度元件指在两个维度的等效光焦度均不为0、且这两个维度的等效光焦度不同的光学元件。例如，二维光焦度元件可以是垂直光焦度不为0、水平光焦度也不为0的元件。示例性地，二维光焦度元件可以是透镜、反射镜，或者透镜与反射镜的组合。具体的，二维光焦度元件包括但不限于环面镜、二维柱面镜、马鞍面镜、二维光栅或二维光楔中的至少一项或多项的组合。其中，环面镜包括环面反射镜或环面透射镜，二维柱面镜包括二维柱面发射镜或二维柱面透射镜。
应理解，上面给出的非等比例成像的光学组件仅是示例，本申请对非等比例成像的光学组件的具体形态不作限定，凡是可以实现将回波信号的水平焦面和垂直焦面分离的光学器件均可以。
需要说明的是，一维光焦度元件包括的一维柱面镜和/或一维光楔和/或一维光栅的数量可以是一个，或者也可以是多个，本申请对此不做限定。另外，二维光焦度元件包括的环面镜和/或二维柱面镜和/或马鞍面镜和/或二维光栅和/或二维光楔的数量可以是一个，或者也可以是多个，本申请对此不做限定。
在一种可能的实现方式中，光焦度元件的两个面可以均为曲面；或者也可以一个面为曲面，一个面为平面，本申请对光焦度元件的哪个面是曲面不作限定。当光焦度元件为一维柱面镜或二维柱面镜时，柱面镜可以是一个面为凹面，另一个面为平面，此类柱面镜可以称为平凹柱面镜。或者，柱面镜可以是一个面为凸面，另一个面为平面，此类柱面镜可以称为平凸柱面镜。或者，柱面镜也可以是两个面均为凹面，此类柱面镜可以称为双凹柱面镜。或者，柱面镜也可以是两个面为凸面，此类柱面镜可以称为双凸柱面镜。或者，柱面镜可以是一个面为凹面另一个为凸面，此类柱面镜可称为凹凸柱面镜或凸凹柱面镜，本申请对柱面镜的具体形状不做限定。
其中，光焦度元件的材料可以是玻璃、或者树脂、或者晶体等光学材料。当光焦度元件的材料为树脂时，可以减轻接收光学系统的质量。当光焦度元件的材料为玻璃时，有助于提高接收光学系统的成像质量。
进一步，可选的，该接收光学模组还可以包括透镜组。如图7所示，为本申请提供的一种透镜组的结构示意图。该透镜组以包括4片透镜为例。其中，透镜组可以是关于光轴旋转对称的。例如，透镜组中的透镜可以是单片的球面透镜，也可以是多片球面透镜的组合(例如凹透镜的组合、凸透镜的组合、或凸透镜和凹透镜的组合等)。应理解，凸透镜和凹透镜有多种不同的类型，例如凸透镜有双凸透镜，平凸透镜以及凹凸透镜，凹透镜有双凹透镜，平凹透镜以及凹凸透镜。或者，透镜组也可以是非旋转对称的透镜组。例如，透镜组中的透镜可以是单片的非球面透镜，也可以是多片非球面透镜的组合。通过多片球面透镜或非球面透镜的组合，有助于提高接收光学系统的成像质量，降低光学成像系统的像差。
需要说明的是，上述图7所示的透镜组中包括的透镜的数量仅是示例，本申请中，透镜组可以包括比上述图7更多或更少的透镜。另外，接收光学模组还可以包括反射镜等，本申请对此不作限定。
在一种可能的实现方式中，透镜组中的透镜的材料可以是玻璃、或者树脂、或晶体等光学材料。当透镜的材料为树脂时，有助于减轻接收光学系统的质量。当透镜的材料为玻璃时，有助于进一步提高接收光学系统的成像质量。进一步，为了有效抑制温漂，透镜组中包括至少一个玻璃材料的透镜。应理解，当透镜组包括至少三个透镜时，可以部分透镜的材料为树脂，部分透镜的材料为玻璃，部分透镜的材料为晶体。
下面示例性地的示出了接收光学模组中非等比成像的光学组件与透镜组之间的可能的位置关系。
位置关系一，非等比成像的光学组件可以位于透镜组的物方。
基于该位置关系一，如下给出了四种非等比成像的光学组件位于透镜组的物方的可能的实现方式。
实现方式一，非等比例成像的光学组件设置于视窗的内表面。
为了防止激光雷达被外界环境的光污染，可通过视窗来隔绝外界环境对激光雷达的干扰。在一种可能的实现方式中，上述非等比例成像的光学组件可设置(例如粘合)于该玻璃视窗的内表面(即靠近激光雷达的面或称为远离外界环境的面)。
实现方式二，非等比例成像的光学组件也可设置于滤光片的任一个面上。
在一种可能的实现方式中，激光雷达还可包括滤光片，回波信号在射向接收光学模组之前，为了防止回波信号对应的光谱以外的无效光子干扰探测模组对回波信号的探测，可先通过滤光片将无效光子滤除。该非等比例成像的光学组件可以设置(例如粘合)于滤光片的任一个面上。
实现方式三，非等比例成像的光学组件设置于透镜组靠近物方的第一个透镜上。
在一种可能的实现方式中，该非等比例成像的光学组件可以设置(例如粘合)于第一透镜组中靠近物方的第一个透镜上。
实现方式四，非等比例成像的光学组件独立设置。
在一种可能的实现方式中，非等比例成像的光学组件也可以独立设置于透镜组的物方。
位置关系二，非等比成像的光学组件可以位于透镜组的像方。也可以理解为，非等比例成像的光学组件位于透镜组与探测模组之间。
基于该位置关系二，如下示例性地的示出了两种非等比例成像的光学组件位于透镜组像方的可能的实现方式。
实现方式1，非等比例成像的光学组件设置于透镜组中靠近像方的第一个透镜上。
在一种可能的实现方式中，该非等比例成像的光学组件可设置(例如粘合)于透镜组中像方的第一个透镜上。
实现方式2，非等比例成像的光学组件独立设置于透镜组与探测模组之间。
在一种可能的实现方式中，非等比例成像的光学组件也可独立设置于透镜组与探测模组之间。换言之，非等比例成像的光学组件也可独立设置于透镜组的像方。请参阅图8，为本申请示例性的示出了一种非等比例成像的光学组件独立设置于透镜组的像方的结构示意图。该示例中透镜组以包括4片旋转对称的透镜为例的，非等比例成像的光学组件以双凹柱面镜为例，非等比例成像的光学组件位于透镜组的像方。应理解，接收光学模组包括的非等比例成像光学组件的数量可以是一个，也可以是多个，图8是以两个示例的，本申请对此不作限定。
位置关系三，非等比例成像的光学组件位于透镜组中任意相邻两个透镜之间，其中，透镜组包括至少两个透镜。
在一种可能的实现方式中，非等比例成像的光学组件可独立设置于透镜组中任意相邻两个透镜之间，或者也可以粘合于透镜组中靠近物方的透镜的靠近像方的面，或者也可以粘合于靠近像方的个透镜的靠近物方的面。
需要说明的是，上述给出的接收光学模组的结构仅是示例，凡是可以实现将回波信号对应的光斑在水平方向或在垂直方向扩展的结构均可以，本申请对此不作限定。
三、探测模组
在一种可能的实现方式中，探测模组用于对接收到的扩宽后的光斑进行光电转换，得到用于确定目标的关联信息的电信号。探测模组可以实现行和/或列方向Binning感光单元。当行和列同时采用相同数量的感光单元Binning时，图像的纵横比并不改变；当行和列Binning的感光单元的数量不同时，图像的纵横比会发生改变。可选的，感光单元可以是SPAD或数字硅光电倍增管(silicon photomultiplier，SiPM)或APD等。
示例性地，探测模组包括像素阵列，像素阵列中的像素包括合并的至少两个感光单元。请参见上述图1c，是以像素包括行方向上的三个感光单位合并示例的。
在一种可能的实现方式中，探测模组可以位于水平焦面，也可以位于垂直焦面。如下基于探测模组位于水平焦面或位于垂直焦面分情形介绍。
情形一，探测模组位于垂直焦面。
基于该情形一，非等比例成像的光学组件的水平方向的等效光焦度大于垂直方向的等效光焦度。可以理解的是，基于包括该非等比例成像的光学组件的接收光学模组，可将回波信号的水平焦面和垂直焦面分离，且水平方向上的光束先聚焦至水平焦面，垂直方向上的光束后聚焦至垂直焦面，即沿该接收光学模组的光轴从物方至像方的方向，水平焦面相较于垂直焦面更靠近物方，即垂直焦面相较于水平焦面更靠近像方。在垂直焦面的位置处，水平方向上的光束是弥散的。因此，当探测模组位于垂直焦面时，接收到的回波信号的光斑在水平方向上是弥散的，即回波信号的光斑在水平方向是扩宽的，在垂直方向上聚焦的。
为了减小背景杂散光对回波信号的影响，可在水平焦面放置第一光阑。
为了尽可能的使来自探测区域的回波信号射向探测模组，即尽可能的避免损失回波信号，第一光阑的形状可与来自探测区域的回波信号对应的光斑的形状相同，来自探测区域的回波信号对应的光斑的形状与射向探测区域的信号光对应的光斑的形状相同。例如，信 号光对应的光斑的形状可以是长方形，相适应的，第一光阑的形状也可以为长方形(请参阅下述图9a或图9b)。再比如，信号光对应的光斑的形状可以是椭圆形，相适应的，第一光阑的形状也可以为椭圆形。再比如，信号光的光斑的形状可以是圆形，相适应的，第一光阑的形状也可以为圆形。其中，激光雷达可以包括至少一个第一光阑。应理解，第一光阑的形状还可以是其它规则的形状，如四边形；或者也可以是其它不规则的形状。
为了便于方案的说明，下面以第一光阑的形状为长方形为例说明。
在一种可能的实现方式中，第一光阑的短边平行于水平方向，第一光阑的长边平行于垂直方向。进一步，可选的，为了尽可能的减小背景杂散光对回波信号的影响，又不损失回波信号，第一光阑的短边的长度L 1满足：L 1＝α 1×f 1。其中，α 1表示接收光学系统的水平角分辨率，f 1表示接收光学系统的水平方向上的等效焦距f 1。
应理解，第一光阑的短边的长度L 1也可以满足：L 1＞α 1×f 1。例如第一光阑的短边的长度L 1＝n 1×α 1×f 1，n 1可以取1.2、1.5或2等大于1的数。再比如，第一光阑的短边的长度L 1也可以满足：L 1＝α 1×f 1+第一阈值。另外，第一光阑的短边的长度L 1也可以满足：L 1＜α 1×f 1。例如第一光阑的短边的长度L 1＝n 3×α 1×f 1，n 3可以取0.9、0.85或0.8等小于1的数。再比如，第一光阑的短边的长度L 1也可以满足：L 1＝α 1×f 1－第二阈值。需要说明的是，第一阈值和第二阈值均为大于0的数，第一阈值和第二阈值可以相同，也可以不相同，本申请对此不做限定。当第一光阑的短边的长度L 1满足L 1＞α 1×f 1，可以实现尽可能的提高回波信号的利用率。当第一光阑的短边的长度L 1满足L 1＜α 1×f 1，可以尽可能的抑制背景杂散光射向探测模组。
进一步，可选的，第一光阑的长边的长度L 2满足：L 2≥ψ 1×f 2，其中，ψ 1表示接收光学系统的垂直视场角，f 2表示接收光学系统的垂直方向上的等效焦距。通过L 2≥ψ 1×f 2，可以使得垂直方向上的回波信号尽可能的射向探测模组，从而可提高回波信号的利用率。需要说明的是，光学接收系统的垂直视场角是指光学接收系统在垂直方向上可探测的最大角度。
基于该第一光阑，可以允许水平方向上有效视场(即第一光阑的短边对应的视场)内的回波信号通过，且可以抑制(或称为阻止)有效视场外的背景杂散光，进而有助于减小射向探测模组的杂散光。
需要说明的是，第一光阑的短边的长度L 1、长边的长度L 2均允许有一定的工程误差。
通常第一光阑平行于探测模组的光敏面，即第一光阑与探测模组的光敏面之间的夹角等于0度，基于此，第一光阑的短边的长度L 1满足：L 1＝α 1×f 1，第一光阑的长边的长度L 2满足：L 2≥ψ 1×f 2。当第一光阑与探测模组的光敏面之间不等于0度时，为了尽可能减小背景杂散光对信号光的影响，第一光阑的短边在水平方向上的分量L x满足：L x＝α 1×f 1。进一步，可选的，第一光阑的长边在垂直方向上的分量L y满足：L y≥ψ 1×f 2。
在一种可能的实现方式中，水平方向上的光斑覆盖范围dx与接收光学系统在水平方向上的等效焦距fx、垂直方向上的等效焦距fy、回波信号的发散角β、接收光学系统的像方数值孔径NA有关，可参见下述公式1。
dx＝fx×tanβ+(|fy-fx|)×2NA    公式1
需要说明的是，在实际应用中，上述光斑覆盖范围dx允许有一定的工程误差。
应理解，椭圆形的第一光阑的短轴与长方形的第一光阑短边的长度一致，椭圆形的第一光阑的长轴与长方形光阑的长边的长度一致，具体可参见前述相关描述，此处不再赘述。
在一种可能的实现方式中，第一光阑例如可以是狭缝光阑(或称为孔径光阑或有效光 阑)，可参见下述图9a或图9b所示的光阑。再比如，第一光阑也可以是通过丝印技术在玻璃等上印出需要的通光形状，其他区域是黑墨(黑墨的区域不允许透光)，请参阅图9c或图9d所示的光阑。应理解，第一光阑的狭缝或通光形状决定了水平焦面上的回波信号的孔径角。
当第一光阑为狭缝光阑时，上述第一光阑的形状具体指第一光阑的狭缝(或孔径)的形状。例如，第一光阑的形状为长方形是指第一光阑的狭缝的形状为长方形，第一光阑的长边和短边是指第一光阑的狭缝(或孔径)的长边和短边。如图9a所示，为本申请提供的一种回波信号经第一光阑、非等比例成像的光学组件后对应的光斑在像素阵列上的覆盖的感光单元的范围示意图。图9b给出了一种回波信号经过第一光阑后对应的光斑在像素阵列上的覆盖的感光单元的范围示意图。由图9a和图9b的比较可以得出，回波信号经非等比成像的光学组件后，回波信号对应的光斑在水平方向扩展，从而可以覆盖探测模组中较多的感光单元。再比如，第一光阑的形状为椭圆形是指第一光阑的狭缝的形状为椭圆形，第一光阑的长轴和短轴是第一光阑的狭缝的长轴和短轴。
当第一光阑为通过丝印技术在玻璃等上印出需要的通光形状时，上述第一光阑的形状具体指第一光阑的通光形状。例如，第一光阑的形状为长方形是指第一光阑的通光形状为长方形，第一光阑的长边和短边是指第一光阑的通光形状的长边和短边。如图9c所示，为本申请提供的另一种回波信号经第一光阑、非等比例成像的光学组件后在像素阵列上的覆盖范围示意图。图9d给出了一种回波信号经过第一光阑后对应的光斑在像素阵列上的覆盖的感光单元的范围示意图。由图9c和图9d的比较可以得出，回波信号经非等比成像的光学组件后，回波信号对应的光斑在水平方向扩展，从而可以覆盖探测模组中较多的感光单元。再比如，第一光阑的形状为椭圆形是指第一光阑的通光形状为椭圆形，第一光阑的长轴和短轴是第一光阑的通光形状的长轴和短轴。
情形二，探测模组位于水平焦面。
基于该情形二，非等比例成像的光学组件的垂直方向的等效光焦度大于水平方向的等效光焦度。可以理解的是，基于包括该非等比例成像的光学组件的接收光学模组，可将回波信号的水平焦面和垂直焦面分离，且垂直方向上的光束先聚焦垂直焦面，水平方向上的光束后聚焦至水平焦面，即沿该接收光学模组从物方至像方的方向上，垂直焦面相较于水平焦面更靠近物方，水平焦面相较于垂直焦面更靠近像方。在水平焦面的位置处，垂直方向上的光束是弥散的。因此，当探测模组位于水平焦面时，接收到的回波信号的光斑在垂直方向上是弥散的，即回波信号的光斑在垂直方向是扩展的，在水平方向是聚焦的。
为了减小背景杂散光对回波信号的影响，可在垂直焦面放置第二光阑。该第二光阑的形状与来自探测区域的回波信号的光斑的形状相同，关于第二光阑的形状可参见前述第一光阑的介绍，此处不再重复赘述。
为了便于方案的说明，下面以第二光阑的形状为长方形为例说明。
在一种可能的实现方式中，第二光阑的短边平行于垂直方向，第二光阑的长边平行于水平方向。进一步，可选的，为了尽可能的减小背景杂散光对回波信号的影响，第二光阑的短边的长度满足：L 3满足：L 3＝α 2×f 2。其中，α 2表示接收光学系统的垂直角分辨率，f 2接收光学系统的垂直方向上的等效焦距；
应理解，第二光阑的短边的长度L 3也可以满足：L 3＞α 2×f 2。例如第二光阑的短边的长度L 2＝n 2×α 2×f 2，n 2可以取1.2、1.5或2等，n 2可以与n 1相同，也可以不同。再比如， 第二光阑的短边的长度L 2也可以满足：L 2＝α 2×f 2+第三阈值。另外，第二光阑的短边的长度L 3也可以满足：L 3＜α 2×f 2。例如第二光阑的短边的长度L 2＝n 4×α 2×f 2，n 4可以取0.95、0.8或0.7等小于1的数，n 4可以与n 2相同，也可以不同。再比如，第二光阑的短边的长度L 2也可以满足：L 2＝α 2×f 2－第四阈值。需要说明的是，第三阈值和第四阈值均为大于0的数，第一阈值、第二阈值、第三阈值和第四阈值可以相同，也可以不相同，本申请对此不做限定。当第二光阑的短边的长度L 3满足L 3＞α 2×f 2，可以实现尽可能的提高回波信号的利用率。当第二光阑的短边的长度L 3满足：L 3＜α 2×f 2，可以尽可能的抑制背景杂散光射向探测模组。
进一步，可选的，第二光阑的长边的长度L 4满足：L 4≥ψ 2×f 1，其中，ψ 2表示接收光学系统的水平视场角，f 1表示接收光学系统的水平方向上的等效焦距f 1。需要说明的是，光学接收系统的水平视场角是指光学接收系统在水平方向上可探测的最大角度。
通常第二光阑平行于探测模组的光敏面，即第二光阑与探测模组的光敏面之间的夹角等于0度，基于此，第二光阑的短边的长度L 3满足：L 3＝α 2×f 2，第二光阑的长边的长度L 4满足：L 4≥ψ 2×f 1。当第二光阑与探测模组的光敏面之间不等于0度时，为了尽可能减小背景杂散光对信号光的影响，第二光阑的短边在垂直方向上的分量L y满足：L y＝α 2×f 2。进一步，可选的，第二光阑的长边在水平方向上的分量L x满足：L x≥ψ 2×f 1。
在一种可能的实现方式中，第二光阑位于垂直焦面，用于允许垂直方向上有效视场内(即第二光阑的短边范围对应的视场)的回波信号通过，且可以阻止有效视场外的背景杂散光通过，进而有助于减小射向探测模组的杂散光。需要说明的是，第二光阑位于垂直焦面的光路可参见第一光阑位于水平焦面的光路，此处不再赘述。
在一种可能的实现方式中，垂直方向上的光斑覆盖范围dy与接收光学系统在水平方向上的等效焦距fx、垂直方向上的等效焦距fy、回波信号的发散角β、接收光学系统的像方数值孔径NA有关，可参见下述公式2。
dy＝fy×tanβ+(|fy-fx|)×2NA    公式2
需要说明的是，在实际应用中，上述光斑覆盖范围dy允许有一定的工程误差。
应理解，椭圆形的第二光阑的短轴与长方形的第二光阑短边的长度一致，椭圆形的第二光阑的长轴与长方形光阑的长边的长度一致，具体可参见前述相关描述，此处不再赘述。
示例性地，第二光阑例如可以是狭缝光阑(或称为孔径光阑或有效光阑，可参见上述图9a或图9b)。再比如，第二光阑也可以是通过丝印技术在玻璃等上印出需要的通光形状(可参见上述图9c或图9d)，其他区域是黑墨(黑墨的区域不允许透光)。应理解，第二光阑的狭缝或通光形状决定了垂直焦面上的回波信号的孔径角。
当第二光阑为狭缝光阑时，上述第二光阑的形状具体指第二光阑的狭缝(或孔径)的形状。例如，第二光阑的形状为长方形是指第二光阑的狭缝的形状为长方形，第二光阑的长边和短边是指第二光阑的狭缝(或孔径)的长边和短边。再比如，第二光阑的形状为椭圆形是指第二光阑的狭缝的形状为椭圆形，第二光阑的长轴和短轴是第二光阑的狭缝的长轴和短轴。当第二光阑为通过丝印技术在玻璃等上印出需要的通光形状时，上述第二光阑的形状具体指第二光阑的通光形状。例如，第二光阑的形状为长方形是指第二光阑的通光形状为长方形，第二光阑的长边和短边是指第二光阑的通光形状的长边和短边。再比如，第二光阑的形状为椭圆形是指第二光阑的通光形状为椭圆形，第二光阑的长轴和短轴是第二光阑的通光形状的长轴和短轴。
当探测模组横平竖直的放置时，相应地的，非等比例成像的光学组件也是横平竖直的放置，第一光阑或第二光阑也可以是横平竖直的放置。当探测模组绕接收光学模组的光轴旋转某个角度时，非等比例成像的光学组件也需要转动与探测模组相同方向的相同角度，以使经非等比例成像的光学组件分离水平焦面或垂直焦面与探测模组匹配，第一光阑或第二光阑也可以转动与探测模组转动相同方向的相同角度。
本申请中，激光雷达还可包括处理控制模组，下面详细介绍。
四、处理控制模组
在一种可能的实现方式中，处理控制模组用于接收来自所述探测模组的所述电信号，并根据所述电信号确定所述目标的关联信息。进一步，可选的，还可根据确定出的目标的关联信息，进行行驶路径的规划，例如躲避将要行驶的路径上的障碍物等。
示例性地，处理控制模块可以包括处理单元和控制单元，处理单元可以是通用处理器、现场可编程门阵列(field programmable gate array，FPGA)、信号数据处理(digital signal processing，DSP)电路、专门应用的集成电路(application specific integrated circuit，ASIC)、或者其他可编程逻辑器件。控制单元包括扫描模组的驱动、光源模组的驱动、及探测模组的驱动等，这些驱动可以是集成在一起，也可以是分开的。
基于上述内容，下面结合具体的硬件结构，给出上述激光雷达的两种可能的实现方式。以便于进一步理解上述激光雷达的结构及功能原理。
为了便于方案的说明，下面以列方向对应垂直方向，行方向对应水平方向为例介绍。
请参阅图10，为本申请提供的一种激光雷达的架构示意图。该激光雷达包括发射模组和接收模组，进一步，还可包括处理模组。其中，发射模组包括光源阵列和发射光学模组，接收模组包括像素阵列和接收光学模组。光源阵列以包括3×9个光源为例，像素阵列以包括3×9像素为例，每个像素是以按行binning了1×3个感光单元为例。该光源阵列中的光源可以实现独立选址，具体可以是上述VCSEL或EEL。关于光源阵列可参见上述结构1.1中关于光源阵列的介绍，发射光学模组、像素阵列和接收光学模组可参见前述相关描述，此处不再赘述。
基于该图10所示的激光雷达，可以按列分时选通光源阵列中的光源列、并按列分时选通像素阵列中对应的像素列。再比如，按行分时选通光源阵列中的光源行、并按行分时选通像素阵列中对应的像素列。也可以理解为，光源阵列中的光源行与像素阵列中的像素行之间存在对应关系，光源阵列中的光源列与像素阵列中的像素列之间存在对应关系。基于此类选通方式，激光雷达的工作模式可以称为是线扫线收模式。所谓线扫线收模式也可以理解为发射模组发射的信号光为线光束，探测模组接收到回波信号也为线光束。
结合上述图10，若选通的光源发射的线光束的信号光未被扩宽时，射向像素阵列的光斑可覆盖一列cell；若选通的光源发射的线光束的信号经接收光学模组在水平方向被扩展为2倍，则射向像素阵列的光斑可覆盖2列的cell。也可以理解为，经接收光学模组在水平方向上拉升回波信号对应的光斑(即投射到像素阵列的光敏面上的光斑在垂直方向和水平方向不等比例成像)，从而提高光斑在水平方向上覆盖的感光单元的数量，进而可提高激光雷达的动态范围。
为了便于方案的说明，下面以按列选通光源阵列和像素阵列为例介绍。
像素阵列在行方向是多个感光单元的Binning得到的像素，发射模组按列分时选通光 源阵列中的光源列。基于此，可将激光雷达的探测区域以列为单位分为多等分，依次选通光源阵列中的光源列，对应的线光束可以依次扫过探测区域的这些列区域，从而可实现对探测区域的全部区域的扫描。回波信号经接收光学模组的传播后，回波信号对应的光斑在行方向扩宽，并将扩宽后的光斑投射至探测模组，探测模组中与选通的光源列对应的像素列接收到该扩宽后的光斑，由于光斑在行方向被扩宽，因此，回波信号对应的光斑可在行方向上覆盖较多的(该示例中以覆盖3个为例)的感光单元，从而可降低单个感光单元检测到光子数，从而可提高单位感光单元的抗饱和能力，进而可有效提高该激光雷达的动态范围。而且，由于在列方向未Binning感光单元，因为可以维持列方向的空间分辨率不降低。也可以理解为，激光雷达按列扫描时，可增加像素阵列的行方向的动态范围，且可维持列方向的空间分辨率不变。
下面针对上述有益效果，结合模拟结果进行详细说明。
参考图11中的(a)，为本申请提供的一种回波信号对应的光斑未被扩宽(或拉伸)的结果示意图，参考图11中的(b)，为本申请提供的一种回波信号对应的光斑在水平方向被扩宽的示意图。其中，图11中的(a)采用的是等比例成像的光学组件，图11中的(b)采用的是非等比例成像的光学组件。图12中的(a)为对图11中的(a)模拟的三维图，图12中的(b)为对图11中的(b)模拟的三维图。上述图11和图12是以回波信号落在像素阵列的第84列附近为例，针对上述图11中(a)和(b)，分别对第200行、第300行及第400行取点进行模拟，得到图13中的(a)、(b)和(c)。
由图13的模拟结果可以看出，在第200行、第300行及第400行取点时，采用等比例成像的光学组件和非等比例成像的光学组件的中心位置均重合在84列附近，采用非等比例成像的光学组件接收的光子累积数约是采用等比例成像光学组件接收的光子累积数的2倍。即，采用非等比例成像得到光学组件接收可以在水平方向扩宽回波信号对应的光斑，从而可降低单个感光单元上接收到的光子数目，可提高探测模组抗饱和的能力，进而可提高探测系统的动态范围。
基于该图10所示的激光雷达，也可以实现面发光面收。例如一次选通全部的光源，并选通全部的像素。即光源阵列发射面光束的信号光，像素阵列接收面光束的回波信号。
请参阅图14a，为本申请提供的另一种激光雷达的架构示意图。该激光雷达包括发射模组、接收模组和扫描模组，进一步，还可包括处理模组(图14a中未示出)。结合图14b，发射模组包括光源阵列和发射光学模组，接收模组包括像素阵列和接收光学模组。光源阵列以包括1×9个光源为例，像素阵列以包括1×9像素为例，每个像素是以按行binning了1×3个感光单元为例。该光源阵列中的光源可以实现独立选址，具体可以是上述VCSEL或EEL。关于光源阵列可参见上述结构1.2或结构1.3中关于光源阵列的介绍，发射光学模组、像素阵列、接收光学模组及扫描模组可参见前述相关描述，此处不再赘述。应理解，激光雷达中的视窗用于将激光雷达与外界环境隔离。
基于图14b，选通的光源阵列用于发射线光束的信号光，通过转动扫描模组，可以实现将线光束投射至探测区域的不同位置，以实现对探测区域的扫描。进一步，通过扫描模组将来自探测区域不同位置的回波信号反射至接收光学模组，经接收光学模组将回波信号对应的光斑在水平方向或垂直方向扩宽，并将扩宽后的光斑投射至该像素阵列上。应理解，图14b是以一个光源、一个像素和一个光斑进行示例的。当选通该光源阵列时，射向探测区域的是一列光斑；相应地，该像素阵列中每个像素可以接收到对应的行方向被扩宽的光 斑。
需要说明的是，当扫描模组为反射式扫描模组时，激光雷达射向探测区域的信号光和来自探测区域的回波信号的指向是相同。或者也以理解为，激光雷达射向探测区域的信号光和来自探测区域的回波信号是平行光。上述图14b给出的扫描模组对信号光和回波信号的光路改变仅是一种可能的示例。
应理解，本申请中，激光雷达还可以上述发射模组、接收光学模组、探测模组与扫描模组其他可能的组合。例如，上述图10中的发射模组可以用上述结构3中的发射模组替换。上述图14b中的光源模组可以用上述结构2中的光源模组替换，此处激光雷达还包括扫描模组(可参见图14bb)，等等，此处不再一一列举。也可以理解为，基于上述示例出的发射模组、接收模组、扫描模组和探测模组的任意合理的组合，均在本申请所包括的激光雷达的范围内。
在一种可能的实现方式中，激光雷达可以安装于车辆上，请参见图15。该示例中激光雷达在车辆上的位置仅是示例，激光雷达还可以设置于车辆的车身周围的任意可能的位置，本申请对此不作限定。进一步，可选的，激光雷达确定出目标的关联信息后，可发送给车辆，车辆可根据确定出的目标的关联信息，进行行驶路径的规划，例如躲避将要行驶的路径上的障碍物等。应理解，图15所示的激光雷达的形状仅是示例，激光雷达的外观上也可以呈现其他形状，例如还可以是长方形等，本申请对此不做具体限定。
基于上述描述的激光雷达的结构和功能原理，本申请还可以提供一种终端设备。如图16所示，为本申请提供的一种终端设备的结构示意图。该终端设备1600可以包括上述任一实施例中的激光雷达1601。进一步，可选的，该终端设备还可包括处理器1602，处理器1602用于调用程序或指令控制上述激光雷达1601获取电信号。进一步，处理器1602还可接收来自激光雷达1601的电信号，并根据电信号确定目标的关联信息。可选的，该终端设备还可包括存储器1603，存储器1603用于存储程序或指令。当然，该终端设备还可以包括其他器件，例如存储器或无线通信装置等。
其中，激光雷达1601可参见上述激光雷达的描述，此处不再赘述。
处理器1602可以包括一个或多个处理单元。例如：处理器1602可以包括应用处理器(application processor，AP)、图形处理器(graphics processing unit，GPU)、图像信号处理器(image signal processor，ISP)、控制器、数字信号处理器(digital signal processor，DSP)、等。其中，不同的处理单元可以是独立的器件，也可以集成在一个或多个处理器中。
存储器1603包括但不限于随机存取存储器(random access memory，RAM)、闪存、只读存储器(read-only memory，ROM)、可编程只读存储器(programmable ROM，PROM)、可擦除可编程只读存储器(erasable PROM，EPROM)、电可擦除可编程只读存储器(electrically EPROM，EEPROM)、寄存器、硬盘、移动硬盘、CD-ROM或者本领域熟知的任何其它形式的存储介质中。一种示例性的存储介质耦合至处理器，从而使处理器能够从该存储介质读取信息，且可向该存储介质写入信息。当然，存储介质也可以是处理器的组成部分。处理器和存储介质可以位于ASIC中。
在一种可能的实现方式中，处理器1602还可根据确定出的目标的关联信息，对终端设备的行驶路径进行规划，例如躲避行驶路径上的障碍物等。
示例性地，该终端设备例如可以是车辆(例如无人车、智能车、电动车、或数字汽车 等)、机器人、测绘设备、无人机、智能家居设备(例如电视、扫地机器人、智能台灯、音响系统、智能照明系统、电器控制系统、家庭背景音乐、家庭影院系统、对讲系统、或视频监控等)、智能制造设备(例如工业设备)、智能运输设备(例如AGV、无人运输车、或货车等)、或智能终端(手机、计算机、平板电脑、掌上电脑、台式机、耳机、音响、穿戴设备、车载设备、虚拟现实设备、增强现实设备等)等。
需要说明的是，本申请中上述各个实施例中，水平方向上可以是水平方向，垂直方向上可以是垂直方向。相应的，水平光焦度是指水平方向的光焦度，垂直光焦度是指垂直方向的光焦度。
在本申请的各个实施例中，如果没有特殊说明以及逻辑冲突，不同的实施例之间的术语和/或描述具有一致性、且可以相互引用，不同的实施例中的技术特征根据其内在的逻辑关系可以组合形成新的实施例。
本申请中，“垂直”不是指绝对的垂直，可以允许有一定工程上的误差。“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。“以下至少一项(个)”或其类似表达，是指这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b或c中的至少一项(个)，可以表示：a，b，c，“a和b”，“a和c”，“b和c”，或“a和b和c”，其中a，b，c可以是单个，也可以是多个。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系。在本申请的公式中，字符“/”，表示前后关联对象是一种“相除”的关系。另外，在本申请中，“示例性地”一词用于表示作例子、例证或说明。本申请中被描述为“示例”的任何实施例或设计方案不应被解释为比其它实施例或设计方案更优选或更具优势。或者可理解为，使用示例的一词旨在以具体方式呈现概念，并不对本申请构成限定。
可以理解的是，在本申请中涉及的各种数字编号仅为描述方便进行的区分，并不用来限制本申请的实施例的范围。上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定。术语“第一”、“第二”等类似表述，是用于分区别类似的对象，而不必用于描述特定的顺序或先后次序。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元。方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的方案进行示例性说明，且视为已覆盖本申请范围内的任意和所有修改、变化、组合或等同物。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (16)

  1. 一种激光雷达，其特征在于，包括发射模组、接收光学模组及探测模组；
    所述发射模组，用于发射信号光；
    所述接收光学模组，用于接收回波信号，将所述回波信号对应的光斑在水平方向或垂直方向扩宽，并将扩宽后的光斑投射至所述探测模组，所述回波信号包括所述信号光经所述探测区域中的目标反射的反射光；
    所述探测模组，用于对接收到的所述扩宽后的光斑进行光电转换，得到电信号，所述电信号用于确定所述目标的关联信息。
  2. 如权利要求1所述的激光雷达，其特征在于，所述接收光学模组包括非等比例成像的光学组件。
  3. 如权利要求2所述的激光雷达，其特征在于，所述非等比例成像的光学组件用于：
    将所述回波信号在所述水平方向对应的水平焦面和在所述垂直方向对应的垂直焦面分离；
    所述探测模组位于所述水平焦面或所述垂直焦面。
  4. 如权利要求1至3任一项所述的激光雷达，其特征在于，所述信号光为线光束。
  5. 如权利要求4所述的激光雷达，其特征在于，所述发射模组包括光源阵列，所述光源阵列按行或按列分时选通光源；
    按行选通的光源行或按列选通的光源列用于发射所述线光束的信号光。
  6. 如权利要求4所述的激光雷达，其特征在于，所述发射模组包括第一激光器和第一光束调整组件；
    所述第一激光器，用于发射第一信号光；
    所述第一光束调整组件，用于将所述第一信号光调整为所述线光束的信号光。
  7. 如权利要求4至6任一项所述的激光雷达，其特征在于，所述激光雷达还包括扫描模组，用于将来自所述发射模组的所述信号光反射至所述探测区域。
  8. 如权利要求7所述的激光雷达，其特征在于，所述扫描模组包含转镜、摆镜、微机电系统MEMS镜的至少一种。
  9. 如权利要求5至8任一项所述的激光雷达，其特征在于，所述探测模组包括像素阵列；
    所述像素阵列按行分时或按列分时选通像素。
  10. 如权利要求1至3任一项所述的激光雷达，其特征在于，所述信号光为面光束。
  11. 如权利要求10所述的激光雷达，其特征在于，所述发射模组包括光源阵列，所述光源阵列按面选通光源；
    按面选通的光源用于发射所述面光束的信号光。
  12. 如权利要求10所述的激光雷达，其特征在于，所述发射模组包括第二激光器和第二光束调整组件；
    所述第二激光器，用于发射第二信号光；
    所述第二光束调整组件，用于将所述第二信号光调整为所述面光束的信号光。
  13. 如权利要求10至12任一项所述的激光雷达，其特征在于，所述探测模组包括像素阵列；
    所述像素阵列按面选通像素。
  14. 如权利要求9或13所述的激光雷达，其特征在于，所述像素阵列中的像素包括至少两个合并的感光单元。
  15. 如权利要求1至14任一项所述的激光雷达，其特征在于，所述激光雷达还包括处理控制模组，用于接收来自所述探测模组的所述电信号，并根据所述电信号确定所述目标的关联信息。
  16. 一种终端设备，其特征在于，包括如权利要求1至15任一项所述的激光雷达。
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