HESAI TECHNOLOGY CO., LTD.

This disclosure provides a LiDAR and a receiver and a method for receiving data of the LiDAR, and a computer-readable medium. A sampler of the receiver includes multiple sampling circuit groups corresponding to multiple sub-arrays of a photosensor array. When an echo spot falls on at least two sub-arrays, the sampler can sample electrical signals from the at least two sub-arrays by a sampling circuit group. A complete electrical signal from the echo spot can be sampled by a sampling circuit group. The integrity of an echo signal is ensured while the low power consumption of the LiDAR is maintained. The conflict between low power consumption of the LiDAR can be solved and integrity of an optical signal when alignment between an emitting end and a receiving end deviates.

This disclosure provides a LiDAR, including: an emitter module configured to emit a detection laser beam; a receiver module configured to receive an echo laser beam of the detection laser beam reflected by a target object; a scanner module configured to scan the detection laser beam and the echo laser beam; and an optomechanics module having a preset height and configured to mount an optics device of the LiDAR. The emitter module and the receiver module are arranged on two sides of the optomechanics module, respectively. The emitter module, the receiver module, and the scanner module are arranged within the preset height of the optomechanics module. For the LiDAR provided in this disclosure, the height of the LiDAR can be reduced, so that the LiDAR is miniaturized in structure, the assembly and production of the LiDAR are facilitated, the requirements for a mounting environment in a vehicle body can be met, and easy compatibility and integration with the vehicle body are achieved.

This disclosure provides a safety protection circuit and a drive detection method for a LiDAR and a driver circuit thereof. The LiDAR includes a light-emitter apparatus, and the driver circuit provides a drive voltage to drive the light-emitter apparatus to emit light. One end of the light-emitter apparatus receives the drive voltage, and the other end of the light-emitter apparatus is coupled to a drive switch. The safety protection circuit includes: a voltage detector unit configured to detect a voltage value of the drive voltage; and a safety controller unit configured to control the driver circuit to stop providing the drive voltage when a voltage value of the drive voltage is lower than a threshold voltage, wherein the threshold voltage represents a voltage value of the drive voltage when the drive switch fails.

Methods, devices, and systems for a dynamic threshold based echo signal detection for LiDARs are provided. In one aspect, a detection method includes: determining at least one feature parameter that represents a working condition of a LiDAR; determining an echo signal collected by the LiDAR, the echo signal including at least a noise signal; selecting a processing mode for the echo signal based on the at least one feature parameter, detecting the noise signal in the processing mode, and determining a detection threshold based on the noise signal; and comparing the echo signal with the detection threshold, and outputting a target signal reflected from a target object in the echo signal.

A light transceiving module and a LiDAR are disclosed. The light transceiving module includes: a light emitter module emitting a detection beam and a light receiver module receiving an echo beam of the detection beam reflected by a target object. The receiving module converts the echo beam into an electrical signal. A field of view of the light emitter module overlaps vertically with that of the light receiver module. In a first direction, a size of the field of view of the light emitter module is larger than that of the light receiver module. In a second direction perpendicular to the first direction, a size of the field of view of the light emitter module is smaller than that of the light receiver module. Thus, the consistency and stability of the distance measurement capabilities of various channels can be ensured.

A distributed LiDAR comprises: an optical transceiver assembly, multiple distributed scanning units, and a distributed optical fiber connector assembly. The optical transceiver assembly includes: a light source emitting detection light, and a light receiving unit used for receiving a detection echo. The multiple distributed scanning units are distributed on the carrier of the distributed LiDAR. The distributed optical fiber connector assembly is in coupled connection with the optical transceiver assembly and the multiple distributed scanning units. The detection light emitted by the light source in the optical transceiver assembly is synchronously transmitted by the distributed optical fiber connector assembly to the multiple distributed scanning units. The multiple distributed scanning units emit the detection light to a detected area with a scanning device, and receive a reflected echo from the detected area. The reflected echo is transmitted to the optical transceiver assembly by the distributed optical fiber connector assembly.

A method for evaluating degree of an interstitial point of point cloud includes: building a tester, including a base, a first object, and a second object; mounting a LiDAR on the base, to cause that light emitted by the LiDAR can be incident to the first object and the second object; emitting detection pulses to the first object and the second object by the LiDAR; receiving echo pulses reflected by the first object and the second object, and generating point cloud based on the echo pulses; determining whether an interstitial point exists in the point cloud; increasing the distance between the first object and the second object when an interstitial point exists in the point cloud; repeating until no interstitial point exists in the point cloud, and recording the distance between the first object and the second object at this moment, to characterize the degree of the interstitial point.

A method for LiDAR detection includes: controlling a laser of a LIDAR to emit a detection beam at a first time point; applying a first working voltage to a detector of the LiDAR from the first time point to a second time point, wherein a magnitude of the first working voltage is less than or equal to a breakdown voltage of the detector; applying a second working voltage to the detector after the second time point, wherein a magnitude of the second working voltage is greater than the breakdown voltage of the detector; determining an electrical crosstalk signal of the detector; and determining an echo signal of the detection beam reflected by an object based on a detection signal received by the detector after the second time point and the electrical crosstalk signal.

A Lidar system is provided. The Lidar system comprise: a light source configured to emit a multi-pulse sequence to measure a distance between the Lidar system and a location in a three-dimensional environment, and the multi-pulse sequence comprises multiple pulses having a temporal profile; a photosensitive detector configured to detect light pulses from the three-dimensional environment; and one or more processors configured to: determine a coding scheme comprising the temporal profile, wherein the coding scheme is determined dynamically based on one or more real-time conditions including an environment condition, a condition of the Lidar system or a signal environment condition; and calculate the distance based on a time of flight of a sequence of detected light pulses, wherein the time of flight is determined by determining a match between the sequence of detected light pulses and the temporal profile.

A frame synchronization method for a scanning vibrating mirror and a lidar are provided. The method includes: obtaining current parameters of a reference signal, where the parameters of the reference signal include a reference signal period and a current first phase; obtaining signal parameters of a frame scanning signal along a first rotation axis of the vibrating mirror, where the signal parameters include a frame scanning period and a current second phase; determining a phase difference between the reference signal and the frame scanning signal based on the current parameters of the reference signal and the signal parameters of the frame scanning signal of the current scanning period; and determining a scanning duration of a first scanning stage of the frame scanning signal in a next scanning period based on the phase difference. Accordingly, an actual frame scanning period of the scanning vibrating mirror tracks and synchronizes with external frame signals.