CN221465735U - Optical transceiver assembly for laser radar, laser radar and vehicle - Google Patents

Abstract

The present disclosure relates to an optical transceiver assembly for a lidar, a lidar and a vehicle. The optical transceiver module includes: a transmitter, having: an emission chip including a laser array configured to emit a light beam; and an emission lens; a receiver, having: receiving a lens; a receive chip comprising a detector array configured to receive echoes, wherein an angular resolution of a central region of a field of view of the optical transceiver assembly is different from an angular resolution of an edge region of the field of view of the optical transceiver assembly, at least one of the transmit lens and the receive lens comprising a negative meniscus lens.

Description

Optical transceiver assembly for laser radar, laser radar and vehicle

Technical Field

The present disclosure relates to the field of lidar, and more particularly to an optical transceiver assembly for a lidar, and a lidar and a vehicle.

Background

The laser radar is a radar system for detecting the characteristic quantities of the position, the speed and the like of a target object by emitting laser beams, and is an advanced detection mode combining a laser technology and a photoelectric detection technology. The laser radar is widely applied to the fields of automatic driving, traffic communication, unmanned aerial vehicle, intelligent robot, resource exploration and the like due to the advantages of high resolution, good concealment, strong active interference resistance, good low-altitude detection performance, small volume, light weight and the like.

Both greater FOV coverage and finer angular resolution are design goals for lidar. In the case that the number of laser radar detection channels is fixed, it is generally difficult to combine the two. The vehicle-mounted laser radar mainly distributes detection targets in a central view field due to the working environment of the vehicle-mounted laser radar, and the requirement on the remote measurement capability of the central view field is higher than that of the edge view field. Due to the phenomenon of near-far-small objects, the volume of the far-far objects in the laser radar field of view is relatively small, and in order to realize detection of the far-far objects in the central field of view, the resolution of the central field of view needs to be increased. Therefore, how to increase the resolution of the central field of view of a lidar while ensuring a larger FOV coverage is a technical problem that needs to be solved in the art.

Disclosure of utility model

It is an object of the present disclosure to overcome the above and/or other problems in the prior art by providing an optical transceiver assembly for a lidar that can expand the field of view while achieving a differentiated design of the angular resolution of the different regions.

According to some aspects of the present disclosure, there is provided an optical transceiver assembly for a lidar, comprising: a transmitter, having: an emission chip including a laser array configured to emit a light beam; and an emission lens; a receiver, having: receiving a lens; a receive chip comprising a detector array configured to receive echoes, wherein an angular resolution of a center region of a field of view of the optical transceiver assembly is different than an angular resolution of an edge region of the field of view of the optical transceiver assembly, at least one of the transmit lens and the receive lens comprising a negative meniscus lens.

Optionally, the transmitting chip and the receiving chip are disposed on the same circuit board.

Optionally, the emission lens includes a first negative meniscus lens, and the laser array includes a plurality of lasers uniformly distributed.

Optionally, the concave surface of the first negative meniscus lens faces the incident direction of the light beam.

Optionally, the detector array includes a plurality of detectors non-uniformly distributed along the first direction.

Optionally, the plurality of detectors are unevenly distributed along the second direction, the second direction is different from the first direction.

Optionally, the detector density of the central region of the detector array is greater than the detector density of the edge regions of the detector array.

Optionally, the receiving lens includes a second negative meniscus lens, and the detector array includes a plurality of detectors uniformly distributed.

Optionally, the convex surface of the second negative meniscus lens faces the incident direction of the echo.

Optionally, the laser array comprises a plurality of lasers unevenly distributed along the first direction.

Optionally, the plurality of lasers are unevenly distributed along a second direction, the second direction being different from the first direction.

Optionally, the laser density of the central region of the laser array is greater than the laser density of the edge regions of the laser array.

Optionally, the spot emitted by each laser in the laser array at least partially overlaps with the field of view of at least one detector in the detector array.

Optionally, the transmitting lens or the receiving lens includes at least one of: wide angle lenses and fish-eye lenses.

Optionally, the optical transceiver further comprises an optical homogenizer disposed on an optical path of the transmitter.

According to other aspects of the present disclosure, there is provided a lidar comprising: an optical transceiver module as described above; and a controller configured to: controlling the emitter to emit the light beam; and determining at least one of a distance and a reflectivity of the object based at least on the echoes received by the receiver.

According to further aspects of the present disclosure, there is provided a vehicle comprising a lidar as described above.

Drawings

The disclosure may be better understood by describing exemplary embodiments thereof in conjunction with the accompanying drawings, in which:

FIG. 1 illustrates a schematic block diagram of an optical transceiver assembly for a lidar according to an example embodiment of the present disclosure;

FIG. 2 illustrates an exemplary schematic diagram of an optical transceiver component having a non-uniform angular resolution;

FIG. 3 shows a schematic diagram of an emitter comprising a negative meniscus lens and its role;

FIG. 4 shows a schematic of a receiver comprising a negative meniscus lens and its function;

fig. 5 shows several examples of uniformly distributed laser arrays;

FIG. 6 shows an example of a uniformly distributed detector array;

FIG. 7 shows a schematic diagram of a transmitting chip and a receiving chip being disposed on the same circuit board;

8A-8C illustrate examples of non-uniformly distributed detector arrays;

fig. 9A to 9C show examples of unevenly distributed laser arrays; and

Fig. 10 shows a schematic block diagram of a lidar of an exemplary embodiment of the present disclosure.

Detailed Description

In the following, some embodiments of the present disclosure will be described, and it should be noted that in the course of the description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. It should be appreciated that in the actual implementation of any of the implementations, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that while such a development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as having the benefit of this disclosure.

Unless defined otherwise, technical or scientific terms used in the claims and specification should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like in the description and in the claims, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The word "comprising" or "comprises", and the like, is intended to mean that elements or items that are immediately preceding the word "comprising" or "comprising", are included in the word "comprising" or "comprising", and equivalents thereof, without excluding other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, nor to direct or indirect connections.

In the present disclosure, all embodiments and preferred embodiments mentioned herein may be combined with each other to form new technical solutions, if not specifically stated. In the present disclosure, all technical features mentioned herein as well as preferred features may be combined with each other to form new technical solutions, if not specifically stated.

In the description of the embodiments of the present disclosure, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

An optical transceiver module for a lidar according to an embodiment of the present disclosure is described in detail below with reference to the accompanying drawings.

A laser radar (light detection AND RANGING, light) is a radar system that detects a characteristic quantity such as a position, a speed, or the like of an object by emitting a laser beam. The laser radar, also called LASER RADAR or LADAR, works by emitting a beam of light (laser beam) towards the object, and then comparing the received reflected light (echo) reflected from the object with the emitted light, and after appropriate processing, obtaining information about the object. Such as object distance, orientation, height, speed, attitude, and even shape. The lidar may include a transmitting end and a receiving end. The emission end performs collimation and shaping on the emergent light of the laser through an emission optical system and then projects the emergent light to a field of view. The receiving end receives echo signals reflected by the object through the receiving optical system and the detector. The laser can be disposed on a transmitting circuit board or a transmitting chip, and the detector can be disposed on a receiving circuit board or a receiving chip. In the present disclosure, the lidar may be replaced with other active detection devices that measure information such as the position, velocity, etc. of an object by transmitting electromagnetic waves to the object and receiving electromagnetic waves reflected from the object.

In view of the drawbacks described in the background section, the present disclosure proposes an optical transceiver assembly for a lidar comprising: a transmitter, having: an emission chip including a laser array configured to emit a light beam; and an emission lens; a receiver, having: receiving a lens; a receive chip comprising a detector array configured to receive echoes, wherein an angular resolution of a center region of a field of view of the optical transceiver assembly is different than an angular resolution of an edge region of the field of view of the optical transceiver assembly, at least one of the transmit lens and the receive lens comprising a negative meniscus lens. The optical transceiver component for the laser radar adopts a negative meniscus lens as a component in a lens, and central field of view encryption and FOV coverage rate expansion are realized by utilizing self distortion of the lens group.

See fig. 1-2. Fig. 1 shows a schematic block diagram of an optical transceiver assembly 100 for a lidar according to an exemplary embodiment of the present disclosure. Fig. 2 shows an exemplary schematic diagram of the optical transceiver component 100 having a non-uniform angular resolution.

The optical transceiver module 100 for a lidar may include a transmitter 110 and a receiver 120. The transmitter 110 may include a transmitting chip 111. The emitting chip 111 may include a laser array that may emit light beams. The transmitter 110 may also include an emission lens 112 that may direct a light beam to a field of view of the lidar. The receiver 120 may have a receiving chip 121 and a receiving lens 122. The receiving lens 122 may guide an echo formed by the light beam reflected by the object to the receiving chip 121. The receive chip 121 may include a detector array that receives echoes.

In some embodiments, the angular resolution of the central region of the field of view of the optical transceiver component 100 may be different from the angular resolution of the edge regions of the field of view of the optical transceiver component 100. The field of view of the optical transceiver assembly 100 may be divided into a center region and an edge region. The central region may refer to a region near the optical axis, for example, a region whose distance from the optical axis is within a certain threshold range. The edge region may refer to a region distant from the optical axis, for example, a region whose distance from the optical axis is out of a certain threshold range. The angular resolution of the optical transceiver component 100 can be characterized as the angle between the light beams of adjacent channels.

Referring to fig. 2, an example of an optical transceiver component 100 having a non-uniform angular resolution is shown. In some examples, the emitting chip 111 may include a laser array of 40 lasers, and the optical transceiver assembly 100 may emit 40 laser beams in each detection period, distributed at different angles in the vertical direction (y-direction), so that multiple laser beams may detect multiple points in one scanning period, and in other examples, the optical transceiver assembly may emit more or less laser beams in each detection period. As shown in the example of fig. 2, the angular resolution of the central region of the field of view of the optical transceiver assembly 100 is greater than the angular resolution of the edge region of the field of view of the optical transceiver assembly 100, i.e., the laser beams are more densely arranged near the vertical angle of 0 ° and the laser beams are more sparsely arranged away from the region of 0 °. In this way, the angular resolution of the central region of the lidar may be made higher, enabling finer target identification and measurement for the central region. Lidar is generally more interesting for the targets in the central area, which is desirable for higher detection resolution and longer detection distances, because the central area is typically located on the travel route of the vehicle, where other vehicles, pedestrians, road blocks and other targets of interest are present. For edge areas, such as areas with too large vertical angles (sky), areas with too small vertical angles (e.g. ground), the detection priority of lidar is relatively low.

In some embodiments, the angular resolution of a portion of the area of the optical transceiver component 100 may be uniform, while the angular resolution of another portion may be non-uniform. In the example of fig. 2, the laser beam 6 to the laser beam 30 may be set to have the vertical angle resolutions of the adjacent two beams at a first preset value, the laser beam 5 to the laser beam 6 and the laser beam 30 to the laser beam 38 may be set to have the vertical angle resolutions of the adjacent two beams at a second preset value, and the other laser beams may be set to be unevenly distributed. In other embodiments, the angular resolution of the central region of the optical transceiver component 100 may be uniform and the angular resolution of the edge region may also be uniform, but the angular resolution of the central region is greater than the angular resolution of the edge region.

In the manner described above, an angular resolution non-uniform distribution of regions of the field of view of the optical transceiver assembly 100 (each region including one or more channels/beams) may be achieved. It should be noted that fig. 2 only shows one example in which the angular resolution of the central region of the field of view of the optical transceiver assembly 100 is different from the angular resolution of the edge region of the field of view of the optical transceiver assembly 100, and the manner in which the angular resolutions of the central region of the field of view and the edge region of the field of view are differentiated is not limited thereto. Those skilled in the art can devise various non-uniform distribution patterns of angular resolution based on the teachings of the present disclosure.

Providing a negative meniscus lens in the lens may assist in achieving a non-uniform distribution of angular resolution, and at least one of the emitter lens 112 and the receiver lens 122 may include a negative meniscus lens.

In some embodiments of the present disclosure, emission lens 112 may include at least one negative meniscus lens 31 to expand the field of view (FOV) of emission chip 111, as shown in fig. 3. Those skilled in the art will appreciate that the emission lens 112 may also include an emission main light group 32, and the emission main light group 32 may shape (e.g., collimate) the laser beam emitted by the emission chip 111. In this way, the emission lens 112 may have pincushion distortion that may be used to distort the uniformly distributed laser light emitting surface into a center-dense, edge-sparse configuration, as shown in FIG. 3. Specifically, the edge channel lasers can correspond to a larger field angle in space, while the center channel lasers are less affected by distortion of the emission lens 112, more pixels can be applied to the center field, a higher pixel density can be maintained in the center field, and the angular resolution of the center region of the field is improved. In the case where the laser array in transmit chip 111 includes a plurality of lasers distributed uniformly, transmitter 110 may achieve both coverage of a large field of view (FOV) and center field of view encryption. As shown in fig. 5, the laser arrays in the transmitting chip 111 may be arranged in a one-dimensional array or a two-dimensional array, and a plurality of lasers are uniformly distributed in the row/column directions, respectively.

Alternatively, the concave surface of the negative meniscus lens 31 may be oriented in the incident direction of the light beam.

In some embodiments of the present disclosure, the receiving lens 122 may include at least one negative meniscus lens 41 to expand the field of view (FOV) of the receiving chip 121, as shown in fig. 4. Those skilled in the art will appreciate that the receiving lens 122 may further include a receiving main optical group 42, and the receiving main optical group 42 may guide the echo to the receiving chip 121. In this way, the receiving lens 122 may have pincushion distortion that may be used to distort the photosensitive surface of a uniformly distributed detector into a center-dense, edge-sparse configuration, as shown in FIG. 4. Specifically, the detector of the edge channel can correspond to a larger field of view angle in space, while the detector of the center channel is less affected by distortion of the receiving lens 122, more pixels can be applied to the center field of view, a higher pixel density can be maintained in the center field of view, and a relatively high resolution of the center field of view is achieved. In the case where the detector array in the receiving chip 121 includes a plurality of detectors distributed uniformly, the receiver 120 may simultaneously achieve encryption that covers a larger FOV and its central field of view. As shown in fig. 6, the detector arrays in the receiving chip 121 may be arranged in a one-dimensional array or a two-dimensional array, and a plurality of detectors are uniformly distributed in the row/column direction, respectively.

Alternatively, the convex surface of the negative meniscus lens 41 may be oriented in the incident direction of the echo.

In some embodiments of the present disclosure, referring to fig. 7, the transmitting chip 111 and the receiving chip 121 may be disposed on the same circuit board 70 such that the relative positions of the transmitting chip 111 and the receiving chip 121 are fixed. Such an arrangement is advantageous in reducing the design complexity and the difficulty of adjustment of the transmission lens 112 and the reception lens 122, because there is no need to consider the positional change between the transmission chip 111 and the reception chip 121 in the design.

In some embodiments of the present disclosure, the transceiver ends (transmitter 110 and receiver 120) of the optical transceiver module 100 may each employ a lens design including a negative meniscus lens, or may employ a lens design including a negative meniscus lens only at one end (transmitting end/receiving end) and a lens without a negative meniscus lens and a non-uniformly distributed optoelectronic device design at the other end (receiving end/transmitting end).

As an example, when the emitter 110 includes an emitter lens design with a negative meniscus lens and an evenly distributed laser array, the receiver 120 may include a receiver lens design without a negative meniscus lens and an unevenly distributed detector array. Referring to fig. 8A and 8C, a non-uniformly distributed detector array may include a plurality of detectors 80 non-uniformly distributed along a first direction (e.g., y-direction). Referring to fig. 8B and 8C, in some embodiments, the plurality of detectors 80 may also be unevenly distributed along the second direction (e.g., the x-direction). The second direction is different from the first direction, for example, may be perpendicular to the first direction. In the example shown in fig. 8A-8C, the detector density is greater in the central region of the detector array than in the edge regions of the detector array.

As another example, when receiver 120 includes a negative meniscus receive lens design and an evenly distributed detector array, emitter 110 may include a non-negative meniscus transmit lens design and an unevenly distributed laser array. Referring to fig. 9A and 9B, the non-uniformly distributed laser array may include a plurality of lasers 90 non-uniformly distributed along a first direction (e.g., y-direction) or a second direction (e.g., x-direction). Referring to fig. 9C, in some embodiments, where the laser array is a two-dimensional array, the plurality of lasers may be unevenly distributed along both the first direction and the second direction (e.g., x-direction and y-direction). The second direction is different from the first direction, for example, may be perpendicular to the first direction. In the example shown in fig. 9A-9C, the laser density is greater in the central region of the laser array than in the edge regions of the laser array.

In some embodiments of the present disclosure, the arrangement of the devices in the transmitter 110 and the receiver 120 and the lens design cooperate such that the spot emitted by each laser in the laser array at least partially overlaps the field of view of at least one detector in the detector array. Therefore, the corresponding relation between the laser of the laser radar and the field of view of the detector can be ensured, and the detection accuracy is improved.

In some embodiments of the present disclosure, the transmitting lens or the receiving lens includes any one of the following: wide angle lenses and fish-eye lenses. This allows for an expansion of the laser radar transverse and/or longitudinal field angle, for example to more than 140 °, more than 150 °, more than 160 °, more than 170 °, more than 180 ° or more.

In some embodiments of the present disclosure, the optical transceiver assembly 100 may further include an optical homogenizer disposed on the optical path of the transmitter 110. The light homogenizer may be matched with a one-dimensional array of lasers or an elongated two-dimensional array of lasers to achieve the firing effect of the laser array as shown in fig. 5. An elongated two-dimensional laser array may include M rows (x-direction) and N columns (y-direction) of lasers, where M is much greater than N, or M is much less than N.

Alternatively, the light homogenizer may be located on the light exit side of the emission lens 112, whereby the emission chip 111, the emission lens 112 and the light homogenizer are freely adjustable with respect to each other to obtain the desired light field distribution. Alternatively, the light homogenizer may be located near a stop inside the emission lens 112, for example, the light homogenizer is integrated with the emission lens 112, whereby its entirety may be aligned relative to the emission chip 111 to obtain a desired light field distribution. Alternatively, the light homogenizer may be located on the light-emitting side of the emission chip 111, for example, the light homogenizer is integrally formed with the emission chip 111, whereby the whole thereof may be relatively aligned with the emission lens 112 to obtain a desired light field distribution. Alternatively, the light homogenizer may be located between the emitting chip 111 and the emitting lens 112 and the three are independent of each other, and the emitting chip 111, the emitting lens 112 and the light homogenizer may be freely adjusted with respect to each other to obtain a desired light field distribution. For example, free adjustment may include changing the spacing between the components, or adjusting the angle of the components relative to each other, etc.

As an example, the light homogenizer may include, but is not limited to: diffusers, microlens arrays, diffractive Optical Elements (DOEs), optical waveguides, etc.

In some embodiments of the present disclosure, the emitting end may employ various types of lasers, including but not limited to vertical cavity surface emitting lasers VCSELs, edge emitting lasers EELs, and the like; the receiving end may employ various types of detectors including, but not limited to, photon avalanche diodes SPAD, avalanche photodiodes APD, silicon photomultiplier sipms, and the like.

According to another exemplary embodiment of the present disclosure, there is also provided a lidar.

As shown in fig. 10, the lidar 1000 may include the light-transceiving assembly 100 and the controller 200 described above.

The transmitter 110 in the optical transceiver assembly 100 may provide a light beam 1001 into a space to illuminate an object 20 in the space, at least a portion of the light beam 1001 being reflected by the object 20 to form an echo 1002, at least a portion of the optical signal (e.g., a photon) of the echo 1002 being collected by the receiver 120.

The controller 200 is coupled to the optical transceiver assembly 100 and can control the transmitter 110 to transmit a light beam and determine at least one of a distance and a reflectivity of the object 20 based at least on echoes received by the receiver 120.

As an example, the controller 200 may include, but is not limited to: CPU (central Processing unit), FPGA (Field Programmable GATE ARRAY ), DSP (DIGITAL SIGNAL Processing, digital signal Processing) and other chips.

According to yet another exemplary embodiment of the present disclosure, a vehicle is also provided. The vehicle may comprise any of the lidars described above.

Thus far, an optical transceiver assembly, a lidar and a vehicle according to the present disclosure are described. The angular resolution of the central region of the field of view of the optical transceiver assembly of the present disclosure is different from the angular resolution of the edge region of the field of view of the optical transceiver assembly, while employing a design in which at least one of the transmitting lens and the receiving lens includes a negative meniscus lens, so that central field of view encryption of the lidar and expansion of FOV coverage can be achieved by means of lens self-distortion. In addition, with the improvement of the integration level of the optoelectronic device, for example, the chip of the transceiver, the transmitting end/receiving end device becomes an integrated device, and for the IC design, the uniformly distributed laser/detector and the processing circuit are an economical and small design complexity scheme, so the disclosure proposes a way to utilize the distortion of the lens itself to realize the encryption of the central channel.

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

Claims (17)

1. An optical transceiver assembly for a lidar, the optical transceiver assembly comprising:

a transmitter, having:

An emission chip including a laser array configured to emit a light beam; and

A transmitting lens;

A receiver, having:

Receiving a lens;

a receive chip including a detector array configured to receive echoes,

Wherein the angular resolution of the central region of the field of view of the optical transceiver component is different from the angular resolution of the edge region of the field of view of the optical transceiver component, at least one of the transmitting lens and the receiving lens comprising a negative meniscus lens.

2. The optical transceiver assembly of claim 1, wherein the transmitting chip and the receiving chip are disposed on the same circuit board.

3. The optical transceiver assembly of claim 1, wherein the launch lens comprises a first negative meniscus lens and the laser array comprises a plurality of lasers distributed uniformly.

4. The optical transceiver module of claim 3, wherein the concave surface of the first negative meniscus lens faces the direction of incidence of the light beam.

5. The optical transceiver assembly of claim 1, wherein the detector array comprises a plurality of detectors non-uniformly distributed along the first direction.

6. The optical transceiver assembly of claim 5, wherein the plurality of detectors are unevenly distributed along a second direction, the second direction being different from the first direction.

7. The optical transceiver assembly of claim 5, wherein a center region of the detector array has a greater detector density than an edge region of the detector array.

8. The optical transceiver of claim 1, wherein the receiving lens comprises a second negative meniscus lens and the detector array comprises a plurality of detectors distributed uniformly.

9. The optical transceiver module of claim 8, wherein the convex surface of the second negative meniscus lens faces the incident direction of the echo.

10. The optical transceiver assembly of claim 1, wherein the laser array comprises a plurality of lasers non-uniformly distributed along the first direction.

11. The optical transceiver assembly of claim 10, wherein the plurality of lasers are unevenly distributed along a second direction, the second direction being different from the first direction.

12. The optical transceiver assembly of claim 10, wherein a laser density of a central region of the laser array is greater than a laser density of an edge region of the laser array.

13. The optical transceiver assembly of claim 1, wherein a spot of light emitted by each laser in the array of lasers at least partially overlaps a field of view of at least one detector in the array of detectors.

14. The optical transceiver assembly of claim 1, wherein the transmitting lens or the receiving lens comprises at least one of: wide angle lenses and fish-eye lenses.

15. The optical transceiver assembly of claim 1, further comprising a homogenizer disposed on an optical path of the transmitter.

16. A lidar, the lidar comprising:

the optical transceiver module of any one of claims 1-15; and

A controller configured to:

controlling the emitter to emit the light beam; and

At least one of a distance and a reflectivity of the object is determined based at least on the echoes received by the receiver.

17. A vehicle comprising a lidar according to claim 16.