WO2023056585A1 - 一种探测系统、终端设备、控制探测方法及控制装置 - Google Patents

一种探测系统、终端设备、控制探测方法及控制装置 Download PDF

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Publication number
WO2023056585A1
WO2023056585A1 PCT/CN2021/122544 CN2021122544W WO2023056585A1 WO 2023056585 A1 WO2023056585 A1 WO 2023056585A1 CN 2021122544 W CN2021122544 W CN 2021122544W WO 2023056585 A1 WO2023056585 A1 WO 2023056585A1
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Prior art keywords
pixels
pixel array
light source
pixel
array
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PCT/CN2021/122544
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English (en)
French (fr)
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王超
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华为技术有限公司
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Priority to EP21959682.2A priority Critical patent/EP4400817A1/en
Priority to JP2024520782A priority patent/JP2024536373A/ja
Priority to PCT/CN2021/122544 priority patent/WO2023056585A1/zh
Priority to CN202180101959.2A priority patent/CN117916621A/zh
Publication of WO2023056585A1 publication Critical patent/WO2023056585A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/703—SSIS architectures incorporating pixels for producing signals other than image signals
    • H04N25/705—Pixels for depth measurement, e.g. RGBZ
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93275—Sensor installation details in the bumper area

Definitions

  • the present application relates to the field of detection technology, and in particular to a detection system, a terminal device, a control detection method and a control device.
  • detection systems are playing an increasingly important role on smart terminals, because the detection system can perceive the surrounding environment, and can identify and track moving targets based on the perceived environmental information, as well as static scenes such as lane lines and signs. Identification, and combined with navigator and map data, etc. for path planning. Therefore, detection systems are playing an increasingly important role on smart terminals.
  • Angular resolution is an important parameter used to characterize the performance of the detection system.
  • the first way is to increase the focal length of the optical imaging system in the detection system, which will increase the overall size of the detection system, which is not conducive to the miniaturization of the detection system.
  • the second way is to reduce the field of view of the detection system to increase the angular resolution of the detection system, which will reduce the field of view of the detection system, thereby limiting the application scenarios of the detection system.
  • the present application provides a detection system, terminal equipment, control detection method and control device, which are used to improve the angular resolution of the detection system.
  • the present application provides a detection system, the detection system includes a pixel array and a light source array, the pixel array includes a first pixel array, the light source array includes a first light source array, the first pixel array includes M ⁇ N pixels, and the first pixel array includes M ⁇ N pixels.
  • a light source array includes M ⁇ N light sources corresponding to M ⁇ N pixels, where both M and N are integers greater than 1.
  • the pixels in the first pixel array are staggered in the row direction, and the dislocation size of the pixels is smaller than the distance between the centers of two adjacent pixels in the row direction; or, the pixels in the first pixel array are staggered in the column direction, and the pixel The dislocation size is smaller than the distance between the centers of two adjacent pixels in the column direction; the arrangement of the light sources in the first light source array is coupled or matched to the arrangement of the pixels in the first pixel array.
  • the light sources in the first light source array are arranged in dislocation in the row direction, and the dislocation size of the light sources is smaller than the distance between the centers of two adjacent light sources in the row direction; or, the light sources in the first light source array are in the column direction
  • the dislocation of the light sources is smaller than the distance between the centers of two adjacent light sources in the column direction; the arrangement of the pixels in the first pixel array is coupled or matched with the arrangement of the light sources in the first light source array.
  • the pixels in the first pixel array are arranged in a row direction, and the pixel displacement is smaller than the distance between the centers of two adjacent pixels in the row direction; correspondingly, the light sources in the first light source array are arranged in a row direction. Arranged in an upward dislocation, the dislocation size of the light sources is smaller than the distance between the centers of two adjacent light sources in the row direction.
  • the pixels in the first pixel array are arranged in dislocation in the column direction, and the dislocation size of the pixels is smaller than the distance between the centers of two adjacent pixels in the column direction; correspondingly, the light sources in the first light source array are in the column direction In the dislocation arrangement, the dislocation size of the light sources is smaller than the distance between the centers of two adjacent light sources in the column direction.
  • the first light source array arranged in staggered light sources and the first pixel array arranged in staggered pixels are equivalent to increasing the number of equivalent lines of the detection system within the unit area of the first pixel array, and the number of equivalent lines increases , the number of light spots of echo signals received per unit area of the first pixel array increases, thereby helping to improve the angular resolution of the detection system.
  • the angular resolution of the detection system in the row direction (which may be referred to as the first angular resolution) can be improved.
  • the angular resolution of the detection system in the column direction (which may be referred to as the second angular resolution) can be improved.
  • the first pixel array is part or all of the pixels of the pixel array, and/or the first light source array is part or all of the light sources of the light source array.
  • the pixels in the pixel array are obtained by combining at least one photosensitive unit.
  • the pixel is obtained by combining two or more photosensitive units, it is helpful to improve the dynamic range of the pixel array.
  • the pixels in the first pixel array are arranged at equal intervals in the row direction; or, the pixels in the first pixel array are arranged at non-equal intervals in the row direction; or, the first pixel array
  • the pixels in the row direction are partially arranged at equal intervals, and some are arranged at non-equal intervals.
  • the offset arrangement of the pixels in the first pixel array in the row direction helps to increase the number of equivalent lines in the row direction, thereby helping to improve the angular resolution of the detection system in the row direction.
  • the pixels in the first pixel array are arranged at equal intervals in the column direction; or, the pixels in the first pixel array are arranged at non-equal intervals in the column direction; or, the first pixels The pixels in the array are partially arranged at equal intervals and partially arranged at non-equal intervals in the column direction.
  • the offset arrangement of the pixels in the first pixel array in the column direction helps to increase the number of equivalent lines in the column direction, thereby helping to improve the angular resolution of the detection system in the column direction.
  • the first pixel array includes m first regions, there are at least two first regions in the m first regions, and the pixels in the at least two first regions are arranged in different ways, m is an integer greater than 1.
  • the first pixel array includes n second regions, there are at least two second regions among the n second regions, and the pixels in the at least two second regions are combined by different numbers of photosensitive units , n is an integer greater than 1.
  • the first pixel array includes h third regions, there are at least two third regions among the h third regions, and pixels in at least two third regions have different dislocation sizes, h is An integer greater than 1.
  • different viewing angles can correspond to different first angles within the entire field of view without changing the binning method of photosensitive units. resolution or second angular resolution.
  • the light source in the light source array includes an active area, and the active area is used to emit signal light;
  • the light source array includes k areas, there are at least two areas in the k areas, and at least two areas The active area of the light source is different in the relative position of the light source, and k is an integer greater than 1.
  • different viewing angles can correspond to different first angle resolutions without changing the structure of the first pixel array. rate or second angular resolution.
  • the detection system further includes an optical imaging system
  • the light source array is located at a focal plane of an image side of the optical imaging system
  • the pixel array is located at a focal plane of an object side of the optical imaging system.
  • the light source array is located at the focal plane of the image side of the optical imaging system, and the pixel array is located at the focal plane of the object side of the optical imaging system, the signal light emitted by the light sources in the light source array can be imaged on the corresponding pixels. Further, the arrangement of the light sources in the first light source array and the arrangement of pixels in the first pixel array may be coupled or matched by an optical imaging system.
  • the present application provides a control detection method, which can be applied to the above-mentioned first aspect or any detection system of the first aspect.
  • the method includes controlling and gating the first pixels in the first pixel array, where the first pixels are part or all of the pixels in the first pixel array; and controlling and gating the first light sources corresponding to the first pixels in the first light source array.
  • the method further includes acquiring a first electrical signal from the first pixel, and determining related information of the target according to the first electrical signal; One echo signal is determined, and the first echo signal is obtained by reflecting the first signal light emitted by the first light source by the target in the detection area.
  • the first control signal for controlling the gate of the first pixel and/or the first light source is obtained, and the first control signal is sent to the pixel array and/or the light source array, wherein the first control The signal is generated at least according to the target angular resolution.
  • the pixels in the pixel array are obtained by combining p ⁇ q photosensitive units, and both p and q are integers greater than 1;
  • the number of cloud information is expanded to Q, and Q is an integer greater than 1.
  • the angular resolution of the detection system can be further improved by increasing the amount of point cloud information.
  • the first angular resolution and the second angular resolution of the detection system can be further improved by increasing the amount of point cloud information.
  • the a ⁇ b photosensitive units in the central area of the pixels in the pixel array may be controlled to be gated, and the photosensitive units adjacent to at least one photosensitive unit in the a ⁇ b photosensitive units may be controlled to be gated, wherein,
  • the a ⁇ b photosensitive units correspond to a first point cloud information, a is smaller than p, b is smaller than q, and the neighboring photosensitive units output the second point cloud information.
  • the amount of point cloud information can be increased.
  • the present application provides a control device, which is used to implement the second aspect or any one of the methods in the second aspect, and includes corresponding functional modules, respectively used to implement the steps in the above methods.
  • the functions may be implemented by hardware, or may be implemented by executing corresponding software through hardware.
  • Hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • control device is, for example, a chip or a chip system or a logic circuit.
  • the control device may include: a transceiver module and a processing module.
  • the processing module may be configured to support the control device to perform the corresponding functions in the method of the second aspect above, and the transceiving module is used to support the interaction between the control device and the detection system or other modules in the detection system.
  • the transceiver module may be an independent receiving module, an independent transmitting module, a transceiver module integrated with transceiver functions, and the like.
  • the present application provides a control device, which is used to implement the third aspect or any one of the methods in the third aspect, and includes corresponding functional modules, respectively used to implement the steps in the above method.
  • the functions may be implemented by hardware, or may be implemented by executing corresponding software through hardware.
  • Hardware or software includes one or more modules corresponding to the above-mentioned functions.
  • control device is, for example, a chip or a chip system or a logic circuit.
  • the control device may include: an interface circuit and a processor.
  • the processor may be configured to support the control device to perform the corresponding functions in the method of the second aspect above, and the interface circuit is used to support the interaction between the control device and other structures in the detection system or the detection system.
  • the control device may further include a memory, which may be coupled with the processor, and store necessary program instructions and the like of the control device.
  • the present application provides a chip, which includes at least one processor and an interface circuit. Further, optionally, the chip may further include a memory, and the processor is used to execute computer programs or instructions stored in the memory, so that the chip Execute the method in the above second aspect or any possible implementation manner of the second aspect.
  • the present application provides a terminal device, where the terminal device includes the first aspect or any one of the detection systems in the first aspect.
  • the terminal device may further include a processor, and the processor may be used to control the detection system to detect the detection area.
  • the present application provides a computer-readable storage medium, in which a computer program or instruction is stored, and when the computer program or instruction is executed by the control device, the control device executes the above-mentioned second aspect or the second aspect.
  • a computer-readable storage medium in which a computer program or instruction is stored, and when the computer program or instruction is executed by the control device, the control device executes the above-mentioned second aspect or the second aspect.
  • the present application provides a computer program product, the computer program product includes a computer program or instruction, and when the computer program or instruction is executed by the control device, the control device executes any of the above-mentioned second aspect or the second aspect. method in a possible implementation.
  • Figure 1a is a schematic diagram of a combined photosensitive unit provided by the present application.
  • Figure 1b is a schematic diagram of the number of lines of a laser radar provided by the present application.
  • Figure 1c is a schematic diagram of a BSI principle provided by the present application.
  • Figure 1d is a schematic diagram of a FSI principle provided by the present application.
  • Figure 2a is a schematic diagram of a possible application scenario provided by the present application.
  • Figure 2b is a schematic diagram of another possible application scenario provided by the present application.
  • FIG. 3 is a schematic structural diagram of a detection system provided by the present application.
  • FIG. 4 is a schematic diagram of the relationship between a photosensitive unit and a pixel provided by the present application
  • Fig. 5a is a schematic structural diagram of a pixel arranged in a misaligned direction in the row direction provided by the present application;
  • Fig. 5b is a schematic structural diagram of pixels aligned in the row direction provided by the present application.
  • Fig. 5c is a schematic structural diagram of a pixel arranged in a misaligned column direction according to the present application.
  • Fig. 5d is a schematic structural diagram of pixels aligned in the column direction provided by the present application.
  • Fig. 5e is a schematic structural diagram of another pixel arranged in a misaligned direction in the row direction provided by the present application;
  • Fig. 5f is a schematic structural diagram of another pixel arranged in a misaligned column direction according to the present application.
  • Fig. 5g is a schematic structural diagram of another pixel dislocation arrangement in the row direction provided by the present application.
  • Fig. 5h is a schematic structural diagram of another pixel arranged in a misaligned column direction according to the present application.
  • Fig. 6a is a schematic structural diagram of a pixel array provided by the present application.
  • Fig. 6b is a schematic structural diagram of another pixel array provided by the present application.
  • Fig. 6c is a schematic structural diagram of another pixel array provided by the present application.
  • FIG. 7 is a schematic diagram of the relationship between a first light source array and a first pixel array provided by the present application.
  • Figure 8a is a schematic structural view of an optical lens provided by the present application.
  • Fig. 8b is a schematic structural diagram of another optical lens provided by the present application.
  • FIG. 9 is a schematic structural diagram of a terminal device provided by the present application.
  • Figure 10 is a schematic diagram of a detection method provided by the present application.
  • Fig. 11 is a schematic structural diagram of a control device provided by the present application.
  • Fig. 12 is a schematic structural diagram of a control device provided by the present application.
  • Binning is a 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) way to read.
  • Binning can generally be divided into binning in the row direction and binning in the column direction. Binning in the row direction is to superimpose the signals of adjacent rows together and read out in the form of one pixel (see Figure 1a below), and Binning in the column direction is to superimpose the signals of adjacent columns together and read in the form of one pixel out.
  • the detection system can implement only row binning, or only column binning, or both row and column binning.
  • the Binning manner may also be other possible manners, such as Binning along a diagonal direction, which is not limited in the present application.
  • the number of lines of the detection system refers to the number of signal lights emitted by the detection system at one time. Different signal lights can detect different positions in the detection area. Referring to Figure 1b, the number of lines of the detection system is 5. It should be understood that the number of lines of the detection system may be greater than 5 or less than 5, and Fig. 1b only uses 5 as an example, which is not limited in the present application.
  • Angular resolution also known as scanning resolution, refers to the ability of the detection system to differentiate the minimum distance between two adjacent objects. The smaller the angular resolution, the more the number of light spots that shoot into the detection area, that is, the more points that can detect the target in the detection area, the higher the detection resolution.
  • the angular resolution includes a first angular resolution and a second angular resolution, wherein the first angular resolution is an angular resolution in a row direction, and the second angular resolution is an angular resolution in a column direction.
  • the first angular resolution ⁇ 1 can be expressed by the following formula 1
  • the second angular resolution ⁇ 2 can be expressed by the following formula 2.
  • a 1 represents the side length of the row direction of the pixels of the pixel array
  • a 2 represents the side length of the column direction of the pixels of the pixel array
  • f 1 represents the equivalent focal length of the optical receiving system in the row direction
  • f 2 represents the optical receiving system Equivalent focal length in column direction.
  • the angular resolution of the detection system is related to the size of the pixels in the pixel array at the receiving end and the focal length of the optical receiving system. If the row direction is consistent with the horizontal direction, and the column direction is consistent with the vertical direction, the angular resolution in the horizontal direction may also be called the first angular resolution, and the angular resolution in the vertical direction may also be called the second angular resolution.
  • the angular resolution of the detection system is the same as the size of the minimum field of view of the pixel.
  • the first angular resolution of the detection system is the same as the size of the minimum field of view in the row direction of the pixels
  • the second angular resolution of the detection system is the same as the size of the minimum field of view in the column direction of the pixels.
  • the spatial resolution and the size of the pixels are trade-offs. That is, the smaller the pixel size, the higher the spatial resolution; the larger the pixel size, the lower the spatial resolution.
  • BSI means that light enters the pixel array from the back side, see Figure 1c.
  • the light is focused on the color filter layer by a microlens with an anti-reflection coating, is divided into three primary color components by the color filter layer, and is introduced into the pixel array.
  • the back side corresponds to the front end of line (BEOL) process of the semiconductor manufacturing process.
  • FSI means that light enters the pixel array from the front, see Figure 1d.
  • the light is focused on the color filter layer by a microlens with an anti-reflection coating, is divided into three primary color components by the color filter layer, and passes through the metal wiring layer, so that parallel light is introduced into the pixel array.
  • the front corresponds to the back end of line (BEOL) process of the semiconductor manufacturing process.
  • 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 read the data at the specified location in the memory, and the pixel corresponding to the read specified location is the gated pixel.
  • the pixels in the pixel array can store the detected signals in corresponding memories.
  • the pixels can be enabled to be in an active state by a bias voltage, so that they can respond to echo signals incident on their surfaces.
  • 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.
  • Gating the light source refers to turning on (or called turning on) the light source, and controlling the light source to emit signal light according to the corresponding power.
  • Point cloud information is a collection of points in three-dimensional space. These vectors are usually represented in the form of X, Y, and Z three-dimensional coordinates, and are generally mainly used to represent the associated information of a target. For example, (X, Y, Z) can represent the geometric position, intensity, depth (ie distance) of the target, segmentation results, etc.
  • the detection system may be a laser radar.
  • Lidar can be installed on vehicles (such as unmanned vehicles, smart cars, electric vehicles, or digital cars, etc.) as vehicle-mounted lidar, please refer to Figure 2a.
  • Lidar can be deployed in any direction or any number of directions in front, rear, left and right of the vehicle to capture information about the surrounding environment of the vehicle.
  • Figure 2a is an example where the lidar is deployed in front of the vehicle.
  • the area that the lidar can perceive can be called the detection area of the lidar, and the corresponding field of view can be called the full field of view.
  • the laser radar can acquire the longitude and latitude, speed, orientation, or related information (such as the distance of the target, the moving speed of the target, the attitude of the target or the position of the target) of the target within a certain range (such as other vehicles around) in real time or periodically. grayscale, 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.
  • the detection system may be a camera.
  • the camera can also be installed on a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, a digital vehicle, etc.), as a vehicle-mounted camera, please refer to the above-mentioned FIG. 2b.
  • the camera can obtain measurement information such as the distance and speed of the target in the detection area in real time or periodically, so as to provide necessary information for lane correction, vehicle distance keeping, reversing and other operations.
  • Vehicle-mounted cameras can realize: a) target recognition and classification, such as various lane line recognition, traffic light recognition, and traffic sign recognition; ) to divide, mainly divide vehicles, ordinary road edges, side stone edges, boundaries without visible obstacles, unknown boundaries, etc.; c) the ability to detect lateral moving targets, such as pedestrians and vehicles crossing intersections Detection and tracking; d) positioning and map creation, such as positioning and map creation based on visual simultaneous localization and mapping (SLAM) technology; and so on.
  • target recognition and classification such as various lane line recognition, traffic light recognition, and traffic sign recognition
  • ) to divide mainly divide vehicles, ordinary road edges, side stone edges, boundaries without visible obstacles, unknown boundaries, etc.
  • positioning and map creation such as positioning and map creation based on visual simultaneous localization and mapping (SLAM) technology
  • 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.
  • RSU roadside unit
  • 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.
  • the detection system 300 may include a pixel array 301 and a light source array 302, the pixel array 301 includes a first pixel array 3011, the light source array 302 includes a first light source array 3021, the first pixel array 3011 includes M ⁇ N pixels, and the first light source array 3021 includes M ⁇ N light sources corresponding to M ⁇ N pixels, where both M and N are integers greater than 1.
  • the pixels in the first pixel array are staggered in the row direction, and the dislocation size of the pixels is smaller than the distance between the centers of two adjacent pixels in the row direction; or, the pixels in the first pixel array are staggered in the column direction, and the pixel The dislocation size is smaller than the distance between the centers of two adjacent pixels in the column direction; the arrangement of the light sources in the first light source array is coupled or matched to the arrangement of the pixels in the first pixel array.
  • the misalignment of the pixels in the first pixel array in the row direction means that each pixel in the i-th row and the corresponding pixel in the j-th row are staggered by a certain amount in the row direction (that is, two pixels in two adjacent rows
  • the i-th row and the j-th row are two adjacent rows.
  • the staggered arrangement of the light sources in the row direction in the first light source array means that the light sources in the i-th row and the j-th row are staggered by a certain amount in the row direction, and the i-th row and the j-th row are two adjacent rows.
  • the misalignment of the pixels in the first pixel array in the column direction means that the pixels in the i-th column and the j-th column are staggered by a certain size in the column direction (that is, if two pixels in two adjacent columns are not aligned, it can be Referring to the following Fig. 5c or Fig. 5f), the i-th column and the j-th column are two adjacent columns.
  • the staggered arrangement of the light sources in the column direction in the first light source array means that the light sources in the i-th column and the j-th column are staggered by a certain amount in the column direction, and the i-th column and the j-th column are two adjacent columns.
  • the first light source array with the light source staggered arrangement and the first pixel array with the pixels staggered arrangement are equivalent to increasing the number of equivalent lines of the detection system per unit area of the first pixel array (for details, please refer to the following The introduction of the four dislocation arrangements given in ), the number of equivalent lines increases, and the number of spots of echo signals received per unit area of the first pixel array increases, thereby helping to improve the angular resolution of the detection system.
  • the angular resolution of the detection system in the row direction (which may be referred to as the first angular resolution) can be improved.
  • the angular resolution of the detection system in the column direction (which may be referred to as the second angular resolution) can be improved.
  • the M ⁇ N light sources included in the first light source array correspond one-to-one to the M ⁇ N pixels included in the first pixel array.
  • the first light source array includes 2 ⁇ 2 light sources
  • the first pixel array includes 2 ⁇ 2 pixels
  • the 2 ⁇ 2 light sources correspond to 2 ⁇ 2 pixels one-to-one: the light source 11 corresponds to the pixel 11,
  • the light source 12 corresponds to the pixel 12
  • the light source 21 corresponds to the pixel 21
  • the light source 22 corresponds to the pixel 22 .
  • the coupling or matching of the arrangement of the light sources in the first light source array and the arrangement of pixels in the first pixel array includes but not limited to: the arrangement of the light sources in the first light source array is the same as that of the second The arrangement of pixels in a pixel array is the same (or referred to as consistent). Further, optionally, the arrangement of the light sources in the first light source array and the arrangement of the pixels in the first pixel array may be coupled or matched through an optical imaging system. It can also be understood that the signal light emitted by the light source in the light source array can be imaged on the pixel corresponding to the light source through the imaging optical system. Regarding the optical imaging system, reference may be made to the following related descriptions, which will not be repeated here.
  • FIG. 3 Each structure shown in FIG. 3 is introduced and described below to give an exemplary specific implementation solution.
  • the pixel array and the light source array below are not marked.
  • the pixel array may be a two-dimensional (two dimensional, 2D) pixel array.
  • the pixels in the pixel array may be obtained by combining (binning) at least one photosensitive unit (cell) (or referred to as a pixel).
  • the photosensitive unit may be, for example, a single photon detector, and the single photon detector includes but not limited to a SPAD or a digital silicon photomultiplier (silicon photomultiplier, SiPM).
  • the single photon detector can be formed by FSI process or BSI process. Usually adopting BSI process can realize smaller SPAD size, have higher PDE and higher energy efficiency.
  • the binning method is m ⁇ n.
  • FIG. 4 is a schematic structural diagram of a pixel provided in this application.
  • the pixel is obtained by binning 4 ⁇ 4 photosensitive units.
  • the binning method of the photosensitive unit is 4 ⁇ 4.
  • one pixel includes 4 ⁇ 4 photosensitive units.
  • the binning method of the photosensitive units shown in FIG. 4 is only an example. In this application, the pixel may only binning the photosensitive units in the row direction, or may only perform binning on the photosensitive units in the column direction.
  • the shape of the pixel can be a square, or a rectangle (as shown in the example of FIG. 4 above), or other possible regular shapes (such as a hexagon, a circle or an wait).
  • the specific shape of the pixel is related to the photosensitive units that make up the pixel and the binning method of the photosensitive units. If the pixel is a rectangle, the long side of the pixel can be in the row direction, or can also be in the column direction.
  • the photosensitive unit is generally a symmetrical regular figure, such as a square (refer to FIG. 4 above), of course, a rectangle may also be used, which is not limited in the present application.
  • the first pixel array may be all of the pixel arrays, that is, the pixel array includes M ⁇ N pixels. Based on this, the first pixel array in this application can be replaced with a pixel array.
  • the first pixel array may be some pixels of the pixel array. That is, in addition to the first pixel array formed by M ⁇ N pixels, the pixel array may also include other pixels. Based on this, the pixel array may form a regular figure (such as a rectangle, a square, etc.), or may also form an irregular figure, which is not limited in this application.
  • the pixels in the first pixel array can be arranged in a dislocation manner.
  • the possible dislocation arrangement of the pixels in the first pixel array is exemplarily shown as follows.
  • the pixels in the first pixel array are taken as rectangles, and the size of the misalignment is based on the center of the image area.
  • the image area refers to the area in the pixel for receiving the echo signal from the detection area (refer to the elliptical area shown in FIG. 5a to FIG. 5d below). It can also be understood that the image corresponding to the echo signal is formed in the image area of the pixel. In other words, the image area is the imaging position of the echo signal.
  • offset arrangement at equal intervals in the row direction is aligned in the column direction.
  • FIG. 5 a it is a schematic structural diagram of a first pixel array provided by the present application in which pixels are arranged in a row in a misaligned manner.
  • the pixels in the first pixel array are arranged at equal intervals in the row direction, and are arranged in a period of N rows, where N is an integer greater than 1.
  • N is an integer greater than 1.
  • the displacement of any two adjacent pixels in the row direction is ⁇ 1 .
  • the displacement ⁇ 1 of any two adjacent pixels in the row direction is smaller than the distance S 1 between the centers of the two adjacent pixels.
  • the angular resolution in the row direction can be increased by 3 times based on the offset arrangement of the first pixel array shown in FIG. 5 a compared with the aligned arrangement of the first pixel array shown in FIG. 5 b.
  • the minimum field of view range corresponding to the pixel is the field of view range corresponding to the length S1 ; based on the first pixel array in Figure 5a In the arrangement mode, the minimum field of view range corresponding to the pixels is the field of view corresponding to the length S 1 /3.
  • the angular resolution based on the dislocation arrangement of pixels in the first pixel array shown in FIG. 5 a is the same as that based on the arrangement of pixels in the first pixel array shown in FIG. 5 b.
  • FIG. 5 c it is a schematic structural diagram of a first pixel array provided by the present application in which pixels are arranged in a misaligned manner in the column direction.
  • the pixels in the first pixel array are arranged at equal intervals in the column direction, and the pixels are arranged in a staggered manner around M columns.
  • M 3
  • the displacement of any two adjacent pixels in the column direction is ⁇ 2 .
  • the misalignment ⁇ 2 of any two adjacent pixels in the column direction is smaller than the distance H 2 between the centers of the two adjacent pixels.
  • the focal length of the receiving optical system in the column direction is f2 , if the pixels in the first pixel array are arranged according to the existing alignment (as shown in Figure 5d), within the range of 2 in the column direction, in the first pixel array
  • the equivalent side length of the pixel in the column direction is b 1
  • the second angular resolution ⁇ 2 b 1 /f 2
  • the second The side length of the pixels in a pixel array in the column direction is b 1 /3
  • the second angular resolution ⁇ 2 ′ b 1 /3/f 2 . Therefore, based on the dislocation arrangement of the first pixel array shown in FIG.
  • the angular resolution in the column direction can be increased by 3 times. It should be understood that, based on the arrangement of the first pixel array in Figure 5d, within the range of H2 in the row direction, the minimum field of view range corresponding to the pixel is the field of view corresponding to the length H2 ; based on the first pixel array in Figure 5c In the arrangement mode, the minimum field of view range corresponding to the pixels is the field of view corresponding to the length H 2 /3.
  • the angular resolution based on the dislocation arrangement of pixels in the first pixel array shown in FIG. 5c is the same as that based on the arrangement of pixels in the first pixel array shown in FIG. 5d.
  • dislocation size ⁇ 1 in the above method 1 may be the same as or different from the dislocation size ⁇ 2 in the above method 2 , which is not limited in the present application.
  • the staggered arrangement at unequal intervals in the row direction is aligned in the column direction.
  • FIG. 5 e it is a schematic structural diagram of another kind of pixel arrangement in the row direction in the first pixel array provided by the present application.
  • Pixels in the first pixel array have at least two different dislocation sizes in the row direction, and N rows are arranged in a periodic dislocation arrangement (or referred to as a period of dislocation arrangement), where N is an integer greater than 1.
  • N is an integer greater than 1.
  • the dislocation size ⁇ 3 of any two adjacent pixels in the row direction is smaller than the distance S 1 between the centers of the adjacent two pixels, and the dislocation size ⁇ 4 of any two adjacent pixels in the row direction is also smaller than the distance between the two adjacent pixels The distance S 1 between the centers of the pixels.
  • the first pixel array has at least two different first angular resolutions in the row direction. For example, if there are two different dislocation sizes in the row direction, there are two different first angular resolutions in the row direction; for another example, if there are three different dislocation sizes in the row direction, there are three different dislocation sizes in the row direction Different first angular resolutions.
  • the size of the dislocations in the dislocation arrangements with unequal intervals in the row direction may be different from each other (as shown in FIG. 5e ); or may be partially the same and partially different; this application does not limit this.
  • the angular resolution in the row direction can be improved based on the staggered arrangement of the first pixel array shown in FIG. 5e compared with the aligned arrangement of pixels in the existing first pixel array shown in FIG. 5b. It should be understood that, based on the arrangement of the first pixel array shown in FIG. 5e, in the row direction, the minimum field of view range corresponding to the pixel is the field of view range corresponding to ⁇ 3 .
  • the overall angular resolution of the first pixel array may be obtained based on the two first angular resolutions, for example, a weighted average may be taken for the two first angular resolutions; then For example, the resolution of the central region of the point cloud may be taken as the overall angular resolution of the first pixel array.
  • the angular resolution based on the dislocation arrangement of the pixels in the first pixel array shown in FIG. 5e is the same as that based on the arrangement of the pixels in the first pixel array shown in FIG. 5b.
  • dislocation arrangement at unequal intervals in the column direction is aligned in the row direction.
  • FIG. 5 f it is a schematic structural diagram of another kind of pixel arrangement in the column direction in the first pixel array provided by the present application.
  • the pixels in the first pixel array have at least two different dislocation sizes in the column direction, and the dislocation arrangement takes M columns as a period, and M is an integer greater than 1.
  • the misalignment of two adjacent pixels in the column direction is ⁇ 5 or ⁇ 6 .
  • the dislocation size ⁇ 5 of any two adjacent pixels in the column direction is smaller than the distance H 2 between the centers of the two adjacent pixels
  • the dislocation size ⁇ 6 of any two adjacent pixels in the column direction is smaller than the distance between the two adjacent pixels The distance between the centers of H 2 .
  • the first pixel array has at least two different second angular resolutions in the column direction. For example, if there are two different dislocation sizes in the column direction, then there are two different second angular resolutions in the column direction; for another example, if there are three different dislocation sizes in the column direction, then in the column direction There are three different second angular resolutions.
  • the dislocation size may be different from each other (as shown in FIG. 5f ), or may be partly the same or partly different, which is not limited in this application.
  • the angular resolution of the detection system in the column direction can be improved based on the dislocation arrangement of the first pixel array shown in FIG. 5f.
  • the minimum field of view range corresponding to the pixel is the field of view corresponding to the length H2 ; based on the first pixel array in Figure 5f In the arrangement mode, the minimum field of view range corresponding to the pixels is the field of view corresponding to the length ⁇ 5 .
  • the angular resolution based on the dislocation arrangement of pixels in the first pixel array shown in FIG. 5f is the same as that based on the arrangement of pixels in the first pixel array shown in FIG. 5d.
  • the size of the dislocation of the pixels in the above-mentioned first pixel array depends on the application scene of the detection system. For example, scenes requiring smaller angular resolutions have smaller pixel misalignment sizes. For another example, in a scene that requires a larger angular resolution, the pixel misalignment is larger. It should be understood that the smaller the dislocation size, the smaller the angular resolution of the detection system and the greater the improved spatial resolution. In addition, the period (M or N) of the dislocation arrangement of the first pixel array can be designed according to the application requirements of the detection system.
  • the pixels in the above four manners are all rectangles as examples. If the pixel is a circle, the above-mentioned side lengths for determining the first angular resolution and the second angular resolution may be replaced by a radius. If the pixel is an ellipse, the length of the side that determines the first angular resolution can be replaced by the length of the major axis (or the length of the minor axis) of the ellipse, and correspondingly, the length of the side that determines the second angular resolution can be replaced by the length of the minor axis of the ellipse Length (or the length of the major axis) substitution.
  • the above-mentioned side length for determining the first angular resolution may be replaced by the maximum side length in the row direction
  • the side length for determining the second angular resolution may be replaced by the maximum side length in the column direction.
  • the offset arrangement of the pixels in the row direction in the first pixel array may also be a combination of the first and second approaches above, that is, some are equally spaced and some are not equally spaced.
  • the misalignment sizes in the row direction are ⁇ 7 , ⁇ 8 and ⁇ 7 .
  • the overall angular resolution of the first pixel array may be obtained based on the two first angular resolutions, for example, a weighted average of the two first angular resolutions may be taken, where ⁇ 1 The weight of "" can be greater than the weight of ⁇ 1 ""'.
  • the staggered arrangement of pixels in the column direction in the first pixel array may also be a combination of the third and fourth methods above, that is, some are equally spaced and some are unequally spaced.
  • the magnitudes of dislocations in the column direction are ⁇ 9 , ⁇ 0 and ⁇ 9 .
  • the overall angular resolution of the first pixel array may be obtained based on the two second angular resolutions, for example, a weighted average may be taken for the two second angular resolutions, where ⁇ 2 The weight of "" can be greater than the weight of ⁇ 2 ""'.
  • the first pixel array may only include one area, that is, the entire first pixel array corresponds to a first angular resolution and a second angular resolution.
  • the entire first pixel array adopts the same dislocation arrangement and the same dislocation size, and the binning method of the photosensitive units is also the same.
  • the first pixel array may include at least two different areas, and each area may correspond to at least one first angular resolution or at least one second angular resolution. Diagonal resolution. It can also be understood that, within the full field of view of the detection system, it may correspond to at least two different first angular resolutions or at least two different second angular resolutions. It should be understood that when all the pixels in the first pixel array are gated, the corresponding field of view is the full field of view of the detection system.
  • the following exemplarily shows a possible situation that the first pixel array includes at least two different regions.
  • the first pixel array is divided into multiple first regions based on different dislocation arrangements.
  • the first pixel array includes m first regions, there are at least two first regions in the m first regions, and the pixels in the at least two first regions are arranged in different ways, m is an integer greater than 1.
  • the first pixel array may adopt a combination of at least two of the above-mentioned four staggered arrangements.
  • one dislocation arrangement corresponds to one first region.
  • the first region of the first pixel array is divided based on a dislocation arrangement. Which combination to use can be determined according to the application scenario of the detection system.
  • the first pixel array includes three first regions (namely the first region 1 , the first region 2 and the first region 3 ) as an example, and each first region corresponds to a dislocation arrangement of pixels.
  • the arrangement manners of the pixels corresponding to the three first regions are different from each other.
  • the first region 1 can adopt the dislocation arrangement of the above-mentioned mode 1
  • the first region 2 can adopt the dislocation arrangement of the above-mentioned mode 2
  • the first region 3 can adopt the dislocation arrangement of the above-mentioned mode 3.
  • the field of view range of the first area 1 corresponds to the first angular resolution 1 and the second angular resolution 1
  • the field of view of the first area 2 corresponds to the first angular resolution 2 and the second angular resolution 2.
  • the field of view of the first area 3 corresponds to the first angular resolution 3 and the second angular resolution 3 .
  • the first region 1 can adopt the dislocation arrangement of the above-mentioned method 1
  • the first region 2 can adopt the dislocation arrangement of the above-mentioned method 2
  • the first region 3 can adopt the above-mentioned method 4 of the dislocation arrangement.
  • the field of view of the first area 1 corresponds to the first angular resolution 1' and the second angular resolution 1'
  • the field of view of the first area 2 corresponds to the first angular resolution 2' and the second
  • the angular resolution 2' corresponds to the first angular resolution 3' and the second angular resolution 3' within the field of view of the first region 3 . They are not listed here.
  • the shaded area in FIG. 6a can be regarded as an invalid pixel, that is, the photosensitive unit in the shaded area will not be used by default. Further, these light-sensing units in the shaded area can perform some other functions, such as assisting in the detection and data collection of background ambient light intensity.
  • the first pixel array is divided into multiple regions based on different binning methods of the photosensitive units.
  • the first pixel array includes n second regions, there are at least two second regions among the n second regions, and the pixels in the at least two second regions are combined by different numbers of photosensitive units , n is an integer greater than 1.
  • different second regions in the first pixel array have different binning methods of photosensitive units. Based on this, different second regions of the first pixel array can adopt the same misalignment arrangement, and the misalignment in different second regions The size is also the same. It should be noted that, the aspect ratios of the pixels in the first pixel array may be the same, or may also be different. When the aspect ratios of the pixels in the first pixel array are different, the rotationally symmetric optical imaging system can have a better degree of freedom to adjust the angular resolution.
  • FIG. 6 b it is a schematic structural diagram of another first pixel array provided by the present application.
  • the first pixel array can be divided into two second regions (ie, the second region a and the second region b).
  • Both the second area a and the second area b take the dislocation arrangement given in the above method 1 as an example, the dislocation size in the second area a is the same as the dislocation size in the second area b, and the photosensitive unit in the second area a
  • the binning method of is different from the binning method of the photosensitive units in the second region b, wherein the first angular resolution corresponding to the field of view of the second region a is different from the first angular resolution corresponding to the field of view of the second region b, And/or, the second angular resolution corresponding to the field of view of the second region a is different from the second angular resolution corresponding to the field of view of the second region b.
  • the central field of view of the full field of view of the detection system requires a higher angular resolution, and the peripheral field of view of the full field of view may adopt a slightly smaller angular resolution.
  • the central area of the first pixel array can be configured to use binning with fewer photosensitive units, and the edge area can use binning with more photosensitive units.
  • different second regions of the first pixel array adopt different binning methods of photosensitive units, so that different first angular resolutions and/or second angular resolutions corresponding to different viewing angle ranges can be realized.
  • the m first regions in the above case 1 and the n second regions in the case 2 may overlap respectively.
  • the m first areas include the first area 1, the first area 2, and the first area 3,
  • the n second areas include the second area A, the second area B, and the second area C, and the first area 1 It coincides with the second region A, the first region 2 coincides with the second region B, and the first region 3 coincides with the second region C.
  • the first pixel array is divided into a plurality of third regions based on different dislocation sizes.
  • the first pixel array includes h third regions, there are at least two third regions among the h third regions, and pixels in at least two third regions have different dislocation sizes, h is An integer greater than 1.
  • different third regions in the first pixel array have different dislocation sizes. Further, optionally, different third regions of the first pixel array may adopt the same dislocation arrangement, and the dislocation sizes in different third regions are different.
  • FIG. 6 c it is a schematic structural diagram of another first pixel array provided by the present application.
  • the first pixel array is divided into two third areas (ie, the third area A and the third area B), the dislocation size in the third area A is smaller than the dislocation size in the third area B, and the third area A and For the third area B, the dislocation arrangement given in the above-mentioned method 1 is used as an example.
  • the first angular resolution corresponding to the field of view of the third area A is smaller than the first angular resolution corresponding to the field of view of the third area B, and the second angular resolution corresponding to the field of view of the third area A is equal to the third
  • the field of view of area B corresponds to the second angular resolution.
  • the central field of view of the full field of view of the detection system requires a higher angular resolution, and the peripheral field of view of the full field of view may adopt a slightly smaller angular resolution.
  • a smaller dislocation size can be set in the central area of the first pixel array, and a larger dislocation size can be set in the edge area.
  • the central area of the first pixel array corresponds to the central field of view of the full field of view
  • the edge area of the first pixel array corresponds to the edge field of view of the full field of view.
  • the binning mode of the photosensitive units in the first pixel array is the same as an example for illustration.
  • the above-mentioned case 1 and case 3 can achieve different angular resolutions corresponding to different viewing angles without changing the binning method of photosensitive units.
  • the m first regions in the above scenario 1 and the h third regions in the scenario 3 may overlap respectively.
  • the m first areas include the first area 1, the first area 2, and the first area 3,
  • the h third areas include the third area A, the third area B, and the third area C, and the first area 1 It coincides with the third region A, the first region 2 coincides with the third region B, and the first region 3 coincides with the third region C.
  • the n second regions in the above-mentioned case 2 may overlap with the h third regions in the case 3 respectively.
  • the n second areas include the second area A, the second area B, and the second area C
  • the h third areas include the third area A, the third area B, and the third area C
  • the second area A It coincides with the third area A
  • the second area B coincides with the third area B
  • the second area C overlaps with the third area C.
  • first angular resolutions and/or second angular resolutions corresponding to the full field of view may also be a combination of the above situations.
  • taking area 1 can be further divided into area 11 and area 12 based on the dislocation size as an example
  • the field of view of area 11 corresponds to the first angular resolution ⁇ 111 and the second angular resolution ⁇ 112
  • the field of view of area 12 Corresponding to the first angular resolution ⁇ 121 and the second angular resolution ⁇ 122 .
  • the region 2 and the region 3 can also be further divided into regions based on the size of the dislocation, which will not be listed here.
  • area A can be further divided into area A1 and area A2 based on the dislocation arrangement.
  • the field of view of area A1 corresponds to the first angular resolution ⁇ A11 and the second angular resolution ⁇ A12
  • the field of view of area A2 corresponds to the first angular resolution
  • the resolution is ⁇ A21 and the second angular resolution ⁇ A22 .
  • the region B can also be further divided into regions based on the size of the dislocation, which will not be listed here.
  • case 1 and case 2 are combined.
  • area 1 can be further divided into area 1a and area 1b based on the binning method of photosensitive units.
  • the field of view of the region 1a corresponds to the first angular resolution ⁇ 1a1 and the second angular resolution ⁇ 1a2
  • the field of view of the region 12 corresponds to the first angular resolution ⁇ 1b1 and the second angular resolution ⁇ 1b2 .
  • the region 2 and the region 3 can also be further divided into regions based on the binning method of the photosensitive units, which will not be listed here.
  • the area a can be further divided into area a1 and area a2.
  • the corresponding first angular resolution is ⁇ a11 and the second angular resolution is ⁇ a12 .
  • the corresponding first angular resolution within the field of view is ⁇ a21 and the second angular resolution ⁇ a22 .
  • the region b can also be further divided into regions based on the dislocation arrangement, which will not be listed here.
  • area A can be further divided into area Aa and area Ab based on the binning method of photosensitive units.
  • the field of view of area Aa corresponds to the first angular resolution ⁇ Aa1 and the second angular resolution ⁇ Aa2 .
  • the field corresponds to the first angular resolution ⁇ Ab1 and the second angular resolution ⁇ Ab2 .
  • the region B can also be further divided into regions based on the binning method of the photosensitive units, which will not be listed here.
  • area a can be further divided into area aA and area aB based on the size of the dislocation.
  • the corresponding first angular resolution is ⁇ aA1 and the second angular resolution is ⁇ aA2 .
  • the region b can also be further divided into regions based on the size of the dislocation, which will not be listed here.
  • the region 1 can be further divided into a region 11 and a region 12 based on the size of the dislocation, and the region 11 can be further divided into a region 111 and a region 112 based on the binning of photosensitive units.
  • the field of view of the region 111 corresponds to the first angular resolution ⁇ 1111 and the second angular resolution ⁇ 1112
  • the field of view of the region 112 corresponds to the first angular resolution ⁇ 1121 and the second angular resolution ⁇ 1122 .
  • the regions 2 and 3 can also be further divided into regions based on the size of the misalignment, and the further divided regions can also be further divided into regions based on the binning method of the photosensitive units, which will not be listed here.
  • the area A can be further divided into the area A11 and the area A21 based on the dislocation arrangement, further, the area A11 can be divided into the area A11a and the area A21b by the binning method of the photosensitive unit, and the field of view of the area A11a corresponds to the first angular resolution ⁇ A11a1 and the second angular resolution ⁇ A11a2 , the field of view of the region A21b corresponds to the first angular resolution ⁇ 21b1 and the second angular resolution ⁇ 21b2 . It should be understood that other possible combinations are also possible, which will not be listed here.
  • the above-mentioned first pixel array may be the same chip. That is to say, different regions of the same chip may correspond to different first angular resolutions and/or second angular resolutions.
  • the first pixel array may perform photoelectric conversion on the received echo signal to obtain associated information for determining the target in the detection area. For example, the distance information of the target, the orientation of the target, the speed of the target, and/or the grayscale information of the target, etc.
  • the light source array may be a 2D addressable light source array.
  • the so-called addressable light source array refers to the light sources in the light source array that can be independently strobed (or referred to as lighting or turning on or energizing), and the strobed light sources can be used to emit signal light.
  • the light source array includes a first light source array.
  • the first light source array is the entirety of the light source array, that is, the light source array includes M ⁇ N light sources corresponding to M ⁇ N pixels. Based on this, the first light source array in this application can be replaced by a light source array.
  • the first light source array may be part of the light sources of the light source array. That is, in addition to the first light source array formed by M ⁇ N light sources, the light source array may also include other light sources. Based on this, the light source array may form a regular pattern, or may also form an irregular pattern, which is not limited in this application.
  • the light source in the light source array may be a vertical cavity surface emitting laser (vertical cavity surface emitting laser, VCSEL), an edge emitting laser (edge emitting laser, EEL), an all-solid-state semiconductor laser (diode pumped solid state laser, DPSS ) or fiber lasers.
  • VCSEL vertical cavity surface emitting laser
  • EEL edge emitting laser
  • DPSS all-solid-state semiconductor laser
  • the Vcsel may include an optical area (OA), the active area is the area of the Vcsel for emitting signal light, and other areas of the Vcsel do not emit light.
  • the active region may be located in the center area of Vcsel, or may also be located in the edge area of Vcsel, or may also be located in other areas of Vcsel, which is not limited by the present application.
  • the active area of Vcsel corresponds to the image area of the pixel corresponding to the Vcsel, by adjusting the position of the active area of Vcsel (such as the central coordinates of the active area), the signal light emitted by the active area of Vcsel can be changed in the detected area The position of the image area of the pixel covered by the image of the echo signal reflected by the target.
  • the active area is located in the central area of the Vcsel, it is beneficial for the corresponding pixels to receive the echo signals as much as possible, thereby improving the utilization rate of the echo signals.
  • the light source array includes k areas, there are at least two areas in the k areas, the active areas of the light sources in the at least two areas are different in the relative positions of the light sources, and k is an integer greater than 1 .
  • the spatial arrangement that is, the relative position on the light source
  • the active region of the light source is set at the relative position of the light source.
  • the first pixel array and the first light source array are strongly related in design of arrangement and specifications. Further, optionally, the arrangement of the light sources in the first light source array matches the arrangement of the pixels in the first pixel array. If the arrangement of the pixels in the first pixel array is the above-mentioned method 1, the arrangement of the light sources in the first light source array can also be as shown in Figure 5a; if the arrangement of the pixels in the first pixel array is the above-mentioned method 2, The arrangement of the light sources in the first light source array can also be as shown in Figure 5c; if the arrangement of the pixels in the first pixel array is the above-mentioned way three, the arrangement of the light sources in the first light source array can also be as shown in Figure 5e Shown; if the arrangement of the pixels in the first pixel array is the above-mentioned way 4, the arrangement of the light sources in the first light source array can also be as shown in FIG.
  • the arrangement of the light sources in the first light source array can also be as shown in Figure 5g; if the arrangement of the pixels in the first pixel array is as shown in Figure 5h, the first The arrangement of the light sources in the light source array may also be as shown in Fig. 5h.
  • the specific arrangement of light sources in the first light source array please refer to the corresponding arrangement of pixels in the first pixel array.
  • the image area in the pixel can be replaced with an active area, which will not be repeated here.
  • first light source array and the first pixel array adopt the same dislocation arrangement, but the magnitude of the dislocation of the light source may be different from that of the pixel.
  • one light source corresponds to one pixel, and one pixel can be obtained by binning m ⁇ n photosensitive units.
  • the following exemplarily shows a correspondence between a light source and a photosensitive unit.
  • the first pixel array includes 2 ⁇ 2 pixels (i.e. pixel 11, pixel 12, pixel 21 and pixel 22), and the first light source array includes 2 ⁇ 2 light sources (i.e. light source 11, light source 12, light source 21 and light source 22), each pixel includes 4 ⁇ 4 SPADs as an example.
  • the pixel 11 corresponds to the light source 11, the pixel 12 corresponds to the light source 12, the pixel 21 corresponds to the light source 21, the pixel 22 corresponds to the light source 22, and the active area of each light source corresponds to the image area of the corresponding pixel.
  • the above-mentioned pixel array after the pixels are arranged in a staggered position can be called a special-shaped structure
  • the light source array after the light sources are arranged in a staggered position can also be called a special-shaped structure.
  • the detection system may also include an optical imaging system, and the optical imaging system may include a transmitting optical system and a receiving optical system.
  • the transmitting optical system and the receiving optical system may be the same, and the transmitting optical system and the receiving optical system may also be different.
  • the optical imaging systems on the pixels are all within the protection scope of this application. The following is an example where the transmitting optical system and the receiving optical system are the same.
  • the signal light emitted by the light source in the light source array can be shaped and/or collimated by the transmitting optical system and directed to the detection area, and reflected by the target in the detection area to obtain an echo signal, the echo signal After being shaped and/or collimated by the receiving optical system, it is received by corresponding pixels in the pixel array. 7, the signal light emitted by the active area of the light source 11 is transmitted to the detection area after being propagated by the emission optical system, and the echo signal is obtained by reflection from the target in the detection area, and the echo signal can be displayed on the image of the corresponding pixel 11.
  • the signal light emitted by the active area of the light source 12 is propagated by the emission optical system and directed to the detection area, and the echo signal is obtained by reflection from the target in the detection area, and the echo signal can be imaged in the image area of the corresponding pixel 12
  • the signal light emitted by the active area of the light source 21 is transmitted to the detection area after being propagated by the emission optical system, and the echo signal is obtained through the target reflection in the detection area, and the echo signal can be imaged in the image area of the corresponding pixel 21;
  • the light source The signal light emitted by the active area of 22 is propagated by the emission optical system and directed to the detection area, and is reflected by the target in the detection area to obtain an echo signal, and the echo signal can be imaged in the image area of the corresponding pixel 22 .
  • the one-to-one alignment of the emission field of view of the light source in the light source array and the reception field of view of the pixel in the pixel array can be realized based on the optical principle of focal plane imaging. That is, the emitting field of view of each light source in the light source array corresponds to the receiving field of view of each pixel in the pixel array in one-to-one space. In other words, one pixel corresponds to one receiving field of view, one light source corresponds to one emitting field of view, and the receiving field of view and the emitting field of view are aligned one by one in space.
  • each light source in the light source array is located on the object plane of the imaging optical system, and the photosensitive surface of each pixel in the pixel array is located on the image plane of the imaging optical system.
  • the light source in the light source array is located on the object-side focal plane of the transmitting optical system, and the photosensitive surface of the pixel in the pixel array is located on the image-side focal plane of the receiving optical system.
  • the signal light emitted by the light source in the light source array propagates to the detection area through the emission optical system, and the echo signal obtained by reflecting the signal light from the target in the detection area can be imaged on the image focal plane through the receiving optical system.
  • the transmitting optical system and the receiving optical system generally use the same optical lens.
  • the transmitting optical system and the receiving optical system are relatively simple and can be modularized, so that the detection system can achieve small volume and high integration.
  • FIG. 8a it is a schematic structural diagram of an optical lens provided by the present application.
  • the optical lens includes at least one lens, which may be, for example, a lens.
  • FIG. 8a shows that the optical lens includes 4 lenses as an example.
  • the optical axis of the optical lens refers to the straight line passing through the spherical center of each lens shown in FIG. 8a.
  • the optical lens may be rotationally symmetrical about the optical axis.
  • the lens in the optical lens can 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.).
  • the combination of multiple spherical lenses helps to improve the imaging quality of the detection system and reduce the aberration of the optical imaging system.
  • convex lenses include biconvex lenses, plano-convex lenses, and meniscus lenses
  • concave lenses include biconvex lenses, plano-concave lenses, and meniscus lenses. In this way, it helps to improve the multiplexing rate of the optical devices of the detection system, and facilitates the installation and adjustment of the detection system.
  • the horizontal equivalent focal length and the vertical equivalent focal length of an optical lens that is rotationally symmetric about the optical axis are the same.
  • the lens in the optical lens may also be a single aspheric lens or a combination of multiple aspheric lenses, which is not limited in this application.
  • the material of the lens in the optical lens may be an optical material such as glass, resin, or crystal.
  • the lens material is resin, it helps to reduce the mass of the detection system.
  • the material of the lens is glass, it helps to further improve the imaging quality of the detection system.
  • the optical lens includes at least one lens made of glass material.
  • FIG. 8 b it is a schematic structural diagram of another optical lens provided by the present application.
  • the optical lens is a micro lens array (micro lens array, MLA).
  • MLA micro lens array
  • the microlens array can collimate and/or shape the signal light from the light source array, and transmit the collimated and/or shaped signal light to the detection area.
  • the microlens array can achieve a signal light collimation of 0.05°-0.1°.
  • the structure of the above-mentioned optical lens can be used as a transmitting optical system, or can also be used as a receiving optical system, or both the transmitting optical system and the receiving optical system adopt the structure of the above-mentioned optical lens.
  • the transmitting optical system and the receiving optical system may also be other possible structures, such as a micro-optical system pasted on the surface of the light source array and the surface of the pixel array, which is not limited in this application.
  • the focal length of the receiving optical system can be changed with the change of the field angle of the detection system, it is also possible to achieve different first angular resolutions corresponding to different fields of view and/or by changing the focal length of the receiving optical system Second angular resolution.
  • the aspect ratio of the light sources in the first light source array is the same as that of the corresponding pixels in the first pixel array; based on this, the focal lengths of the transmitting optical system and the receiving optical system may be the same.
  • the aspect ratio of the light sources in the light source array is equal to a 1 : a 2 ; based on this, the focal length ratio of the transmitting optical system and the receiving optical system is equal to a 2 : a 1 .
  • the first light source array and the first pixel array are spatially mapped one by one through the receiving optical system and the emitting optical system, or called coupling or matching.
  • the detection system may also include a control module.
  • the control module can be a central processing unit (central processing unit, CPU), and can also be other general-purpose processors (such as microprocessors, or any conventional processors), field programmable gate arrays (field programmable gate arrays, FPGA), signal data processing (digital signal processing, DSP) circuit, application specific integrated circuit (application specific integrated circuit, ASIC), transistor logic device, or other programmable logic device, or any combination thereof.
  • CPU central processing unit
  • FPGA field programmable gate arrays
  • DSP digital signal processing
  • ASIC application specific integrated circuit
  • transistor logic device or other programmable logic device, or any combination thereof.
  • control module when the detection system is applied to a vehicle, can be used to plan the driving path according to the determined associated information of the detection area, such as avoiding obstacles on the driving path.
  • the detection system in any of the foregoing embodiments may be a laser radar, such as a pure solid-state laser radar.
  • the present application may further provide a terminal device.
  • FIG. 9 it is a schematic structural diagram of a terminal device provided by the present application.
  • the terminal device 900 may include the detection system 901 in any of the foregoing embodiments.
  • the terminal device may further include a processor 902, and the processor 902 is configured to invoke a program or an instruction to control the detection system 901 to detect the detection area.
  • the processor 902 may also receive the electrical signal obtained by photoelectrically converting the echo signal from the detection system 901, and determine the relevant information of the target according to the electrical signal.
  • the terminal device may further include a memory 903, and the memory 903 is used to store programs or instructions.
  • the terminal device may also include other components, such as a wireless communication device and the like.
  • Processor 902 may include one or more processing units.
  • the processor 902 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.
  • the memory 903 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 902 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
  • control detection method please refer to the introduction of 10.
  • the control detection method can be applied to the detection system shown in any one of the embodiments in Fig. 3 to Fig. 8b above. It can also be understood that the following detection methods can be implemented based on the detection system shown in any one of the embodiments in FIG. 3 to FIG. 8 b. Alternatively, the detection control method may also be applied to the terminal device shown in FIG. 9 above. It can also be understood that the detection control method can be implemented based on the terminal device shown in FIG. 9 above.
  • the control detection method may be executed by a control device, which may belong to the detection system, or may also be a control device independent of the detection system, such as a chip or a chip system.
  • the control device may be a domain processor in the vehicle, or may also be an electronic control unit (electronic control unit, ECU) in the vehicle, etc.
  • the detection method includes the following steps:
  • step 1001 the control device controls to gate the first pixel in the first pixel array.
  • the first pixel is part or all of the pixels in the first pixel array.
  • Step 1002 the control device controls to gate the first light source corresponding to the first pixel in the first light source array.
  • the first light source is also a part of the light source corresponding to the first pixel in the first light source array; if the first pixel is all the pixels in the first pixel array, then the first A light source is also all of the first light source array.
  • step 1001 and step 1002 do not represent a sequence, and generally, step 1001 and step 1002 are executed synchronously.
  • the control device may generate a first control instruction according to the target angular resolution, and send the first control instruction to the pixel array, so as to control gating of the first pixel in the first pixel array. And/or, the control device sends a first control instruction to the light source array, so as to control the gate of the first light source corresponding to the first pixel in the first light source array.
  • the target angular resolution may be generated or acquired by the upper layer of the detection system (that is, the layer that can obtain the requirements or application scenarios of the detection system, such as the application layer) according to the requirements (or application scenarios) of the detection system.
  • the value of the target angular resolution is small.
  • the value of the target angular resolution is relatively large.
  • the value of the angular resolution of the target is relatively large.
  • the angular resolution of the target is small.
  • the gating mode of the light sources in the first light source array can use non-adjacent rows or non-adjacent columns to work at the same time, for example, the first row is selected at the first time, the third row is selected at the second time, etc. . In this way, it helps to reduce optical crosstalk.
  • the angular resolution of the column direction can be changed by controlling and modifying and setting the equivalent wire harness in the column direction when the detection system is working;
  • Direction of the equivalent wire harness which can achieve angular resolution to change the direction of the row.
  • the control device can expand the point cloud information corresponding to one pixel during data processing. for multiple.
  • the pixels in the first pixel array are obtained by combining p ⁇ q photosensitive units, and both p and q are integers greater than 1; when the control device determines that the detection distance is less than the threshold, the corresponding pixel The point cloud information is extended to Q, and Q is an integer greater than 1. It can also be understood that, when the control device determines that the detection distance is smaller than the threshold, it starts the point cloud extension function.
  • the threshold can be preset or calibrated and stored in the detection system. It should be understood that when the detection distance is less than the threshold, it indicates that the detection system is performing short-distance detection, and at this time, a higher first angular resolution and/or a higher second angular resolution is usually required.
  • control device may control the gating of the a ⁇ b photosensitive units in the central area of the pixel, and control the gating of the photosensitive units adjacent to at least one of the a ⁇ b photosensitive units, wherein, a ⁇ b
  • the b photosensitive units correspond to a first point cloud information, a is smaller than p, b is smaller than q, and the neighboring photosensitive units output the second point cloud information.
  • the pixels in the first pixel array adopt a 4 ⁇ 4 binnning method, and during the working process of the detection system, one pixel can output one point cloud information.
  • the control device can control the 4 SPADs (SPAD11, SPAD12, SPAD21 and SPAD22) in the central area of the gate pixel to receive echo signals, that is, the signals sensed by the 4 SPADs in the central area of the pixel are added together Output a first point cloud information.
  • one piece of point cloud information may be expanded into multiple pieces.
  • the adjacent SPADs of the four SPADs in the central area of FIG. 7 are SPAD1-SPAD8 respectively, that is, there are eight SPADs in the adjacent ones.
  • SPAD1-SPAD8 and the four SPADs in the four corners are not selected.
  • the point cloud information of at least one SPAD in SPAD1-SPAD8 (which may be referred to as the second point cloud information) may be added.
  • the space coordinates of the added second point cloud information can be determined according to the real point cloud information through preset operations, such as taking the average of intensity or distance or some reasonable interpolation calculation.
  • the point cloud information includes but not limited to spatial coordinates, intensity, distance and so on.
  • the four SPADs in the central area can output one first point cloud information
  • the generation strategy of the other four second point cloud information can be: SPAD1, SPAD2, SPAD11
  • the spatial coordinates can be the spatial coordinates of the center points of these four SPADs
  • the distance and intensity information can be the average value of the data collected by SPAD11 and SPAD21 in the first column of the central area, that is, SPAD1 and SPAD2 are always the same It will output effective single photon counting value, and obtain a second point cloud information
  • the spatial coordinates can be the spatial coordinates of the center points of these four SPADs
  • the distance and intensity information take the average value of the data collected by SPAD21 and SPAD22 in the second row of
  • the row direction may be consistent with the horizontal direction
  • the column direction may be consistent with the vertical direction
  • FIG. 11 and FIG. 12 are schematic structural diagrams of a possible control device provided in the present application. These control devices can be used to implement the method shown in FIG. 10 in the above method embodiment, so the beneficial effects of the above method embodiment can also be realized.
  • the control device may be the control module in the above-mentioned detection system, or it may also be the processor in the terminal device in FIG. 9 , or it may be other independent control devices (such as chips).
  • the control device 1100 includes a processing module 1101 , and may further include a transceiver module 1102 .
  • the control device 1100 is used to implement the method in the above method embodiment shown in FIG. 10 .
  • the processing module 1101 is used to control the first pixel in the first pixel array and the first pixel in the first light source array through the transceiver module 1102.
  • processing module 1101 in the embodiment of the present application may be implemented by a processor or processor-related circuit components, and the transceiver module 1102 may be implemented by an interface circuit and other related circuit components.
  • the present application further provides a control device 1200 .
  • the control device 1200 may include a processor 1201 , and further, optionally, may also include an interface circuit 1202 .
  • the processor 1201 and the interface circuit 1202 are coupled to each other. It can be understood that the interface circuit 1202 may be an input and output interface.
  • the control device 1200 may further include a memory 1203 for storing computer programs or instructions executed by the processor 1201 .
  • the processor 1201 is used to execute the functions of the above-mentioned processing module 1101
  • the interface circuit 1202 is used to execute the functions of the above-mentioned transceiver module 1102 .
  • the present application provides a chip.
  • the chip may include a processor and an interface circuit. Further, optionally, the chip may also include a memory, and the processor is used to execute computer programs or instructions stored in the memory, so that the chip performs any of the above-mentioned possible implementations in FIG. 10. method.
  • processor in the embodiments of the present application may be a central processing unit (central processing unit, CPU), and may also be other general processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), field programmable gate array (field programmable gate array, FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof.
  • CPU central processing unit
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • a general-purpose processor can be a microprocessor, or any conventional processor.
  • the method steps in the embodiments of the present application may be implemented by means of hardware, or may be implemented by means of a processor executing software instructions.
  • Software instructions can be composed of corresponding software modules, and software modules can be stored in 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 read-only memory (erasable PROM, EPROM), electrically erasable programmable read-only memory (electrically EPROM, EEPROM), register, hard disk, mobile hard disk, CD-ROM or known in the art any other form of storage medium.
  • 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 ASIC can be located in the control device.
  • the processor and the storage medium can also be present in the control device as separate components.
  • all or part of them may be implemented by software, hardware, firmware or any combination thereof.
  • software When implemented using software, it may be implemented in whole or in part in the form of a computer program product.
  • a computer program product consists of one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on the computer, the processes or functions of the embodiments of the present application are executed in whole or in part.
  • the computer can be a general purpose computer, special purpose computer, computer network, control device, user equipment or other programmable device.
  • Computer programs or instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, computer programs or instructions may be Wired or wireless transmission to another website site, computer, server or data center.
  • a computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center integrating one or more available media.
  • Available media can be magnetic media, such as floppy disks, hard disks, and magnetic tapes; optical media, such as digital video discs (digital video discs, DVDs); and semiconductor media, such as solid state drives (SSDs). ).

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Abstract

一种探测系统(300)、终端设备(900)、控制探测方法及控制装置(1100,1200)，可应用于自动驾驶、智能驾驶或测绘等领域。探测系统(300)包括第一像素阵列(3011)和第一光源阵列(3021)，第一像素阵列(3011)包括M×N个像素，第一光源阵列(3021)包括与M×N个像素对应的M×N个光源，M和N均为大于1的整数；第一像素阵列(3011)中的像素在行方向上错位排列，像素的错位大小小于相邻两个像素在行方向的中心之间的距离；或者，第一像素阵列(3011)中的像素在列方向上错位排列，像素的错位大小小于相邻两个像素在列方向的中心之间的距离；第一光源阵列(3021)中的光源的排列方式与第一像素阵列(3011)中的像素的排列方式耦合或匹配。如此，有助于增加第一像素阵列(3011)的单位面积接收到的回波信号的数量，从而可提高探测系统(300)的角分辨率。

Description

一种探测系统、终端设备、控制探测方法及控制装置 技术领域
本申请涉及探测技术领域，尤其涉及一种探测系统、终端设备、控制探测方法及控制装置。
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。探测系统在智能终端上发挥着越来越重要的作用，由于探测系统可以感知周围的环境，并可基于感知到的环境信息进行移动目标的辨识与追踪，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等。因此，探测系统在智能终端上发挥着越来越重要的作用。
角分辨率是用于表征探测系统性能的一个重要的参数。目前，通常采用如下两种方式来提高探测系统的角分辨率。方式一，增加探测系统中的光学成像系统的焦距，如此会增加探测系统整体的尺寸，不利于探测系统的小型化。方式二，减小探测系统的视场角，以实现增大探测系统的角分辨率，如此会损失探测系统的视场角，从而导致探测系统的应用场景受限。
综上，如何在不影响探测系统其它性能的情况下，提高探测系统的角分辨率是当前亟需解决的技术问题。
发明内容
本申请提供一种探测系统、终端设备、控制探测方法及控制装置，用于提高探测系统的角分辨率。
第一方面，本申请提供一种探测系统，该探测系统包括像素阵列和光源阵列，像素阵列包括第一像素阵列，光源阵列包括第一光源阵列，第一像素阵列包括M×N个像素，第一光源阵列包括与M×N个像素对应的M×N个光源，M和N均为大于1的整数。第一像素阵列中的像素在行方向上错位排列，像素的错位大小小于相邻两个像素在行方向的中心之间的距离；或者，第一像素阵列中的像素在列方向上错位排列，像素的错位大小小于相邻两个像素在列方向的中心之间的距离；第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式耦合或匹配。
也可以理解为，第一光源阵列中的光源在行方向上错位排列，光源的错位大小小于相邻两个光源在行方向的中心之间的距离；或者，第一光源阵列中的光源在列方向上错位排列，光源的错位大小小于相邻两个光源在列方向的中心之间的距离；第一像素阵列中的像素的排列方式与第一光源阵列中的光源的排列方式耦合或匹配。
也可以理解为，第一像素阵列中的像素在行方向上错位排列，像素的错位大小小于相邻两个像素在行方向的中心之间的距离；相应的，第一光源阵列中的光源在行方向上错位排列，光源的错位大小小于相邻两个光源在行方向的中心之间的距离。或者，第一像素阵列中的像素在列方向上错位排列，像素的错位大小小于相邻两个像素在列方向的中心之间的距离；相应的，第一光源阵列中的光源在列方向上错位排列，光源的错位大小小于相邻 两个光源在列方向的中心之间的距离。
基于上述方案，通过光源错位排列的第一光源阵列、以及像素错位排列的第一像素阵列，相当于在第一像素阵列的单位面积内增加了探测系统的等效线数，等效线数增加，第一像素阵列的单位面积接收到的回波信号的光斑的数量增加，从而有助于提高探测系统的角分辨率。例如，当像素阵列中的像素及光源阵列的光源均在行方向上错位排列时，可以提高探测系统在行方向的角分辨率(可称为第一角分辨率)。当像素阵列中的像素及光源阵列中的光源在列方向上错位排列时，可以提高探测系统在列方向的角分辨率(可称为第二角分辨率)。
在一种可能的实现方式中，第一像素阵列为像素阵列的部分像素或者全部像素，和/或，第一光源阵列为光源阵列的部分光源或全部光源。
在一种可能的实现方式中，像素阵列中的像素是通过至少一个感光单元合并得到的。
若像素是通过两个或两个以上的感光单元合并得到的，有助于提高像素阵列的动态范围。
在一种可能的实现方式中，第一像素阵列中的像素在行方向等间隔的错位排列；或者，第一像素阵列中的像素在行方向非等间隔的错位排列；或者，第一像素阵列中的像素在行方向部分等间隔排列、部分非等间隔排列。
通过第一像素阵列中的像素在行方向的错位排列，有助于增加行方向的等效线数的数量，从而有助于提高探测系统行方向的角分辨率。
在另一种可能的实现方式中，第一像素阵列中的像素在列方向等间隔的错位排列；或者，第一像素阵列中的像素在列方向非等间隔的错位排列；或者，第一像素阵列中的像素在列方向部分等间隔排列、部分非等间隔排列。
通过第一像素阵列中的像素在列方向的错位排列，有助于增加列方向的等效线数的数量，从而有助于提高探测系统列方向的角分辨率。
在一种可能的实现方式中，第一像素阵列包括m个第一区域，m个第一区域中存在至少两个第一区域，至少两个第一区域中的像素的错位排列方式不同，m为大于1的整数。
通过在第一像素阵列的不同区域，设置不同的错位排列方式，可以在全视场范围内，在不改变感光单位的合并(binning)方式的情况，可以实现不同视场角对应不同的角分辨率。
在一种可能的实现方式中，第一像素阵列包括n个第二区域，n个第二区域中存在至少两个第二区域，至少两个第二区域中的像素由不同数量的感光单元合并的，n为大于1的整数。
通过在第一像素阵列的不同区域，设置像素由不同的数量的感光单元合并得到，可实现不同视场角对应不同的第一角分辨率或第二角分辨率。
在一种可能的实现方式中，第一像素阵列包括h个第三区域，h个第三区域中存在至少两个第三区域，至少两个第三区域中的像素的错位大小不同，h为大于1的整数。
通过在第一像素阵列的不同区域，设置不同的错位大小，可以在全视场范围内，在不改变感光单位的合并(binning)方式的情况，可以实现不同视场角对应不同的第一角分辨率或第二角分辨率。
在一种可能的实现方式中，光源阵列中的光源包括有源区，有源区用于发射信号光；光源阵列包括k个区域，k个区域中存在至少两个区域，至少两个区域中的光源的有源区 在光源的相对位置不同，k为大于1的整数。
通过在第一光源阵列中的不同区域，设置光源的有源区在光源的相对位置不同，可在不改变第一像素阵列的结构的情况，可不同的视场角对应不同的第一角分辨率或第二角分辨率。
在一种可能的实现方式中，探测系统还包括光学成像系统，光源阵列位于光学成像系统的像方的焦平面，像素阵列位于光学成像系统的物方的焦平面。
通过光源阵列位于光学成像系统的像方的焦平面，像素阵列位于光学成像系统的物方的焦平面，可以实现光源阵列中的光源发射的信号光在对应的像素上成像。进一步，可通过光学成像系统，实现第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式耦合或匹配。
第二方面，本申请提供一种控制探测方法，该方法可应用于上述第一方面或第一方面任一种探测系统。该方法包括控制选通第一像素阵列中的第一像素，第一像素为第一像素阵列中的部分像素或全部像素；控制选通第一光源阵列中与第一像素对应的第一光源。
基于上述方案，可在不更改像素阵列和光源阵列的结构情况下，在行方向和/或列方向自定义选通哪部分光源及对应的像素，从而可以灵活调整探测系统的行方向和/或列方向等效线数，进而可灵活调整探测系统的行方向的角分辨率或列方向的角分辨率。
在一种可能的实现方式中，该方法还包括获取来自第一像素的第一电信号，根据第一电信号确定目标的关联信息；其中，第一电信号为第一像素根据接收到的第一回波信号确定的，第一回波信号为探测区域中的目标对第一光源发射的第一信号光反射得到的。
在一种可能的实现方式中，获取用于控制选通第一像素和/或第一光源的第一控制信号，并向像素阵列和/或光源阵列发送第一控制信号，其中，第一控制信号至少根据目标角分辨率生成。
在一种可能的实现方式中，像素阵列中的像素由p×q个感光单元合并得到的，p和q均为大于1的整数；方法还包括，确定探测距离小于阈值，将像素对应的点云信息扩展为Q个，Q为大于1的整数。
在确定探测距离小于阈值后，通过增加点云信息的量，可进一步提高探测系统的角分辨率。特别是该探测系统应用于近距离探测场景中，可通过增加点云信息的量，进一步提升探测系统的第一角分辨率和第二角分辨率。
进一步，可选的，可控制选通像素阵列中的像素的中心区域的a×b个感光单元，并控制选通与a×b个感光单元中的至少一个感光单元近邻的感光单元，其中，a×b个感光单元对应一个第一点云信息，a小于p，b小于q，近邻的感光单元输出第二点云信息。
通过控制a×b个感光单元输出一个第一点云信息，以及近邻的感光单元输出第二点云信息，可以实现增加点云信息的量。
第三方面，本申请提供一种控制装置，该控制装置用于实现上述第二方面或第二方面中的任意一种方法，包括相应的功能模块，分别用于实现以上方法中的步骤。功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。硬件或软件包括一个或多个与上述功能相对应的模块。
在一种可能的实现方式中，该控制装置例如芯片或芯片系统或者逻辑电路等。有益效果可参见上述第二方面的描述，此处不再赘述。该控制装置可以包括：收发模块和处理模块。该处理模块可被配置为支持该控制装置执行以上第二方面的方法中的相应功能，该收 发模块用于支持该控制装置与探测系统或探测系统中的其它模块等之间的交互。其中，收发模块可以为独立的接收模块、独立的发射模块、集成收发功能的收发模块等。
第四方面，本申请提供一种控制装置，该控制装置用于实现上述第三方面或第三方面中的任意一种方法，包括相应的功能模块，分别用于实现以上方法中的步骤。功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。硬件或软件包括一个或多个与上述功能相对应的模块。
在一种可能的实现方式中，该控制装置例如芯片或芯片系统或者逻辑电路等。有益效果可参见上述第二方面的描述，此处不再赘述。该控制装置可以包括：接口电路和处理器。该处理器可被配置为支持该控制装置执行以上第二方面的方法中的相应功能，该接口电路用于支持该控制装置与探测系统中的其它结构或探测系统等之间的交互。可选地，该控制装置还可以包括存储器，该存储器可以与处理器耦合，其保存该控制装置必要的程序指令等。
第五方面，本申请提供一种芯片，该芯片包括至少一个处理器和接口电路，进一步，可选的，该芯片还可包括存储器，处理器用于执行存储器中存储的计算机程序或指令，使得芯片执行上述第二方面或第二方面的任意可能的实现方式中的方法。
第六方面，本申请提供一种终端设备，该终端设备包括上述第一方面或第一方面中的任意一种探测系统。
进一步，可选的，该终端设备还可包括处理器，处理器可用于控制探测系统对探测区域进行探测。
第七方面，本申请提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机程序或指令，当计算机程序或指令被控制装置执行时，使得该控制装置执行上述第二方面或第二方面的任意可能的实现方式中的方法。
第八方面，本申请提供一种计算机程序产品，该计算机程序产品包括计算机程序或指令，当该计算机程序或指令被控制装置执行时，使得该控制装置执行上述第二方面或第二方面的任意可能的实现方式中的方法。
上述第三方面至第八方面中任一方面可以达到的技术效果可以参照上述第二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合并感光单元的示意图；
图1b为本申请提供的一种激光雷达的线数的示意图；
图1c为本申请提供的一种BSI原理示意图；
图1d为本申请提供的一种FSI原理示意图；
图2a为本申请提供的一种可能的应用场景示意图；
图2b为本申请提供的另一种可能的应用场景示意图；
图3为本申请提供的一种探测系统的结构示意图；
图4为本申请提供的一种感光单元与像素的关系示意图；
图5a为本申请提供的一种像素在行方向上错位排列的结构示意图；
图5b为本申请提供的一种像素在行方向上对齐排列的结构示意图；
图5c为本申请提供的一种像素在列方向上错位排列的结构示意图；
图5d为本申请提供的一种像素在列方向上对齐排列的结构示意图；
图5e为本申请提供的另一种像素在行方向上错位排列的结构示意图；
图5f为本申请提供的另一种像素在列方向上错位排列的结构示意图；
图5g为本申请提供的另一种像素在行方向上错位排列的结构示意图；
图5h为本申请提供的另一种像素在列方向上错位排列的结构示意图；
图6a为本申请提供的一种像素阵列的结构示意图；
图6b为本申请提供的另一种像素阵列的结构示意图；
图6c为本申请提供的又一种像素阵列的结构示意图；
图7为本申请提供的一种第一光源阵列与第一像素阵列的关系示意图；
图8a为本申请提供的一种光学镜头的结构示意图；
图8b为本申请提供的另一种光学镜头的结构示意图；
图9为本申请提供的一种终端设备的结构示意图；
图10为本申请提供的一种探测方法的示意图；
图11为本申请提供的一种控制装置的结构示意图；
图12为本申请提供的一种控制装置的结构示意图。
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、Binning(称为合并)
Binning是一种读出方式，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通常可分为行方向的Binning和列方向的Binning。行方向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1a)，列方向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。也可以理解为，探测系统可以实现只有行的Binning、或只有列的Binning、或行和列均Binning。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。
二、探测系统的线数
探测系统的线数是指探测系统一次发射的信号光的数量，不同的信号光可以对探测区域的不同位置进行探测，参阅图1b，探测系统的线数为5。应理解，探测系统的线数可以大于5，也可以小于5，图1b仅是以5为例，本申请对此不作限定。
三、角分辨率
角分辨率也可称为扫描分辨率，是指探测系统可以有差别的区分开两相邻物体最小间距的能力。角分辨率越小，射向探测区域中的光斑的数量越多，即可以探测到探测区域中的目标的点越多，探测的清晰度越高。其中，角分辨率包括第一角分辨率和第二角分辨率，其中，第一角分辨率为行方向的角分辨率，第二角分辨率为列方向的角分辨率。其中，第一角分辨率θ 1可用下述公式1的表示，第二角分辨率θ 2可用下述公式2的表示。
θ 1＝a 1/f 1  公式1
θ 2＝a 2/f 2  公式2
其中，a 1表示像素阵列的像素的行方向的边长，a 2表示像素阵列的像素的列方向的边长，f 1表示光学接收系统在行方向的等效焦距，f 2表示光学接收系统在列方向的等效焦距。应理解，a 1与a 2可以相同，也可以不相同，f 1与f 2可以相同，也可以不相同，本申请对此不作限定。换言之，探测系统的角分辨率与接收端的像素阵列中的像素的尺寸和光学接收系统的焦距相关。若行方向与水平方向一致，列方向与垂直方向一致，则水平方向的角分辨率也可称为第一角分辨率，垂直方向的角分辨率也可称为第二角分辨率。
需要说明的是，探测系统的角分辨率与像素的最小视场范围的大小相同。具体的，探测系统的第一角分辨率与像素的行方向的最小视场范围的大小相同，探测系统的第二角分辨率与像素的列方向的最小视场范围的大小相同。
四、空间分辨率
空间分辨率指探测模组上用于成像的最大像素(Pixel)数量。通常以行方向的像素的数量和列方向的像素的数量的乘积来衡量，即空间分辨率＝行方向的像素数×列方向像素数。
需要说明的是，当探测模组的感光面积(或称为靶面或光敏面)一定的情况下，空间分辨率与像素的尺寸是此消彼长的。即像素的尺寸越小，空间分辨率越高；像素的尺寸越大，空间分辨率越低。
五、背面照明(back side illumination，BSI)
BSI是指光从背面入射进像素阵列，可参见图1c。光被具有防反射涂层的微透镜(microlen)聚焦在彩色滤光层上，经彩色滤光层分为三原色分量，并导入像素阵列。背面对应的是半导体制成工艺的前道(front end of line，BEOL)工艺。
六、正面照明(front side illumination，FSI)
FSI是指光从正面入射进像素阵列，可参见图1d。光被具有防反射涂层的微透镜(microlen)聚焦在彩色滤光层上，经彩色滤光层分为三原色分量，并通过金属布线层，使得平行光导入像素阵列。正面对应的是半导体制成工艺的后道(back end of line，BEOL)工艺。
七、选通像素和选通光源
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读取内存里指定位置的数据，被读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。示例性的，可通过偏压使像素使能而处于活跃(active)状态，从而可以响应入射到其表面的回波信号。
在光源阵列中，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。选通光源是指点亮(或称为开启)光源，并控制光源按对应的功率发射信号光。
八、点云(Point Cloud)信息
点云信息是三维空间内点的集合。这些向量通常以X、Y、Z三维坐标的形式表示，而且一般主要用来表示一个目标的关联信息。例如，(X,Y,Z)可表示目标的几何位置、强度、深度(即距离)，分割结果等。
基于上述内容，下面给出了本申请中探测系统可能的应用场景。
在一种可能应用场景中，探测系统可以为激光雷达。激光雷达可以被安装在车辆(例 如无人车、智能车、电动车、或数字汽车等)上作为车载激光雷达，请参阅图2a。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2a是以激光雷达部署于车辆的前方为例示例的。激光雷达可感知到区域可称为激光雷达的探测区域，对应的视场可称为全视场。激光雷达可以实时或周期性地获取自车的经纬度、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，可选地，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。
在另一种可能的应用场景中，探测系统可以为摄像机。摄像机也可被安装在车辆(例如无人车、智能车、电动车、数字汽车等)上，作为车载摄像机，请参阅上述图2b。摄像机可以实时或周期性地获取探测区域中的目标的距离、目标的速度等测量信息，从而可为车道纠偏、车距保持、倒车等操作提供必要信息。车载摄像机可以实现：a)目标识别与分类，例如各类车道线识别、红绿灯识别以及交通标志识别等；b)可通行空间检测(FreeSpace)，例如，可对车辆行驶的安全边界(可行驶区域)进行划分，主要对车辆、普通路边沿、侧石边沿、没有障碍物可见的边界、未知边界进行划分等；c)对横向移动目标的探测能力，例如对十字路口横穿的行人以及车辆的探测和追踪；d)定位与地图创建，例如基于视觉同步定位与地图构建(simultaneous localization and mapping，SLAM)技术的定位与地图创建；等等。
需要说明的是，如上应用场景只是举例，本申请所提供的探测系统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，可以可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8b，对本申请提出的探测系统进行具体阐述。
如图3所示，为本申请提供的一种探测系统的结构示意图。该探测系统300可包括像素阵列301和光源阵列302，像素阵列301包括第一像素阵列3011，光源阵列302包括第一光源阵列3021，第一像素阵列3011包括M×N个像素，第一光源阵列3021包括与M×N个像素对应的M×N个光源，M和N均为大于1的整数。第一像素阵列中的像素在行 方向上错位排列，像素的错位大小小于相邻两个像素在行方向的中心之间的距离；或者，第一像素阵列中的像素在列方向上错位排列，像素的错位大小小于相邻两个像素在列方向的中心之间的距离；第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式耦合或匹配。
需要说明的是，第一像素阵列中的像素在行方向上错位排列指第i行的每个像素与第j行的对应的像素在行方向错开一定的大小(即相邻两行的两个像素非对齐的，可参见下述图5a或图5e)，第i行和第j行为相邻两行。第一光源阵列中的光源在行方向上错位排列指第i行的光源与第j行的光源在行方向错开一定的大小，第i行和第j行为相邻两行。类似的，第一像素阵列中的像素在列方向上错位排列指第i列的像素与第j列的像素在列方向错开一定的大小(即相邻两列的两个像素非对齐的，可参见下述图5c或图5f)，第i列和第j列为相邻两列。第一光源阵列中的光源在列方向上错位排列指第i列的光源与第j列的光源在列方向错开一定的大小，第i列和第j列为相邻两列。
基于上述探测系统，通过光源错位排列的第一光源阵列、以及像素错位排列的第一像素阵列，相当于在第一像素阵列的单位面积增加了探测系统的等效线数(具体可参见下述给出的四种错位排列方式的介绍)，等效线数增加，第一像素阵列的单位面积接收到的回波信号的光斑的数量增加，从而有助于提高探测系统的角分辨率。例如，当像素阵列中的像素及光源阵列的光源均在行方向上错位排列时，可以提高探测系统在行方向的角分辨率(可称为第一角分辨率)。当像素阵列中的像素及光源阵列中的光源在列方向上错位排列时，可以提高探测系统在列方向的角分辨率(可称为第二角分辨率)。
在一种可能的实现方式中，第一光源阵列包括的M×N个光源与第一像素阵列包括的M×N个像素一一对应。结合下述图7，第一光源阵列包括2×2个光源，第一像素阵列包括2×2个像素，2×2个光源与2×2个像素一一对应指：光源11对应像素11，光源12对应像素12，光源21对应像素21，光源22对应像素22。
在一种可能的实现方式中，第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式耦合或匹配包括但不限于：第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式相同(或称为一致)。进一步，可选的，第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式可通过光学成像系统耦合或匹配。也可以理解为，光源阵列中的光源发射的信号光，可通过成像光学系在该光源对应的像素上成像。关于光学成像系统可参见下述相关描述，此处不再赘述。
下面对图3所示的各个结构分别进行介绍说明，以给出示例性的具体实现方案。为方便说明，下文中的像素阵列、光源阵列均未加标识。
一、像素阵列
在一种可能的实现方式中，像素阵列可以是二维(two dimensional，2D)的像素阵列。进一步，可选的，像素阵列中的像素可以由至少一个感光单元(cell)(或称为像元)合并(binning)得到的。其中，感光单元例如可以是单光子探测器，单光子探测器包括但不限于SPAD或数字硅光电倍增管(silicon photomultiplier，SiPM)。单光子探测器可采用FSI工艺或者BSI工艺形成。通常采用BSI工艺可以实现较小的SPAD尺寸、具有较高的PDE及较高的能量效率。
示例性地，像素由m×n个感光单元binning得到。若m＝1且n＝1，表示像素包括一个 感光单元，即感光单元的binning方式为1×1；若m＝1且n为大于1的整数，表示像素是在列方向对n个感光单元binning得到的，即感光单元的binning方式为1×n；若m为大于1的整数1且n＝1，表示像素是在行方向对m个感光单元binning得到的，即感光单元的binning方式为m×1；若m为大于1的整数1、且n为大于1的整数，表示像素是在行方向对m个感光单元binning、且在列方向对n个感光单元binning得到的,即感光单元的binning方式为m×n。
请参阅图4，为本申请提供的一种像素的结构示意图。该像素是由4×4个感光单元进行binning得到的。换言之，该感光单元的binning方式为4×4。也可以理解为，一个像素包括4×4个感光单元。需要说明的是，图4所示的感光单元的binning方式仅是示例，本申请中，像素可以只有行方向对感光单元进行binning，或者也可以仅有列方向对感光单元进行binning。
在一种可能的实现方式中，像素的形状可以是正方形，或者也可以是矩形(如上述图4示例的)，或者也可以是其它可能的规则形状(如六边形、圆形或椭圆形等)。需要说明的是，像素的具体形状与组成像素的感光单元、以及感光单元的binning方式有关。若像素为矩形，像素的长边可以在行方向，或者也可以在列方向。应理解，感光单元通常为对称的规则图形，如正方形(可参见上述图4)，当然，也可以采用矩形，本申请对此不作限定。
在一种可能的实现方式中，第一像素阵列可以是像素阵列的全部，即像素阵列包括M×N个像素。基于此，本申请中的第一像素阵列可以用像素阵列替换。
在另一种可能的实现方式中，第一像素阵列可以是像素阵列的部分像素。即像素阵列中除了包括M×N个像素形成的第一像素阵列，还可包括其它像素。基于此，像素阵列可以形成规则的图形(如矩形、正方形等)，或者也可以形成不规则的图形，本申请对此不做限定。
为了尽可能的提高探测系统的第一角分辨率或第二角分辨率，第一像素阵列中的像素可采用错位排列方式排列。
如下，示例性地的示出了第一像素阵列中的像素可能的错位排列方式。在下文的示例中，第一像素阵列中的像素以矩形为例，错位大小以像区域的中心为基准。其中，像区域指像素中用于接收来自探测区域的回波信号的区域(可参阅下述图5a至图5d所示的椭圆区域)。也可以理解为，回波信号对应的像形成于像素的像区域。换言之，像区域为回波信号的成像位置。
方式一，在行方向等间隔的错位排列。
也可以理解为，在行方向等间隔的错位排列，在列方向对齐排列。
如图5a所示，为本申请提供的一种第一像素阵列的像素在行方向上错位排列的结构示意图。该第一像素阵列中的像素在行方向上等间隔的错位排列，以N行为周期的错位排列，其中N为大于1的整数。该示例中，以N＝3为例，任意相邻两个像素在行方向的错位大小均为Δ 1。需要说明的是，任意相邻两个像素在行方向的错位大小Δ 1小于相邻两个像素的中心之间的距离S 1。
示例性地，接收光学系统在行方向的等效焦距为f 1，若第一像素阵列中的像素按现有的行方向和列方向均对齐方式排列(如图5b)，在行方向的S 1范围内，第一像素阵列中的像素的行方向的等效边长为a 1，第一角分辨率θ 1＝a 1/f 1；基于上述图5a所示的像素的排列 方式，在行方向的S 1范围内，第一像素阵列中的像素的行方向的等效边长为a 1/3，第一角分辨率θ 1'＝a 1/3f 1。因此，基于图5a所示的第一像素阵列的错位排列方式相较于基于图5b所示的第一像素阵列的对齐的排列方式，在行方向的角分辨率可提高3倍。应理解，基于图5b中第一像素阵列的排列方式，在行方向的S 1范围内，像素对应的最小视场范围为长S 1对应的视场范围；基于图5a中的第一像素阵列的排列方式，像素对应的最小视场范围为长S 1/3对应的视场。
需要说明的是，在列方向上，基于图5a所示的第一像素阵列中的像素的错位排列方式与基于图5b所示的第一像素阵列中的像素的排列方式的角分辨率相同。
方式二，在列方向等间隔的错位排列。
也可以理解为，在列方向等间隔的错位排列，在行方向对齐排列。
如图5c所示，为本申请提供的一种第一像素阵列的像素在列方向上错位排列的结构示意图。其中，该第一像素阵列中的像素在列方向上等间隔的错位排列，以M列为周围的错位排列。该示例中，以M＝3为例，任意相邻两个像素在列方向的错位大小为Δ 2。需要说明的是，任意相邻两个像素在列方向的错位大小Δ 2小于相邻两个像素的中心之间的距离H 2。
示例性地，接收光学系统在列方向的焦距为f 2，若第一像素阵列中的像素按现有的对齐方式排列(如图5d)，在列方向的 2范围内，第一像素阵列中的像素的列方向的等效边长为b 1，第二角分辨率θ 2＝b 1/f 2；若基于图5c所示的像素的排列方式，在列方向的H 2范围内，第一像素阵列中的像素的列方向的边长为b 1/3，第二角分辨率θ 2'＝b 1/3/f 2。因此，基于图5c所示的第一像素阵列的错位排列方式相较于现有技术中第一像素阵列按对齐排列的方式，在列方向的角分辨率可提高3倍。应理解，基于图5d中第一像素阵列的排列方式，在行方向的H 2范围内，像素对应的最小视场范围为长H 2对应的视场范围；基于图5c中的第一像素阵列的排列方式，像素对应的最小视场范围为长H 2/3对应的视场。
需要说明的是，在行方向上，基于图5c所示的第一像素阵列中的像素的错位排列方式与基于图5d所示的第一像素阵列中的像素的排列方式的角分辨率相同。
应理解，上述方式一中的错位大小Δ 1可以与上述方式二中的错位大小Δ 2相同，也可以不相同，本申请对此不作限定。
方式三，在行方向不等间隔的错位排列。
也可以理解为，在行方向不等间隔的错位排列，在列方向对齐排列。
如图5e所示，为本申请提供的另一种第一像素阵列中的像素在行方向上错位排列的结构示意图。该第一像素阵列中的像素在行方向上的错位大小中存在至少两种不同的错位大小，以N行为周期的错位排列(或称为错位排列的周期)，N为大于1的整数。该示例中，以N＝2为例，相邻两个像素在行方向的错位大小为Δ 3或Δ 4，以Δ 3小于Δ 4为例。任意相邻两个像素在行方向的错位大小Δ 3小于相邻两个像素的中心之间的距离S 1、且任意相邻两个像素在行方向的错位大小Δ 4也小于相邻两个像素的中心之间的距离S 1。
基于该方式三的错位排列方式，第一像素阵列在行方向存在至少两种不同的第一角分辨率。例如，若在行方向上存在两种不同的错位大小，则在行方向存在两种不同的第一角分辨率；再比如，若在行方向上存在三个不同的错位大小，则在行方向存在三种不同的第一角分辨率。
需要说明的是，在行方向不等间隔的错位排列中的错位大小可以互不相同(如图5e)；或者也可以部分相同，部分不同；本申请对此不作限定。
示例性地，接收光学系统在行方向的等效焦距为f 1，若第一像素阵列中的像素按现有的对齐方式排列(可参见上述图5b)，第一角分辨率θ 1＝a 1/f 1；基于上述图5e所示的像素的排列方式，在行方向存在两种第一角分辨率，其中一种第一角分辨率θ 1”＝Δ 4/f 1，另一种第一角分辨率θ 1”'＝Δ 3/f 1，这两个第一角分辨率均小于基于图5b的第一角分辨率θ 1。因此，基于图5e所示的第一像素阵列的错位排列方式相较于基于图5b所示的现有的第一像素阵列中的像素对齐的排列方式，可提高行方向的角分辨率。应理解，基于图5e所示的第一像素阵列的排列方式，在行方向上，像素对应的最小视场范围为Δ 3对应的视场范围。
进一步，可选的，基于此，该第一像素阵列的整体角分辨率可以是基于这两个第一角分辨率获得的，例如，可以对这两个第一角分辨率取加权平均；再比如，可以将点云的中心区域的分辨率作为该第一像素阵列的整体角分辨率。
需要说明的是，在列方向上，基于图5e所示的第一像素阵列中的像素的错位排列方式与基于图5b所示的第一像素阵列中的像素的排列方式的角分辨率相同。
方式四，在列方向不等间隔的错位排列。
也可以理解为，在列方向不等间隔的错位排列，在行方向对齐排列。
如图5f所示，为本申请提供的另一种第一像素阵列中的像素在列方向上错位排列的结构示意图。该第一像素阵列中的像素在列方向上的错位大小中存在至少两种不同的错位大小，以M列为周期的错位排列，M为大于1的整数。相邻两个像素在列方向的错位大小为Δ 5或Δ 6。任意相邻两个像素在列方向的错位大小Δ 5小于相邻两个像素的中心之间的距离H 2、且任意相邻两个像素在列方向的错位大小Δ 6小于相邻两个像素的中心之间的距离H 2。
基于该方式四的错位排列方式，第一像素阵列在列方向存在至少两种不同的第二角分辨率。例如，若在列方向上存在两种不同的错位大小，则在列方向存在两种不同的第二角分辨率；再比如，若在列方向上存在三个不同的错位大小，则在列方向存在三种不同的第二角分辨率。
需要说明的是，在列方向不等间隔的错位排列中错位大小可以互不相同(如图5f)，也可以部分相同，部分不相同，本申请对此不作限定。
示例性地，接收光学系统行方向的等效焦距为f 1，若第一像素阵列中的像素按现有的对齐方式排列(可参见上述图5d)，第二角分辨率θ 2＝b 1/f 2；若基于上述图5f所示的像素的排列方式，在列方向存在两种第二角分辨率，其中一种第二角分辨率θ 2”＝Δ 5/f 2，另一种第二角分辨率θ 2”'＝Δ 6/f 2。这两个第二角分辨率均小于基于图5d所示的第二角分辨率θ 2。因此，基于图5f所示的第一像素阵列的错位排列方式相较于现有技术中第一像素阵列按对齐排列的方式，可提高探测系统在列方向的角分辨率。应理解，基于图5d中第一像素阵列的排列方式，在行方向的H 2范围内，像素对应的最小视场范围为长H 2对应的视场范围；基于图5f中的第一像素阵列的排列方式，像素对应的最小视场范围为长Δ 5对应的视场。
需要说明的是，在行方向上，基于图5f所示的第一像素阵列中的像素的错位排列方式与基于图5d所示的第一像素阵列中的像素的排列方式的角分辨率相同。
还需要说明的是，上述第一像素阵列中的像素的错位大小取决探测系统所应用场景。例如，需要较小的角分辨率的场景，像素错位大小较小。再比如，需要较大的角分辨率的场景，像素错位大小较大。应理解，错位大小越小，探测系统的角分辨率越小，提高的空间分辨率越大。另外，第一像素阵列的错位排列的周期(M或N)可依据探测系统应用需求设计。
应理解，上述给出的四种方式中的像素均是以矩形为例的。若像素为圆形，上述确定第一角分辨率和第二角分辨率的边长可用半径替换。若像素为椭圆形，上述确定第一角分辨率的边长可用椭圆的长轴的长度(或短轴的长度)替换，相应的，确定第二角分辨率的边长可用椭圆的短轴的长度(或长轴的长度)替换。若为其它可能的多边形，上述确定第一角分辨率的边长可以用行方向的最大边长替换，确定第二角分辨率的边长可用列方向的最大边长替换。
需要说明的是，第一像素阵列中像素在行方向上错位排列方式也可以是上述方式一和方式二的组合，即部分是等间隔的错位排列，部分是非等间隔排。可参见图5g，在行方向的错位大小为Δ 7、Δ 8和Δ 7。基于上述图5g所示的像素的排列方式，在行方向存在两种第一角分辨率，其中一种第一角分辨率θ 1””＝Δ 7/f 1，另一种第一角分辨率θ 1””'＝Δ 8/f 1，这两个第一角分辨率均小于基于图5b的第一角分辨率θ 1。进一步，可选的，该第一像素阵列的整体角分辨率可以是基于这两个第一角分辨率获得的，例如，可以对这两个第一角分辨率取加权平均，其中，θ 1””的权重可以大于θ 1””'的权重。
类似的，第一像素阵列中像素在列方向上错位排列方式也可以是上述方式三和方式四的组合，即部分是等间隔的错位排列，部分是非等间隔排。可参见图5h，在列方向的错位大小为Δ 9、Δ 0和Δ 9。基于上述图5h所示的像素的排列方式，在列方向存在两种第二角分辨率，其中一种第二角分辨率θ 2””＝Δ 9/f 2，另一种第一角分辨率θ 2””'＝Δ 0/f 2，这两个第二角分辨率均小于基于图5d的第二角分辨率θ 2。进一步，可选的，该第一像素阵列的整体角分辨率可以是基于这两个第二角分辨率获得的，例如，可以对这两个第二角分辨率取加权平均，其中，θ 2””的权重可以大于θ 2””'的权重。
在一种可能的实现方式中，第一像素阵列可只包括一个区域，即整个第一像素阵列对应一种第一角分辨率和一种第二角分辨率。示例性地，整个第一像素阵列采用相同的错位排列方式、且错位大小也相同，且感光单元的binning方式也相同。
在另一种可能的实现方式中，对于复杂的路况，或者对全视场范围不同角度对应不同的第一角分辨率或第二角分辨率的需求，或者对全视场范围内不同角度需要重点关注的第一角分辨率或第二角分辨率不同等场景中，第一像素阵列可包括至少两个不同的区域，每个区域可对应至少一种第一角分辨率或至少一种第二角分辨率。也可以理解为，在探测系统的全视场内，可对应至少两种不同的第一角分辨率或对应至少两种不同的第二角分辨率。应理解，第一像素阵列中的像素全部被选通时，对应的是视场即为探测系统的全视场。
下面示例性的示出了第一像素阵列包括至少两个不同区域的可能情形。
情形一，第一像素阵列基于错位排列方式的不同分为多个第一区域。
在一种可能的实现方式中，第一像素阵列包括m个第一区域，m个第一区域中存在至少两个第一区域，至少两个第一区域中的像素的错位排列方式不同，m为大于1的整数。
示例性的，第一像素阵列可采用上述示例出的四种错位排列方式中的至少两种方式的组合。换言之，一种错位排列方式对应一个第一区域。也可以理解为，第一像素阵列的第一区域是基于错位排列方式划分的。具体采用哪几种的组合可根据探测系统的应用场景来确定。
如图6a所示，为本申请提供的一种第一像素阵列的结构示意图。该第一像素阵列以包括三个第一区域(即第一区域1、第一区域2和第一区域3)为例，每个第一区域对应一种像素的错位排列方式。在一种场景中，三个第一区域对应的像素的排列方式互不相同。 例如，第一区域1可采用上述方式一的错位排列方式，第一区域2可采用上述方式二的错位排列方式，第一区域3可采用上述方式三的错位排列方式。具体的，第一区域1的视场角范围内对应第一角分辨率1及第二角分辨率1，第一区域2的视场范围内对应第一角分辨率2及第二角分辨率2，第一区域3的视场范围内对应第一角分辨率3及第二角分辨率3。再比如，第一区域1可采用上述方式一的错位排列方式，第一区域2可采用上述方式二的错位排列方式，第一区域3可采用上述方式四错位排列方式。具体的，第一区域1的视场角范围内对应第一角分辨率1'及第二角分辨率1'，第一区域2的视场范围内对应第一角分辨率2'及第二角分辨率2'，第一区域3的视场范围内对应第一角分辨率3'及第二角分辨率3'。此处不再一一列举。
基于该情形一，可以在全视场范围内，在不改变感光单位的binning方式的情况，可以实现在不同的视场角范围内对应不同的第一角分辨率和/或第二角分辨率。
需要说明的是，图6a中的阴影区域对于第一角分辨率和第二角分辨率来说，可以认为是无效像素，即默认不会使用阴影区域的感光单元。进一步，阴影区域中的这些感光单元可以做一些其它功能如辅助实现背景环境光强度的检测和数据采集等。
情形二，第一像素阵列基于感光单元的binning方式的不同分为多个区域。
在一种可能的实现方式中，第一像素阵列包括n个第二区域，n个第二区域中存在至少两个第二区域，至少两个第二区域中的像素由不同数量的感光单元合并的，n为大于1的整数。
也可以理解为，第一像素阵列中的不同第二区域，感光单元的binning方式不同，基于此，第一像素阵列的不同第二区域可以采用相同的错位排列方式、且不同第二区域中错位大小也相同。需要说明的是，第一像素阵列中的像素的长宽比可以是相同的，或者也可以是不同的。当第一像素阵列中像素的长宽比不同时，对于使用旋转对称的光学成像系统可以有较好的自由度来实现角分辨率的调整。
如图6b所示，为本申请提供的又一种第一像素阵列的结构示意图。该第一像素阵列可分为两个第二区域(即第二区域a和第二区域b)。第二区域a和第二区域b均以采用上述方式一给出的错位排列方式为例，第二区域a中的错位大小与第二区域b的错位大小相同，第二区域a中的感光单元的binning方式与第二区域b中的感光单元的binning方式不同，其中，第二区域a的视场对应的第一角分辨率与第二区域b的视场对应的第一角分辨率不同，和/或，第二区域a的视场对应的第二角分辨率与第二区域b的视场对应的第二角分辨率不同。通常，探测系统的全视场的中心视场需要较高的角分辨率，全视场的边缘视场可以采用略小的角分辨率。基于此，第一像素阵列的中心区域可设置采用较少的感光单元的binning，边缘区域可采用较多的感光单元的binning。
基于该情形二，第一像素阵列的不同第二区域采用不同的感光单元的binning方式，可实现不同视场角范围内对应的不同的第一角分辨率和/或第二角分辨率。
在一种可能的实现方式中，上述情形一中的m个第一区域和情形二中的n个第二区域可以分别重合。示例性的，m个第一区域包括第一区域1、第一区域2和第一区域3，n个第二区域包括第二区域A、第二区域B和第二区域C，第一区域1与第二区域A重合，第一区域2与第二区域B重合，第一区域3与第二区域C重合。
情形三，第一像素阵列基于错位大小的不同分为多个第三区域。
在一种可能的实现方式中，第一像素阵列包括h个第三区域，h个第三区域中存在至 少两个第三区域，至少两个第三区域中的像素的错位大小不同，h为大于1的整数。
也可以理解为，第一像素阵列中的不同第三区域，错位大小不同。进一步，可选的，第一像素阵列的不同第三区域可以采用相同的错位排列方式，不同第三区域中错位大小不同。
如图6c所示，为本申请提供的另一种第一像素阵列的结构示意图。该第一像素阵列以分为两个第三区域(即第三区域A和第三区域B)、以第三区域A中的错位大小小于第三区域B的错位大小、以第三区域A和第三区域B均采用上述方式一给出的错位排列方式为例。基于此，第三区域A的视场对应的第一角分辨率小于第三区域B的视场对应的第一角分辨率，第三区域A的视场对应的第二角分辨率等于第三区域B的视场对应的第二角分辨率。通常，探测系统的全视场的中心视场需要较高的角分辨率，全视场的边缘视场可以采用略小的角分辨率。基于此，第一像素阵列的中心区域可设置较小的错位大小，边缘区域可设置较大的错位大小。应理解，第一像素阵列的中心区域与全视场的中心视场对应，第一像素阵列的边缘区域与全视场的边缘视场对应。
基于该情形三，第一像素阵列的不同第三区域采用相同的错位排列方式但不同的错位大小时，可使得在探测系统的全视场范围内，实现不同视场角范围对应的不同的第一角分辨率或第二角分辨率。
对于上述情形一和情形三，均是以第一像素阵列中感光单元的binning方式相同为例说明的。换言之，上述情形一和情形三是在不改变感光单位的合并(binning)方式的情况，可以实现不同视场角对应不同的角分辨率。
在一种可能的实现方式中，上述情形一中的m个第一区域和情形三中的h个第三区域可以分别重合。示例性的，m个第一区域包括第一区域1、第一区域2和第一区域3，h个第三区域包括第三区域A、第三区域B和第三区域C，第一区域1与第三区域A重合，第一区域2与第三区域B重合，第一区域3与第三区域C重合。
在另一种可能的实现方式中，上述情形二中的n个第二区域与情形三中的h个第三区域可以分别重合。示例性的，n个第二区域包括第二区域A、第二区域B和第二区域C，h个第三区域包括第三区域A、第三区域B和第三区域C，第二区域A与第三区域A重合，第二区域B与第三区域B重合，第二区域C与第三区域C重合。
需要说明的是，实现全视场对应不同的第一角分辨率和/或第二角分辨率也可以是上述情形的组合。例如上述情形一与情形三组合。具体的，以区域1可基于错位大小进一步可分为区域11和区域12为例，区域11的视场对应第一角分辨率为θ 111及第二角分辨率θ 112，区域12的视场对应第一角分辨率θ 121及第二角分辨率θ 122。应理解，区域2和区域3也可以基于错位大小进一步分区域，此处不再一一列举。或者，区域A可基于错位排列方式进一步分为区域A1和区域A2，区域A1的视场对应第一角分辨率为θ A11及第二角分辨率θ A12，区域A2的视场对应第一角分辨率为θ A21及第二角分辨率θ A22。应理解，区域B也可以基于错位大小进一步分区域，此处不再一一列举。
再比如，上述情形一和情形二组合。具体的，以区域1可基于感光单元的binning方式进一步可分为区域1a和区域1b为例。区域1a的视场对应第一角分辨率为θ 1a1及第二角分辨率θ 1a2，区域12的视场对应第一角分辨率为θ 1b1及第二角分辨率θ 1b2。应理解，区域2和区域3也可以基于感光单元的binning方式进一步分区域，此处不再一一列举。或者，以区域a可基于错位排列方式进一步分为区域a1和区域a2为例，区域a1的视场角范围内 对应第一角分辨率为θ a11及第二角分辨率θ a12，区域a2的视场范围内对应第一角分辨率为θ a21及第二角分辨率θ a22。应理解，区域b也可以基于错位排列方式进一步分区域，此处不再一一列举。
再比如，上述情形三和情形二的组合。具体的，以区域A可基于感光单元的binning方式进一步可分为区域Aa和区域Ab，区域Aa的视场对应第一角分辨率为θ Aa1及第二角分辨率θ Aa2，区域Ab的视场对应第一角分辨率为θ Ab1及第二角分辨率θ Ab2。应理解，区域B也可以基于感光单元的binning方式进一步分区域，此处不再一一列举。或者，区域a可基于错位大小进一步分为区域aA和区域aB，区域aA的视场角范围内对应第一角分辨率为θ aA1及第二角分辨率θ aA2，区域aB的视场范围内对应第一角分辨率为θ aB1及第二角分辨率θ aB2。应理解，区域b也可以基于错位大小进一步分区域，此处不再一一列举。
再比如，上述情形一、情形三和情形二组合。具体的，以区域1可基于错位大小进一步可分为区域11和区域12，以区域11可进一步基于感光单元的binning方式分为区域111和区域112。区域111的视场对应第一角分辨率θ 1111及第二角分辨率θ 1112，区域112的视场对应第一角分辨率θ 1121及第二角分辨率θ 1122。应理解，区域2和区域3也可以基于错位大小进一步分区域，进一步分区域后的区域也基于感光单元的binning方式再进一步分区域，此处不再一一列举。或者，以区域A可基于错位排列方式进一步分为区域A11和区域A21，进一步，区域A11可感光单元的binning方式分为区域A11a和区域A21b，区域A11a的视场对应第一角分辨率θ A11a1及第二角分辨率θ A11a2，区域A21b的视场对应第一角分辨率θ 21b1及第二角分辨率θ 21b2。应理解，还可以其它可能的组合，此处不再一一列举。
需要说明的是，上述给出的分出的区域的数量仅是示例，本申请对此不作限定。
在一种可能的实现方式中，上述第一像素阵列可以是同一个芯片。也就是说，同一个芯片的不同区域可对应不同的第一角分辨率和/或第二角分辨率。
示例性地，第一像素阵列可将接收到的回波信号进行光电转化，得到用于确定探测区域中的目标的关联信息。例如目标的距离信息、目标的方位、目标的速度、和/或目标的灰度信息等。
二、光源阵列
在一种可能的实现方式中，光源阵列可以是2D可寻址的光源阵列。所谓可寻址的光源阵列是指可独立选通(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。
在一种可能的实现方式中，光源阵列中包括第一光源阵列。第一光源阵列为光源阵列的全部，即光源阵列包括与M×N个像素对应的M×N个光源。基于此，本申请中的第一光源阵列可以用光源阵列替换。
在另一种可能的实现方式中，第一光源阵列可以是光源阵列的部分光源。即光源阵列中除了包括M×N个光源形成的第一光源阵列，还可包括其它光源。基于此，光源阵列可以形成规则的图形，或者也可以形成不规则的图形，本申请对此不作限定。
示例性地的，光源阵列中的光源可以为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)、全固态半导体激光器(diode pumped solid state laser，DPSS)或光纤激光器。
以Vcsel为例，Vcsel可包括有源区(optical area，OA)，有源区即是Vcsel用于发射信号光的区域，Vcsel的其它区域不发光。其中，有源区可位于Vcsel的中心区域、或者也 以位于Vcsel的边缘区域、或者也可以位于Vcsel的其它区域，本申请对此不作限定。Vcsel的有源区与该Vcsel对应的像素的像区域对应，通过调整Vcsel的有源区的位置(如有源区的中心坐标)，可改变Vcsel的有源区发射的信号光被探测区域中的目标反射回的回波信号的像所覆盖的像素的像区域的位置。当有源区位于Vcsel的中心区域时，有利于其对应的像素可以尽可能的接收回波信号，从而可提高回波信号的利用率。
在一种可能的实现方式中，光源阵列包括k个区域，k个区域中存在至少两个区域，至少两个区域中的光源的有源区在光源的相对位置不同，k为大于1的整数。通过改变第一光源阵列中部分区域Vcsel的有源区的空间排布方式(即在光源上的相对位置)，即在第一光源阵列中的不同区域，设置光源的有源区在光源的相对位置不同，可在不改变第一像素阵列的结构的情况，实现不同视场角的对应不同的第一角分辨率或第二角分辨率。
在一种可能的实现方式中，第一像素阵列与第一光源阵列两者在排列方式与规格的设计上强相关。进一步，可选的，第一光源阵列中的光源的排列方式与第一像素阵列中的像素的排列方式匹配。若第一像素阵列中的像素的排列方式为上述方式一，第一光源阵列中的光源的排列方式也可如图5a所示；若第一像素阵列中的像素的排列方式为上述方式二，第一光源阵列中的光源的排列方式也可如图5c所示；若第一像素阵列中的像素的排列方式为上述方式三，第一光源阵列中的光源的排列方式也可如图5e所示；若第一像素阵列中的像素的排列方式为上述方式四，第一光源阵列中的光源的排列方式也可如图5f所示。若第一像素阵列中的像素的排列方式为图5g，第一光源阵列中的光源的排列方式也可如图5g所示；若第一像素阵列中的像素的排列方式为图5h，第一光源阵列中的光源的排列方式也可如图5h所示。关于第一光源阵列中光源的具体的排列方式可参见对应的第一像素阵列中像素的排列方式，可将像素中的像区域用有源区替换，此处不再重复赘述。
需要说明的是，第一光源阵列与第一像素阵列的采用相同的错位排列方式，但光源错位的大小可以与像素错位的大小不同。
在一种可能的实现方式中，一个光源对应一个像素，一个像素可由m×n个感光单元binning得到，下面示例性地的示出了一种光源与感光单元的对应关系。
请参阅图7，为本申请提供的一种光源与感光单元的对应关系。该示例中以第一像素阵列包括2×2个像素(即像素11、像素12、像素21和像素22)，第一光源阵列以包括2×2个光源(即光源11、光源12、光源21和光源22)，每个像素以包括4×4个SPAD为例。像素11与光源11对应，像素12与光源12对应，像素21与光源21对应，像素22与光源22对应，每个光源的有源区与对应的像素的像区域对应。
需要说明的是，上述错位排列像素后的像素阵列可以称为异形结构，错位排列光源后的光源阵列也可以称为异形结构。
本申请中，探测系统还可包括光学成像系统，光学成像系统可包括发射光学系统和接收光学系统。进一步，可选地，发射光学系统与接收光学系统可以相同，发射光学系统与接收光学系统也可以不相同，本申请对此不作限定，凡是可以将光源阵列中的光源发射的信号光成像在对应的像素上的光学成像系统均在本申请的保护范围。下面以发射光学系统和接收光学系统相同为例进行介绍。
三、光学成像系统
在一种可能的实现方式中，光源阵列中的光源发射的信号光可通过发射光学系统整形 和/或准直后射向探测区域，经探测区域中的目标反射得到回波信号，回波信号再经接收光学系统的整形和/或准直后被像素阵列中对应的像素接收。结合上述图7，光源11的有源区发射的信号光，经发射光学系统传播后射向探测区域，经探测区域中的目标反射得到回波信号，回波信号可在对应的像素11的像区域成像；光源12的有源区发射的信号光，经发射光学系统传播后射向探测区域，经探测区域中的目标反射得到回波信号，回波信号可在对应的像素12的像区域成像；光源21的有源区发射的信号光，经发射光学系统传播后射向探测区域，经探测区域中的目标反射得到回波信号，回波信号可在对应的像素21的像区域成像；光源22的有源区发射的信号光，经发射光学系统传播后射向探测区域，经探测区域中的目标反射得到回波信号，回波信号可在对应的像素22的像区域成像。
在一种可能的实现方式中，可基于焦平面成像的光学原理实现光源阵列中的光源的发射视场与像素阵列中的像素的接收视场的一一对准。即光源阵列中的每个光源的发射视场与像素阵列中的每个像素的接收视场在空间上一一对应。换言之，一个像素对应一个接收视场，一个光源对应一个发射视场，接收视场与发射视场在空间一一对准。具体的，光源阵列中的每个光源位于成像光学系统的物面，像素阵列中的每个像素的光敏面位于成像光学系统的像面。具体的，光源阵列中的光源位于发射光学系统的物方焦平面，像素阵列中的像素的光敏面位于接收光学系统的像方焦平面上。光源阵列中的光源发射的信号光经发射光学系统传播至探测区域，探测区域中的目标反射信号光得到的回波信号经接收光学系统可成像在像方焦平面上。
基于此，发射光学系统与接收光学系统一般采用相同的光学镜头。如此，发射光学系统和接收光学系统相对较简单，可模块化，从而可以使得探测系统实现小体积，高集成度等。
如图8a所示，为本申请提供的一种光学镜头的结构示意图。该光学镜头包括至少一个镜片，镜片例如可以是透镜，图8a以光学镜头包括4片透镜为例的。光学镜头的光轴是指过图8a所示的各个透镜的球面球心的直线。
需要说明的，光学镜头可以是关于光轴旋转对称的。例如，光学镜头中的镜片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)。通过多片球面透镜的组合，有助于提高探测系统的成像质量，降低光学成像系统的像差。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。如此，有助于提高探测系统的光学器件的复用率，且便于探测系统的装调。其中，对于关于光轴旋转对称的光学镜头的水平等效焦距和垂直等效焦距相同。
需要说明的是，光学镜头中的镜片也可以是单片非球面透镜、或多片非球面透镜的组合，本申请对此不作限定。
在一种可能的实现方式中，光学镜头中的镜片的材料可以是玻璃、树脂或者晶体等光学材料。当镜片的材料为树脂时，有助于减轻探测系统的质量。当镜片的材料为玻璃时，有助于进一步提高探测系统的成像质量。进一步，为了有效抑制温漂，光学镜头中包括至少一个玻璃材料的镜片。
如图8b所示，为本申请提供的另一种光学镜头的结构示意图。该光学镜头为微透镜阵列(micro lens array，MLA)。该微透镜阵列可对来自光源阵列的信号光进行准直和/或整形，并将准直和/或整形后的信号光传播至探测区域。示例性的，该微透镜阵列可实现 0.05°～0.1°的信号光准直度。
需要说明的是，上述给出的光学镜头的结构可以作为发射光学系统，或者也可以作为接收光学系统，或者发射光学系统和接收光学系统均采用上述光学镜头的结构。应理解，发射光学系统和接收光学系统还可以是其它可能的结构，例如粘贴于光源阵列的表面和像素阵列的表面的微光学系统，本申请对此不作限定。
还需要说明的是，若接收光学系统的焦距可随探测系统的视场角的改变而改变，还可通过改变接收光学系统的焦距来实现不同视场对应不同的第一角分辨率和/或第二角分辨率。
在一种可能的实现方式中，第一光源阵列中的光源的长宽比与第一像素阵列中对应的像素的长宽比相同；基于此，发射光学系统与接收光学系统的焦距可相同。在另一种可能的实现方式中，光源阵列中的光源的长宽比等于a 1：a 2；基于此，发射光学系统与接收光学系统的焦距比等于a 2：a 1。也可以理解为，第一光源阵列与第一像素阵列通过接收光学系统和发射光学系统实现在空间上一一映射，或称为耦合或匹配。
进一步，可选的，该探测系统还可包括控制模组。控制模组可以是央处理单元(central processing unit，CPU)，还可以是其它通用处理器(如微处理器，也可以是任何常规的处理器)、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)、晶体管逻辑器件、或者其它可编程逻辑器件、或者其任意组合。
在一种可能的实现方式中，当探测系统应用于车辆时，控制模组可用于根据确定出的探测区域的关联信息，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。
在一种可能的实现方式中，上述任意实施例中的探测系统可以是激光雷达，如纯固态的激光雷达。
基于上述内容和相同构思，本申请还可以提供一种终端设备。如图9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900可以包括上述任一实施例中的探测系统901。进一步，可选地，该终端设备还可包括处理器902，处理器902用于调用程序或指令控制上述探测系统901对探测区域进行探测。进一步，处理器902还可接收来自探测系统901的对回波信号进行光电转换得到的电信号，并根据电信号确定目标的关联信息。可选地，该终端设备还可包括存储器903，存储器903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，例如无线通信装置等。
其中，探测系统901可参见上述探测系统的描述，此处不再赘述。
处理器902可以包括一个或多个处理单元。例如：处理器902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903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902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。
基于上述内容和相同的构思，本申请提供一种控制探测方法，请参阅10的介绍。该控制探测方法可应用于上述图3至图8b任一实施例所示的探测系统。也可以理解为，可以基于上述图3至图8b任一实施例所示的探测系统来实现下述探测方法。或者，该探测控制方法也可以应用于上述图9所示的终端设备。也可以理解为，可以基于上述图9所示的终端设备来实现探测控制方法。
该控制探测方法可由控制装置执行，该控制装置可以属于探测系统，或者也可以是独立于探测系统的控制装置，例如芯片或芯片系统等。当该控制装置属于车辆时，该控制装置可以是车辆中的域处理器，或者也可以是车辆中的电子控制单元(electronic control unit，ECU)等。
如图10所示，该探测方法包括以下步骤：
步骤1001，控制装置控制选通第一像素阵列中的第一像素。
其中，第一像素为第一像素阵列中的部分像素或全部像素。
步骤1002，控制装置控制选通第一光源阵列中与第一像素对应的第一光源。
若第一像素为第一像素阵列中的部分像素，则第一光源也为第一光源阵列中与第一像素对应的部分光源；若第一像素为第一像素阵列中的全部像素，则第一光源也为第一光源阵列中的全部。
需要说明的是，上述步骤1001和步骤1002不表示先后顺序，通常，步骤1001和步骤1002同步执行。
在一种可能的实现方式中，控制装置可根据目标角分辨率，生成第一控制指令，并向像素阵列发送第一控制指令，以控制选通第一像素阵列中的第一像素。和/或，控制装置向光源阵列发送第一控制指令，以控制选通第一光源阵列中与第一像素对应的第一光源。
其中，目标角分辨率可以是探测系统的上层(即可以获取探测系统的需求或应用场景等的层，如应用层)根据探测系统的需求(或应用场景)生成或者获取的。例如，对角分辨率要求较高的场景，目标角分辨率的值较小。再比如，对角分辨率要求比较低场景，目标角分辨率的值较大。再比如，对角分辨率要求较高且需要探测距离较近时，目标角分辨率的值较大。再比如，对角分辨率要求较低且需要探测距离较远时，目标角分辨率较小。
在实际使用中，第一光源阵列中的光源的选通方式可以采用非近邻行或者非近邻列同时工作，例如，第一时刻选通第一行，第二时刻选通第三行，等等。如此，有助于降低光学串扰。
通过上述步骤1001至步骤1002可以看出，可在不更改像素阵列和光源阵列的情况下， 在行方向和/或列方向自定义选通哪部分光源及对应的像素，从而可以灵活调整探测系统的行方向和/或列方向等效线数，进而可灵活调整探测系统的行方向的角分辨率或列方向的角分辨率。具体的，可根据需要探测的场景的需求，自定义探测系统的角分辨率。例如可在不更换探测系统的情况下，通过控制修改和设置探测系统工作时的列方向的等效线束，从而可实现改变列方向的角分辨率；通过控制修改和设置探测系统工作时的行方向的等效线束，从而可实现改变行方向的角分辨率。
当第一像素阵列中的像素采用Binning方式会导致探测系统的角分辨率降低。对于需求较高角分辨率的场景(如近距离探测场景、或单个像素的视场范围小于或等于需要的最小角分辨率)时，控制装置在数据处理中可将一个像素对应的点云信息拓展为多个。
在一种可能的方式中，第一像素阵列中的像素由p×q个感光单元合并得到的，p和q均为大于1的整数；控制装置在确定探测距离小于阈值时，将像素对应的点云信息扩展为Q个，Q为大于1的整数。也可以理解为，控制装置确定探测距离小于阈值时，启动点云延拓功能。需要说明的是，阈值可以是预先设置或标定的，并存储于探测系统中。应理解，探测距离小于阈值时，说明探测系统在进行近距离探测，此时，通常需要较高的第一角分辨和/或第二角分辨率。
进一步，可选的，控制装置可控制选通像素的中心区域的a×b个感光单元，并控制选通与a×b个感光单元中的至少一个感光单元近邻的感光单元，其中，a×b个感光单元对应一个第一点云信息，a小于p，b小于q，近邻的感光单元输出第二点云信息。通过拓展点云信息可实现更高的点云密度，进而可提高探测系统的第一角分辨率和/或第二角分辨率。
结合上述图7，第一像素阵列中的像素采用4×4的binnning方式，探测系统在工作过程中，一个像素可输出一个点云信息。通常，控制装置可控制选通像素的中心区域的4个SPAD(即SPAD11、SPAD12、SPAD21和SPAD22)来接收回波信号，即像素的中心区域的这4个SPAD感应到的信号被加在一起输出一个第一点云信息。当探测距离小于阈值时，为了提高探测系统的第一角分辨率和/或第二角分辨率，可将一个点云信息拓展为多个。具体的，图7的中心区域的4个SPAD近邻的SPAD分别为SPAD1～SPAD8，即近邻的有8个SPAD。一般情况下，SPAD1～SPAD8及四个顶角的4个SPAD均不被选通。当控制确定探测距离小于阈值，则可增加SPAD1～SPAD8中的至少一个SPAD的点云信息(可称为第二点云信息)。其中，增加的第二点云信息的空间坐标可以根据真实的点云信息通过预设运算，如取强度或距离的平均或者某种合理的插值计算来确定。
示例性地，点云信息包括但不限于空间坐标、强度、距离等。以将一个点云信息延拓为5个为例，其中，中心区域的4个SPAD可输出一个第一点云信息，另外4个第二点云信息的生成策略可以是：SPAD1、SPAD2、SPAD11和SPAD21组成的2×2的区域，空间坐标可取这四个SPAD的中心点的空间坐标，距离和强度信息取中心区域的第一列的SPAD11和SPAD21采集的数据均值，即SPAD1和SPAD2始终不会输出有效的单光子计数值，可获得一个第二点云信息；类似的，SPAD3、SPAD4、SPAD21和SPAD22组成的2×2的区域，空间坐标可取这四个SPAD的中心点的空间坐标，距离和强度信息取中心区域的第二行的SPAD21和SPAD22采集的数据均值，即SPAD3和SPAD4始终不会输出有效的单光子计数值，可获得另外一个第二点云信息；基于相同的处理方式，可得到另外两个第二点云信息。应理解，增加得到的第二点云信息对应的飞行时间可认为与中心区域的SPAD输出的第一点云信息对应的飞行时间是相同的。
需要说明的是，上述任意实施例中的行方向可与水平方向一致、列方向可与竖直方向一致。
基于上述内容和相同构思，图11和图12为本申请的提供的可能的控制装置的结构示意图。这些控制装置可以用于实现上述方法实施例中如图10中的方法，因此也能实现上述方法实施例所具备的有益效果。在本申请中，该控制装置可以是上述探测系统中的控制模组，或者也可以上述图9终端设备中的处理器，或者也可以由其它独立的控制装置(如芯片)等。
如图11所示，该控制装置1100包括处理模块1101，进一步，还可包括收发模块1102。控制装置1100用于实现上述图10中所示的方法实施例中的方法。
当控制装置1100用于实现图10所示的方法实施例的方法时：处理模块1101通过收发模块1102用于控制选通第一像素阵列中的第一像素、以及控制选通第一光源阵列中与第一像素对应的第一光源，第一像素为第一像素阵列中的部分像素或全部像素。
应理解，本申请实施例中的处理模块1101可以由处理器或处理器相关电路组件实现，收发模块1102可以由接口电路等相关电路组件实现。
基于上述内容和相同构思，如图12所示，本申请还提供一种控制装置1200。该控制装置1200可包括处理器1201，进一步，可选的，还可包括接口电路1202。处理器1201和接口电路1202之间相互耦合。可以理解的是，接口电路1202可以为输入输出接口。可选地，控制装置1200还可包括存储器1203，用于存储处理器1201执行的计算机程序或指令等。
当控制装置1200用于实现图10所示的方法时，处理器1201用于执行上述处理模块1101的功能，接口电路1202用于执行上述收发模块1102的功能。
基于上述内容和相同构思，本申请提供一种芯片。该芯片可包括处理器和接口电路，进一步，可选的，该芯片还可包括存储器，处理器用于执行存储器中存储的计算机程序或指令，使得芯片执行上述图10中任意可能的实现方式中的方法。
可以理解的是，本申请的实施例中的处理器可以是中央处理单元(central processing unit，CPU)，还可以是其它通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现场可编程门阵列(field programmable gate array，FPGA)或者其它可编程逻辑器件、晶体管逻辑器件，硬件部件或者其任意组合。通用处理器可以是微处理器，也可以是任何常规的处理器。
本申请的实施例中的方法步骤可以通过硬件的方式来实现，也可以由处理器执行软件指令的方式来实现。软件指令可以由相应的软件模块组成，软件模块可以被存放于随机存取存储器(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。另外，该ASIC可以位于控制装置中。当然，处理器和存储介质也可以作为分立组件存在于控制装置中。
在上述实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。计算机程序产品包括一个或多个计算机程序或指令。在计算机上加载和执行计算机程序或指令时，全部或部分地执行本申请实施例的流程或功能。计算机可以是通用计算机、专用计算机、计算机网络、控制装置、用户设备或者其它可编程装置。计算机程序或指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，计算机程序或指令可以从一个网站站点、计算机、服务器或数据中心通过有线或无线方式向另一个网站站点、计算机、服务器或数据中心进行传输。计算机可读存储介质可以是计算机能够存取的任何可用介质或者是集成一个或多个可用介质的服务器、数据中心等数据存储设备。可用介质可以是磁性介质，例如，软盘、硬盘、磁带；也可以是光介质，例如，数字视频光盘(digital video disc，DVD)；还可以是半导体介质，例如，固态硬盘(solid state drive，SSD)。
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。“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。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 (19)

  1. 一种探测系统，其特征在于，包括像素阵列和光源阵列，所述像素阵列包括第一像素阵列，所述第一像素阵列包括M×N个像素，所述光源阵列包括第一光源阵列，所述第一光源阵列包括与所述M×N个像素对应的M×N个光源，所述M和N均为大于1的整数；
    所述第一像素阵列中的像素在行方向上错位排列，所述像素的错位大小小于相邻两个像素在所述行方向的中心之间的距离；或者，所述第一像素阵列中的像素在列方向上错位排列，所述像素的错位大小小于相邻两个像素在所述列方向的中心之间的距离；
    所述第一光源阵列中的光源的排列方式与所述第一像素阵列中的像素的排列方式耦合或匹配。
  2. 如权利要求1所述的探测系统，其特征在于，所述第一像素阵列为所述像素阵列的部分像素或者全部像素，和/或，所述第一光源阵列为所述光源阵列的部分光源或全部光源。
  3. 如权利要求1或2所述的探测系统，其特征在于，所述像素阵列中的像素是通过至少一个感光单元合并得到的。
  4. 如权利要求1至3任一项所述的探测系统，其特征在于，所述第一像素阵列中的像素在行方向上错位排列的方式包括以下任一项或两项的组合：
    所述第一像素阵列中的像素在行方向等间隔的错位排列；
    所述第一像素阵列中的像素在行方向非等间隔的错位排列。
  5. 如权利要求1至3任一项所述的探测系统，其特征在于，所述第一像素阵列中的像素在列方向上错位排列的方式包括以下任一项或两项的组合：
    所述第一像素阵列中的像素在列方向等间隔的错位排列；
    所述第一像素阵列中的像素在列方向非等间隔的错位排列。
  6. 如权利要求1至5任一项所述的探测系统，其特征在于，所述第一像素阵列包括m个第一区域，所述m个第一区域中存在至少两个第一区域，所述至少两个第一区域中的像素的错位排列方式不同，所述m为大于1的整数。
  7. 如权利要求1至6任一项所述的探测系统，其特征在于，所述第一像素阵列包括n个第二区域，所述n个第二区域中存在至少两个第二区域，所述至少两个第二区域中的像素由不同数量的感光单元合并的，所述n为大于1的整数。
  8. 如权利要求1至7任一项所述的探测系统，其特征在于，所述第一像素阵列包括h个第三区域，所述h个第三区域中存在至少两个第三区域，所述至少两个第三区域中的像素的错位大小不同，所述h为大于1的整数。
  9. 如权利要求1至8任一项所述的探测系统，其特征在于，所述光源阵列中的光源包括有源区，所述有源区用于发射信号光；
    所述光源阵列包括k个区域，所述k个区域中存在至少两个区域，所述至少两个区域中的光源的有源区在光源的相对位置不同，所述k为大于1的整数。
  10. 如权利要求1至9任一项所述的探测系统，其特征在于，所述探测系统还包括成像光学系统；
    所述光源阵列位于所述成像光学系统的像方的焦平面，所述像素阵列位于所述成像光学系统的物方的焦平面。
  11. 一种终端设备，其特征在于，包括如权利要求1至10任一项所述的探测系统。
  12. 一种控制探测方法，其特征在于，应用于探测系统，所述探测系统包括像素阵列和光源阵列，所述像素阵列包括第一像素阵列，所述第一像素阵列包括M×N个像素，所述光源阵列包括第一光源阵列，所述第一光源阵列包括与所述M×N个像素对应的M×N个光源，所述M和N均为大于1的整数；所述第一像素阵列中的像素在行方向的错位排列，所述像素的错位大小小于相邻两个像素在所述行方向的中心之间的距离；或者，所述第一像素阵列中的像素在列方向上错位排列，所述像素的错位大小小于相邻两个像素在所述列方向的中心之间的距离；所述第一光源阵列中的光源的排列方式与所述第一像素阵列中的像素的排列方式耦合或匹配；
    所述方法包括：
    控制选通所述第一像素阵列中的第一像素，所述第一像素为所述第一像素阵列中的部分像素或全部像素；
    控制选通所述第一光源阵列中与所述第一像素对应的第一光源。
  13. 如权利要求12所述的方法，其特征在于，所述方法还包括：
    获取来自所述第一像素的第一电信号，所述第一电信号为所述第一像素根据接收到的第一回波信号确定的，所述第一回波信号为探测区域中的目标对所述第一光源发射的第一信号光反射得到的；
    根据所述第一电信号确定所述目标的关联信息。
  14. 如权利要求12或13所述的方法，其特征在于，所述控制选通所述第一像素阵列中的第一像素，包括：
    获取第一控制信号，所述第一控制信号用于控制选通所述第一像素和/或第一光源，所述第一控制信号至少根据目标角分辨率生成；
    向所述像素阵列和/或所述光源阵列发送所述第一控制信号。
  15. 如权利要求12至14任一项所述的方法，其特征在于，所述第一像素阵列中的像素由p×q个感光单元合并得到的，所述p和q均为大于1的整数；
    所述方法还包括：
    确定探测距离小于阈值，将像素对应的点云信息扩展为Q个，所述Q为大于1的整数。
  16. 如权利要求15所述的方法，其特征在于，所述确定探测距离小于阈值，将像素对应的点云信息扩展为Q个，包括：
    控制选通所述像素的中心区域的a×b个感光单元，所述a×b个感光单元对应一个第一点云信息，所述a小于p，所述b小于q；
    控制选通与所述a×b个感光单元中的至少一个感光单元近邻的感光单元，所述近邻的感光单元输出第二点云信息。
  17. 一种控制装置，其特征在于，包括用于执行如权利要求12至16中的任一项所述方法的模块。
  18. 一种控制装置，其特征在于，包括至少一个处理器和接口电路，所述控制装置用于执行如权利要求12至16中的任一项所述方法。
  19. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机程序或指令，当所述计算机程序或指令被通信装置执行时，使得所述通信装置执行如权利要求12至16中任一项所述的方法。
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