In a solid-state imaging element that measures a distance on the basis of a light receiving timing of reflected light, the shortest distance that can be measured is shortened. A photoelectric conversion region generates charges through photoelectric conversion. A multiplication region multiplies the generated charges. An output electrode outputs the multiplied charges. A detection circuit detects the presence or absence of photons contained in reflected light with respect to radiation light on the basis of the charges output from the output electrode. An additional electrode discharges the charges from the photoelectric conversion region in a case where a predetermined potential is applied to the additional electrode. A control circuit applies the predetermined potential to the additional electrode at a radiation timing when the radiation light is radiated.

This application discloses a LiDAR adjustment method, circuit, and apparatus, a LiDAR, and a storage medium. The method is applied to the LiDAR having a photoelectric sensor, and the method includes: obtaining an operating temperature of the photoelectric sensor; determining a target bias voltage based on the operating temperature, where the target bias voltage is a difference between voltages applied to a cathode and an anode of the photoelectric sensor; and based on the target bias voltage, adjusting the voltages applied to at least one of the anode and the cathode of the photoelectric sensor.

This application discloses a LiDAR adjustment method, circuit, and apparatus, a LiDAR, and a storage medium. The method is applied to the LiDAR having a photoelectric sensor, and the method includes: obtaining an operating temperature of the photoelectric sensor; determining a target bias voltage based on the operating temperature, where the target bias voltage is a difference between voltages applied to a cathode and an anode of the photoelectric sensor; and based on the target bias voltage, adjusting the voltages applied to at least one of the anode and the cathode of the photoelectric sensor.

Various embodiments of the present technology may provide methods and apparatus for repetitive histogramming. The apparatus may provide a limited number of physical bins to perform multiple histograms on a total number of virtual bins. The apparatus may provide a single physical bin that is used to sweep over the total number of virtual bins.

A sensing device that is configured to determine a depth result based on time-of-flight value is introduced. The sensing device includes a delay locked loop circuit, a plurality of time-to-digital converters, a multiplexer and a digital integrator. The delay locked loop circuit is configured to output a plurality of delay clock signals through output terminals of the delay locked loop circuit. The plurality of time-to-digital converters include a plurality of latches. The multiplexer is configured to select a sub-group of m latches among the latches of the plurality of time-to-digital converters to be connected to the output terminals of the delay locked loop circuit according to a control signal. The digital integrator is coupled to the plurality of time-to-digital converters and is configured to integrate digital outputs generated by the time-to-digital converters in each of n cycles to generate n raw data frames, wherein m and n are natural numbers, and the n raw data frames are used to generate the depth result.

A ranging device according to the present disclosure includes an avalanche photodiode (APD) (10), a first histogram generating section (24), an element operating section (26), a second histogram generating section (31), and a calculating section (25). The first histogram generating section (24) generates a first histogram that is a histogram of time from a timing at which a light source emits light to a timing at which the APD (10) receives the light. The element operating section (26) enables operation of the APD (10) on the basis of an enable signal (S1). The second histogram generating section (31) generates a second histogram that is a histogram of time from a timing at which the enable signal (S1) is switched to a timing at which the APD (10) is brought into a valid state. The calculating section (25) calculates a distance (D) to an object to be measured (X) on the basis of at least one of the first histogram or the second histogram.

The present application discloses a LiDAR controlling method and device, an electronic apparatus, and a storage medium. The method includes: in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, where the emitting group includes at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk; controlling the at least two emitting units to emit laser beams asynchronously based on a preset rule; and controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes, where the laser echoes refer to echoes formed after the laser beams are reflected by a target object.

The present application discloses a LiDAR controlling method and device, an electronic apparatus, and a storage medium. The method includes: in a measurement period, determining an emitting group to be started in the measurement period from a laser emitting array, where the emitting group includes at least two emitting units, and physical positions of the at least two emitting units meet a condition of no optical crosstalk; controlling the at least two emitting units to emit laser beams asynchronously based on a preset rule; and controlling a receiving unit group of the laser receiving array corresponding to the emitting group to receive laser echoes, where the laser echoes refer to echoes formed after the laser beams are reflected by a target object.

A Light Detection and Ranging (LiDAR) device comprising: a laser detecting array including a first detecting unit, a delay generating unit configured to obtain a detection signal from the first detecting unit and output a delay signal, a signal detecting unit configured to detect the delay signal outputted from the delay generating unit using a preset clock, a memory unit configured to store a histogram data based on a detection result by the signal detecting unit and a data processing unit for calculating a distance value for the first detecting unit based on the histogram data stored in the memory unit, wherein the delay generating unit applies a first delay value for a first detecting cycle, and applies a second delay value for a second detecting cycle, wherein the first delay value and the second delay value are different from each other.

Methods, devices, systems, and computer program products for estimating object reflectivity in a light detection and ranging (LIDAR) system are disclosed. The method, for example, includes receiving LIDAR data for a plurality of LIDAR scan cycles. The method also includes generating a dataset from the LIDAR data by accumulating the recorded return signals over the plurality of scan cycles. A data feature associated with an object is identified in the dataset, and one or more parameters of the data feature are identified. An estimated reflectivity of the object may then be determined based on the one or more parameters.