Frequency modulated continuous wave lidar and autonomous driving device

A frequency modulated continuous wave LiDAR, comprising:

• a light source module, configured to emit a frequency modulated continuous wave laser beam;
• a silicon photonic chip, comprising a light splitting module, a receiving module and multiple transceiving units, wherein terminal surfaces of the multiple transceiving units are arranged along a first direction, wherein the light splitting module receives a laser beam coupled into the silicon photonic chip, divides the laser beam into multiple beams of detection light, and transmits the multiple beams of the detection light to corresponding multiple transceiving units, and wherein the corresponding multiple transceiving units emit the received detection light outward, and also transmit received echo light to the receiving module to form a detection channel, wherein each transceiving unit comprises an emission module and a coupling module, the emission module emits the received detection light outward from an emission terminal surface, the coupling module receives the echo light via a receiving terminal surface and transmits the echo light to the receiving module, the emission module comprises an emission waveguide, the coupling module comprises at least one receiving waveguide, the emission waveguide and the at least one receiving waveguide are laid in parallel sequentially along the surface of the silicon photonic chip;
• a refraction module, configured to refract the detection light emitted by the multiple transceiving units to emit the multiple beams of the detection light in a staggered manner in a second direction, and configured to refract multiple beams of the echo light staggered in the second direction and then to emit the multiple beams of the echo light to the corresponding transceiving units, wherein the second direction is a direction perpendicular to at least one of the terminal surfaces of the transceiving units;
• and
• a beam scanning module, comprising a one-dimensional galvanometer and a one-dimensional rotating mirror, wherein the one-dimensional galvanometer is configured to reflect detection light from the refraction module to the one-dimensional rotating mirror, one-dimensional rotating mirror is configured to reflect the detection light from the one-dimensional galvanometer to the target object, the one-dimensional galvanometer is configured to provide a scanning field of view in the second direction, the one-dimensional rotating mirror is configured to provide a scanning field of view in the first direction.