WO2020234216A1 - Procédé de fonctionnement et unité de commande d'un ensemble détecteur à base de spad, système lidar et dispositif de travail - Google Patents

Procédé de fonctionnement et unité de commande d'un ensemble détecteur à base de spad, système lidar et dispositif de travail Download PDF

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Publication number
WO2020234216A1
WO2020234216A1 PCT/EP2020/063766 EP2020063766W WO2020234216A1 WO 2020234216 A1 WO2020234216 A1 WO 2020234216A1 EP 2020063766 W EP2020063766 W EP 2020063766W WO 2020234216 A1 WO2020234216 A1 WO 2020234216A1
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WIPO (PCT)
Prior art keywords
spad
pixels
operating method
pixel
spad pixels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2020/063766
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German (de)
English (en)
Inventor
Reiner Schnitzer
Tobias Hipp
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Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
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Publication of WO2020234216A1 publication Critical patent/WO2020234216A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Definitions

  • the present invention relates to an operating method and a control unit for a SPAD-based detector arrangement, in particular for a lidar system, a LiDAR system as such and a working device which
  • Vehicles are often used LiDAR systems, but also other detector systems, which are set up to record and evaluate radiation reflected back from a field of view to analyze the field of view and to detect objects contained therein.
  • detector systems which are set up to record and evaluate radiation reflected back from a field of view to analyze the field of view and to detect objects contained therein.
  • SPADs single photon avalanche diodes
  • SPADs single photon avalanche diodes
  • the detector arrangement has the advantage that a loss-free detection of the individual measured values also in combination with others
  • an operating method is created which is set up for a SPAD-based detector arrangement, which in turn is provided with a plurality of detector elements each having at least one SPAD SPAD pixels is formed, which is set up in particular for a LiDAR system, (i) in which detector elements or SPAD pixels are read out in areas or in groups and clocked on the basis of a read cycle and (ii) in which for or during reading
  • Detector elements or SPAD pixels of an area or a group are detected and / or scanned synchronously.
  • Embodiment of the operating method according to the invention during or for reading out (a) initially based on the reading cycle or system cycle for all SPAD pixels of an area or group, a time stamp is recorded and / or determined and assigned and / or impressed on the SPAD pixels and (b ) then the actual reading out and / or evaluation of the measured values belonging to the SPAD pixels, taking into account the
  • Determining and / or impressing the time stamp (s) are combined in a combinatorial manner.
  • an initial state memory and / or a read-out memory is or is assigned to one or in particular each SPAD pixel, in particular in the manner of a memory flip-flop.
  • the procedural and / or circuit-related effort can be reduced if according to a different one
  • Embodiment of the present invention in the operating method initial status memories and / or read-out memories are or are simultaneously assigned to a plurality of SPAD pixels - in particular from groups or areas of SPAD pixels that are not to be read out simultaneously, in particular via a modulo circuit.
  • every nth SPAD pixel is assigned to the same status memory and / or readout memory.
  • the circuit complexity is consequently reduced to n state memories and / or read-out memories.
  • SPAD pixels whose positions correspond to a current position of a pixel are grouped to form a macropixel individually assigned to the pixel, and SPAD pixels assigned to a macropixel are jointly recorded, read out and / or evaluated.
  • Multipulse lidar system or macro scanner system is possible despite that
  • the resolution of the system is limited to the angle difference between the emission of the first and the last individual laser pulse for the measurement without suitable compensation.
  • a line or an array of several detectors or sub-detectors is used to receive the measurement pulses instead of a single detector or a SPAD pixel.
  • a control unit for a SPAD-based detector arrangement is also created which is designed as SPAD pixels with a plurality of detector elements each having at least one SPAD, which is set up in particular for a LiDAR system and for to initiate, control and / or execute an operating method according to the invention.
  • control unit designed according to the invention is set up, designed and / or has corresponding means for grouping SPAD pixels, the positions of which correspond to a current position of a pixel, into a macropixel individually assigned to the pixel and jointly capturing SPAD pixels assigned to a macropixel , read out and / or evaluate.
  • the subject matter of the present invention is also a LiDAR system for optically detecting a field of view as such, in particular for a work device or a vehicle.
  • the lidar system presented is (a) with a transmitter optics for providing and emitting primary light into the field of view, (b) with a receiver optics for Receiving secondary light from the field of view, which has a SPAD-based detector arrangement with a plurality of detector elements each having at least one SPAD as SPAD pixels and in which the secondary light can be detected by a respective SPAD-based detector element or SPAD pixel, and / or (c) designed with a control unit designed according to the invention for controlling the operation of the transmitter optics and / or the receiver optics.
  • the present invention also provides a working device and in particular a vehicle as such. These are with a LiDAR system designed according to the invention for optical detection of a field of view and in particular for controlling the operation of the working device and
  • the vehicle is set up on the basis of the detection of the field of view.
  • Figure 1 shows in the form of a schematic block diagram a
  • Embodiment of the LiDAR system according to the invention Embodiment of the LiDAR system according to the invention.
  • FIG. 2A shows, in the manner of a schematic block diagram, a detector arrangement configured according to the invention, in particular in the manner of a SPAD array.
  • FIG. 2B shows, in the manner of a schematic circuit diagram, the structure of a detector element in the manner of a SPAD pixel by way of example.
  • FIG. 3 schematically explains a possible interconnection of
  • Detector elements in the form of SPAD pixels in a detector arrangement designed according to the invention are Detector elements in the form of SPAD pixels in a detector arrangement designed according to the invention.
  • FIG. 4 schematically shows another possible embodiment for interconnecting detector elements in the form of SPAD pixels in a detector arrangement designed according to the invention.
  • FIGS. 5A to 5C show schematically on the basis of graphs by way of example
  • FIG. 1 schematically shows an embodiment of the LiDAR system 1 according to the invention, in which the new operating method can be used according to the invention, in particular in connection with the control unit designed according to the invention and in use in a working device according to the invention, in particular a vehicle.
  • the LiDAR system 1 shown in FIG. 1 and also suitable for pulse sequence-coded operation consists of a control and evaluation unit 40, the optical arrangement 10 on which the operation of the LiDAR system 1 is based, with a light source unit 65, for example with or with a plurality of light sources 65-1, a transmitter optics 60, a receiver optics 30 and a detector arrangement 20.
  • the operation of the LiDAR system 1 and the evaluation of the signals received by the LiDAR system 1 are controlled by the control and evaluation unit 40.
  • the light source unit 65 is controlled and initiated by means of the control and evaluation unit 40 via a control line 42 Induced generation and output of primary light 57, which is also referred to as primary light.
  • the primary light 57 is by means of a
  • Beam-shaping optics 66 are modeled in accordance with the application and then emitted into a field of view 50 with an object 52 contained therein by means of deflection optics 62 scanning on the transmission side.
  • the focus is on pulse operation of the light source unit 65 and the respective light sources 65-1, for example in the form of pulsed laser sources.
  • the light reflected from the field of view 50 and from the object 52 is also referred to as secondary light 58 and is recorded in the receiver optics 30 by means of an objective 34, possibly by one
  • Detector arrangement 20 with one or more sensor elements or detector elements 22 transmitted.
  • Detector arrangement 20 in turn generate secondary light 58
  • the detector elements 22 provided in the detector arrangement 20 operate according to the SPAD principle (SPAD: single photon avalanche diode).
  • SPAD single photon avalanche diode
  • a respective detector element 22 in the manner of a SPAD pixel 22 Kunststoff is therefore a single photon avalanche or avalanche photodiode 21, which already saturates when a single photon is recorded and therefore preferably with a corresponding pre-circuit, for example in
  • control and evaluation unit 40 consists of a superordinate control system 100, which by means of a bus 101 with a transmitting unit 70, a receiving unit 80 and a
  • Correlation unit 90 is connected.
  • the control system 100 and the units 70, 80 and 90 can actually be used as separate components within the control and evaluation unit 40
  • a LiDAR system 1 can be designed in which one or more of the components of the control and evaluation unit 40 are combined with one another and designed in an integrated manner, so that the representation according to FIG. 1 only serves to represent the existing components in principle However, this does not necessarily reflect the specific architecture and may differ from the illustration in FIG.
  • the focus during the operation of the LiDAR system 1 is on the synchronous detection and / or scanning of the SPAD pixels 22 ‘on which the detector arrangement 20 is based as detector elements 22 around them
  • control line 41 which can consist of several individual lines 41-1 to 41 -n, as is shown below in particular in connection with the other FIGS. 3 and 4.
  • Light source unit 65 via control line 42.
  • a core idea of the present invention consists in providing an operating method for a SPAD-based detector arrangement 20 with a plurality of detector elements 22 each having at least one SPAD 21 as SPAD pixels 22 ′, in particular for a LiDAR system 1 .
  • SPAD pixels 22 ‘are read out as detector elements 22 in areas and on the basis of a readout clock R in a clocked manner.
  • SPAD pixels 22 ′ of an area are recorded and / or scanned synchronously, with an output of a respective SPAD pixels 22 'by direct coupling directly to a central readout clock R - in particular a system clock of an underlying readout circuit, for example in the sense of a control unit 40, which is explained in connection with FIG. 2A - is placed and synchronized.
  • This provides a synchronous readout concept for a SPAD array of a detector arrangement 20 which operates without loss and can also combine the readout and time measurement functionality of a time-of-flight application.
  • the output signal of the TDC is usually synchronized to a central digital clock and processed further.
  • the procedure according to the present invention consists in particular in placing one or the output of a SPAD pixel 22 ‘as a detector element 22 directly on a central clock or read-out clock and synchronizing it.
  • the synchronization can be designed so that no information is lost. This can be done in particular through an appropriate interconnection the SPAD 21 of the respective SPAD pixel 22 'can be achieved, in particular using a memory flip-flop 22-4 and a read-out flip-flop 22-5 with appropriate interconnection.
  • the further processing and in particular the combination of SPAD pixels 22 'can also take place, for example, with a synchronous summer or adder 43, 44, so that here too no more losses occur.
  • Synchronization are located on a central clock grid, according to the invention, a time measurement and the generation of a time stamp are also possible at the same time.
  • the invention thus combines the reading out and the time measurement in a SPAD array as a detector arrangement 20.
  • FIG. 2A shows in the manner of a schematic block diagram a
  • ROI region of interest
  • this group 25 or ROI can depend on several system parameters, for example on the one used Optics and the expected image size. She can be rigid
  • the grouping, acquisition, scanning and / or reading is essentially realized via the control unit 40 and access via the control line bundle 41 with the individual control lines 41-1 to 41 -n.
  • the control unit 40 can, inter alia, be used as additional components TDC units 40-1,
  • Counter units 40-2 or counters, and histogram memories 40-3 can be activated externally
  • Measurement start signal S are supplied.
  • FIG. 2B shows, by way of example, the structure of a detector element 22 in the manner of a SPAD pixel 22 ‘in the manner of a schematic circuit diagram.
  • the exact structure can vary depending on the specific SPAD diode 21 used. However, the read-out principle can be applied to all variations.
  • SPAD 21 The basic behavior of a SPAD 21 can be described as follows:
  • Voltage drop means that the operating voltage of the SPAD 21 drops below its breakdown and thus the current flow is cut off. A charging process follows, which restores the original voltage across the SPAD 21. The minimum time between two photon detections is called the dead time.
  • the first switching edge is used in the circuit presented in FIG. 2B to set the state of the memory flip-flop 22-4 to 1.
  • the pixel 22 ' is then ready for the next detection. If the reading cycle is selected faster than the dead time actually allowed, no information is lost.
  • the ground or a ground connection 22-0, a control transistor 22-1, the quench resistor 22-2, inverters 22-3 and 22-6, the memory flip-flop 42-4 and the read-out flip-flop 22-5 are included as components corresponding interconnection shown.
  • E also denotes an enable signal at the control transistor 21-1, R den
  • FIG. 3 schematically explains a possible interconnection of
  • FIG. 3 therefore shows, in particular and by way of example, an interconnection of the SPAD pixels 22 ‘with one another.
  • the SPAD pixels 22 are rigid in groups 25 or
  • Macropixels of size j c k are summarized, specifically coordinated with the image size of an assumed receiving optics 30 in front of the sensor or lidar system 1.
  • the individual outputs of the SPAD pixels 22 ‘are added up using adders 43.
  • the result is fed out of the array via its own data lines D.
  • FIG. 4 schematically shows another possible embodiment for an interconnection of detector elements 22 in the form of SPAD pixels 22 'in a detector arrangement 20 designed according to the invention.
  • the memory flip-flops 22-4 of the non-activated pixels 22 ' can be used to transfer the results of the active pixels 22' to the evaluation circuits, as in a shift register.
  • the activated group 25 (ROI) can be flexibly adapted in the horizontal direction to the position of the optical image.
  • only one macro pixel 24 per line can be active at the same time.
  • K c log2 (j) data lines D are required.
  • the arrangement according to FIG. 4 is particularly suitable for realizing a concept according to which SPAD pixels, the positions of which correspond to a current position of a picture element, are grouped into a macropixel individually assigned to the picture element and SPAD pixels assigned to a macropixel. Pixels are recorded, read out and / or evaluated together.
  • the multiplex module 45 and the downstream flip-flop 46 in connection with the data lines D are also worth mentioning.
  • a time measurement can take place simultaneously and in particular implicitly.
  • the amplitude of the measurement signal of the pixels 22 ‘is available for each readout cycle.
  • the resolution of the time measurement corresponds to the period of the readout clock.
  • a start signal can signal the beginning of a measurement to the evaluation unit so that the amplitude data then valid can be written, for example, into a histogram memory 40-3.
  • a standard time-of-flight measurement or signal evaluation is possible on the basis of this histogram.
  • FIGS. 5A to 5C schematically show, using graphs 110, 120 and 130, exemplary signal profiles as they are set according to the invention.
  • the time is plotted on the abscissas 111, 121 and 131.
  • the ordinates 112, 122 and 132 show, according to FIG. 5A, the readout clock signal R as a function of time t with the track 113, according to FIG. 5B, the measurement start signal S as a function of time t with the track 123 and, according to FIG. 5C, the pixel signal P or output signal O of a pixel 22 ′ as a function of time t with the track 133.
  • the sections or partial tracks 133-2 to 133-4 designate the one
  • Measurement-related data that is received and evaluated after the edge of the measurement start signal S.
  • the edge of the measurement start signal S there is between the edge of the measurement start signal S and the
  • Track section 133-2 an offset, which is constant and known and results from the position of the activated pixels 22 ‘. This can easily be corrected during the time-of-flight measurement.
  • the partial tracks 133-1 to 133-4 forming track 133 in FIG. 5C relate to (i) with partial track 131-1 invalid data at a time period in which the measurement has not yet started, i.e. before the edge of the measurement start signal, ( ii) with the partial track 133-2 valid data with noise after the start of a measurement, (iii) with the partial track 133-3 valid data with noise and a received pulse signal after the start of a measurement and (iv) valid after the start of a measurement noisysy data after the received pulse signal has decayed.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un procédé de fonctionnement d'un ensemble détecteur (20) à base de SPAD, lequel ensemble détecteur est réalisé, sous forme de pixels, avec une pluralité d'éléments de détecteur (22) présentant chacun au moins une SPAD (22'). Le procédé permettant notamment le fonctionnement d'un système LiDAR (1), procédé selon lequel i) des éléments de détecteur (22) sont extraits, de manière cadencée, partiellement ou en groupe et en fonction d'une cadence d'extraction, et ii) des éléments de détecteur (22) d'une partie ou d'un groupe sont détectés et/ou balayés de manière synchronisée pour l'extraction ou au cours de celle-ci.
PCT/EP2020/063766 2019-05-22 2020-05-18 Procédé de fonctionnement et unité de commande d'un ensemble détecteur à base de spad, système lidar et dispositif de travail Ceased WO2020234216A1 (fr)

Applications Claiming Priority (2)

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DE102019207463.4A DE102019207463A1 (de) 2019-05-22 2019-05-22 Betriebsverfahren und Steuereinheit für eine SPAD-basierte Detektoranordnung, LiDAR-System und Arbeitsvorrichtung
DE102019207463.4 2019-05-22

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CN113325386A (zh) * 2021-04-16 2021-08-31 上海宏景智驾信息科技有限公司 Spad激光雷达双随机内存实时统计tdc的方法
WO2022252096A1 (fr) * 2021-05-31 2022-12-08 华为技术有限公司 Puce de capteur et dispositif terminal
CN117784091A (zh) * 2022-09-27 2024-03-29 艾尔默斯半导体欧洲股份公司 用于通过光电检测器接收光学信号的激光雷达接收器电路
WO2024184653A1 (fr) * 2023-03-08 2024-09-12 The University Court Of The University Of Edinburgh Dispositif de détection de photons configurable

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CN121831727A (zh) * 2024-10-08 2026-04-10 深圳市速腾聚创科技有限公司 采样方法、装置、激光雷达、芯片和存储介质

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WO2019012756A1 (fr) * 2017-07-11 2019-01-17 ソニーセミコンダクタソリューションズ株式会社 Dispositif électronique et procédé de commande de dispositif électronique
US20190041502A1 (en) * 2017-08-07 2019-02-07 Waymo Llc Aggregating Non-imaging SPAD Architecture for Full Digital Monolithic, Frame Averaging Receivers

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US20180128921A1 (en) * 2016-11-04 2018-05-10 Stmicroelectronics (Research & Development) Limited Method and apparatus for measuring time of flight
WO2019012756A1 (fr) * 2017-07-11 2019-01-17 ソニーセミコンダクタソリューションズ株式会社 Dispositif électronique et procédé de commande de dispositif électronique
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Publication number Priority date Publication date Assignee Title
CN113325386A (zh) * 2021-04-16 2021-08-31 上海宏景智驾信息科技有限公司 Spad激光雷达双随机内存实时统计tdc的方法
WO2022252096A1 (fr) * 2021-05-31 2022-12-08 华为技术有限公司 Puce de capteur et dispositif terminal
CN117784091A (zh) * 2022-09-27 2024-03-29 艾尔默斯半导体欧洲股份公司 用于通过光电检测器接收光学信号的激光雷达接收器电路
WO2024184653A1 (fr) * 2023-03-08 2024-09-12 The University Court Of The University Of Edinburgh Dispositif de détection de photons configurable

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