WO2024162109A1 - Dispositif de détection de lumière et système de télémétrie - Google Patents

Dispositif de détection de lumière et système de télémétrie Download PDF

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Publication number
WO2024162109A1
WO2024162109A1 PCT/JP2024/001924 JP2024001924W WO2024162109A1 WO 2024162109 A1 WO2024162109 A1 WO 2024162109A1 JP 2024001924 W JP2024001924 W JP 2024001924W WO 2024162109 A1 WO2024162109 A1 WO 2024162109A1
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WIPO (PCT)
Prior art keywords
pixel
group
mode
counter
unit
Prior art date
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Ceased
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PCT/JP2024/001924
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English (en)
Japanese (ja)
Inventor
孝亮 清水
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Sony Semiconductor Solutions Corp
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Sony Semiconductor Solutions Corp
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Application filed by Sony Semiconductor Solutions Corp filed Critical Sony Semiconductor Solutions Corp
Priority to CN202480009231.0A priority Critical patent/CN120584301A/zh
Publication of WO2024162109A1 publication Critical patent/WO2024162109A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • 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
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
    • H04N25/77—Pixel circuitry, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components
    • H04N25/772—Pixel circuitry, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components comprising A/D, V/T, V/F, I/T or I/F converters
    • H04N25/773—Pixel circuitry, e.g. memories, A/D converters, pixel amplifiers, shared circuits or shared components comprising A/D, V/T, V/F, I/T or I/F converters comprising photon counting circuits, e.g. single photon detection [SPD] or single photon avalanche diodes [SPAD]

Definitions

  • This disclosure relates to a light detection device and a ranging system.
  • SPAD Single Photon Avalanche Diode
  • Patent Document 1 discloses a binning process in which a photon counter that measures the number of times the SPAD detects light (photons) is provided for each pixel, and multiple photon counters for multiple pixels are operated in a time-division manner to enable photon counting over a long period of time.
  • Patent Document 1 in order to extend the measurable distance, it is necessary to increase the number of pixels that undergo binning processing, which reduces the effective resolution.
  • the size of the pixel array will increase, making it difficult to miniaturize.
  • the number of pixels in the pixel array increases, the number of pixel circuits also increases, resulting in increased power consumption.
  • Patent Document 2 a histogram generator is provided for each macropixel consisting of multiple pixels.
  • Patent Document 2 does not disclose a counter, but the histogram generator has substantially the same function as a counter.
  • Patent Documents 1 and 2 have a common problem in that if you try to increase the number of photon counters or histogram generators for long-distance distance measurement, etc., the circuit size increases accordingly, making it impossible to miniaturize the chip.
  • the present disclosure provides an optical detection device and a distance measurement system that can improve distance measurement accuracy at long distances without increasing the number of pixels.
  • a first counter group including two or more first counters; a first pixel circuit or a first pixel circuit group connected to the first counter group; a first pixel connected to the first pixel circuit or a first pixel group connected to the first pixel circuit group; a second counter group including two or more second counters; a second pixel circuit or a second pixel circuit group connected to the second counter group; a second pixel connected to the second pixel circuit or a second pixel group connected to the second pixel circuit group; a switching circuit that switches between counting the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using the first counter group without using the second counter group, or counting using the first counter group and the second counter group; A light detection device is provided.
  • the first pixel or the first pixel group is an active pixel or an active pixel group used to receive light reflected from an object;
  • the second pixel or the second group of pixels may be an inactive pixel or a group of inactive pixels that are not used to receive the reflected light.
  • a mode selection unit that selects either a first mode in which the number of transitions of an output signal of the first pixel circuit or the first pixel circuit group is counted by the first counter group without being counted by the second counter group, or a second mode in which the number of transitions is counted by the first counter group and the second counter group;
  • the switching circuit may perform switching in accordance with the selection made by the mode selection unit.
  • the count values of the first counter group and the second counter group are used to measure a distance to an object;
  • the second mode is selected, the measurable distance is longer than when the first mode is selected, Whether the first mode or the second mode is selected, the distance resolution and the resolution may be the same.
  • the distance that can be measured when the second mode is selected may be an integer multiple of at least twice the distance that can be measured when the first mode is selected.
  • Each of the first mode and the second mode further includes a third mode and a fourth mode that are alternatively selectable,
  • the third mode counts the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using one of the first counter groups;
  • the fourth mode may count the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using a plurality of the first counter groups.
  • the fourth mode further includes a fifth mode, a sixth mode, and a seventh mode which are alternatively selectable; the sixth mode has a longer measurable distance than the fifth mode, a lower distance resolution than the fifth mode, and the same resolution as the fifth mode; The seventh mode may have a longer measurable distance than the fifth mode, and may have the same distance resolution and resolution as the fifth mode.
  • a first substrate having a pixel array portion in which a plurality of the first pixels or the first pixel group and a plurality of the second pixels or the second pixel group are arranged; and a second substrate stacked on the first substrate, on which a plurality of the first pixel circuits or the first pixel circuit groups, a plurality of the first counter groups, a plurality of the second pixel circuits or the second pixel circuit groups, a plurality of the second counter groups, and a plurality of the switching circuits are disposed.
  • the first pixels or the first pixel groups are arranged in a predetermined pixel region in the pixel array section,
  • the second pixels or the second pixel groups may be disposed in a pixel region other than the predetermined pixel region in the pixel array portion.
  • the device may also include an output unit that generates output data including first bit string data including information about the mode selected by the mode selection unit, and second bit string data including the count value of the first counter group in the first mode and the count values of the first counter group and the second counter group in the second mode.
  • the first bit string data may include information regarding the number of the second counter groups to be linked to the first counter group when the second mode is selected.
  • the first bit string data may include information for identifying whether to perform binning processing in which two or more of the first counter groups are used for counting, or whether to perform counting using one of the first counter groups.
  • the first bit string data may include information identifying whether the number of times is to be counted within a specific pixel region of interest or within a predetermined partial pixel region.
  • the second bit string data may be a plurality of bit string data in which the count values of the first counter group and the second counter group corresponding to each of all the first pixels are arranged in pixel order when the second mode is selected.
  • the image pickup device may further include a control unit that controls a light receiving range of the second pixel array unit in accordance with a focal length of subject light incident on the second pixel array unit.
  • control unit may reduce the size of the pixel area of the plurality of first pixels or the plurality of first pixel groups in the first pixel array unit.
  • an optical system driving unit that drives a focus adjustment optical system that adjusts a focal length of subject light incident on the second pixel array unit;
  • the control unit may control the optical system driving unit based on a measurement result of a distance to an object based on reflected light from the object received by the plurality of first pixels or the plurality of first pixel groups in the first pixel array unit.
  • a light emitting device for irradiating an object with light; a light receiving unit that receives light emitted by the light emitting device and reflected by the object; a distance measuring unit that measures a distance to the object based on the light emitted by the light emitting device and the reflected light received by the light receiving unit; a control unit that controls the light emitting device, the light receiving unit, and the distance measuring unit,
  • the light receiving unit is a pixel array section having a plurality of first pixels or a first pixel group and a plurality of second pixels or a second pixel group; a plurality of first pixel circuits connected to the plurality of first pixels, or a plurality of first pixel circuit groups connected to the plurality of first pixel groups; a first counter group including a plurality of first counters, the first counter group being provided for each of the plurality of first pixel circuits or the plurality of first pixel circuit groups; a plurality of second pixel circuits connected to the plurality
  • the light emitting device includes a plurality of light emitting units each capable of individually controlling whether or not to emit light based on the control of the control unit;
  • the control unit may control a size of a light-emitting area that emits light among the plurality of light-emitting units in conjunction with a size of a pixel region of the plurality of first pixels or the plurality of first pixel groups in the pixel array unit.
  • FIG. 1 is a block diagram showing a schematic configuration of a distance measuring system 2 including a light detection device according to a first embodiment.
  • FIG. 2 is a detailed block diagram of the photodetector device of FIG. 1 .
  • FIG. 4 is a circuit diagram of the pixels of the pixel array section and the AFE section of the distance measurement processing section. 4 is a voltage waveform diagram of a pixel signal output from the cathode of the SPAD and the pixel circuit in FIG. 3 .
  • FIG. 3 is a circuit diagram showing an example of an internal configuration of a generating unit in FIG. 2 .
  • FIG. 4 is a diagram showing an example of a histogram generated by a generation unit.
  • FIG. 4 is a diagram showing a pixel group that is a target of binning processing.
  • FIG. 13 is a circuit diagram showing a distribution circuit and a counter group corresponding to the binning process.
  • FIG. 1 is a schematic perspective view of a semiconductor chip having a function of a light detection device. 1 is a circuit diagram of a main part of a photodetector according to a first embodiment.
  • FIG. 13 is a diagram showing a schematic configuration of a distance measuring system when all light-emitting elements emit light simultaneously.
  • FIG. 13 is a diagram showing a schematic configuration of a distance measuring system in which some light-emitting elements emit light simultaneously.
  • FIG. 4 is a diagram showing an example in which a host control unit controls the light detection device and the light emitting device according to the first embodiment.
  • FIG. 2 is a diagram showing an example of pixel positions of active pixels and inactive pixels on a pixel array.
  • 11 is a diagram showing an example in which pixel regions other than the ROI area are set as inactive pixels.
  • 13 is a diagram showing the correspondence between active pixels and inactive pixels when a plurality of spot areas are set.
  • FIG. FIG. 13 is a diagram showing an example of count values of a second counter group connected to a first counter group. 13 is a diagram showing an example of count values of the first counter group and the second counter group when the second counter group of inactive pixels is not used as part of the first counter group of active pixels;
  • FIG. 9 is a circuit diagram of a main part of the photodetector according to a modified example of FIG. 8 .
  • 1 is a diagram summarizing features of a photodetector according to a first embodiment
  • FIG. 11 is a diagram showing a histogram generated in a second comparative example.
  • FIG. 13 is a diagram showing a histogram generated in a third comparative example.
  • FIG. 13 is a diagram showing a histogram generated in a fourth comparative example.
  • FIG. 13 is a diagram showing the configuration of a main part of a distance measuring system including a light detection device according to a second embodiment.
  • FIG. 2 is a diagram showing a main part of a distance measuring system equipped with an AF lens driver.
  • FIG. 22 is a flowchart showing the processing operation of the distance measuring system of FIG. 21 .
  • FIG. 13 is a diagram showing the configuration of output data when all pixels are active pixels and when binning processing is not performed.
  • FIG. 13 is a diagram showing a configuration of output data when some pixels are active pixels.
  • FIG. 13 is a diagram showing the configuration of output data when binning processing is performed.
  • FIG. 13 is a diagram showing the configuration of output data when a first counter group and a second counter group are linked when active pixels and inactive pixels are included.
  • FIG. 11 is a block diagram of a main part of a photodetector 1 according to a fourth embodiment.
  • FIG. 1 is a block diagram showing an example of a schematic configuration of a vehicle control system.
  • FIG. 4 is an explanatory diagram showing an example of the installation positions of an outside-vehicle information detection unit and an imaging unit.
  • First Embodiment Fig. 1 is a block diagram showing a schematic configuration of a distance measuring system 2 including a light detection device 1 according to the first embodiment.
  • the distance measuring system 2 in Fig. 1 includes the light detection device 1, an application unit 3, a light emitting device 4, and a host control unit 5.
  • the light-emitting device 4 periodically emits an optical pulse signal.
  • the light-emitting device 4 can scan the propagation direction of the optical pulse signal in one or two dimensions at a predetermined period.
  • the light-emitting device 4 also has multiple light-emitting elements, and each light-emitting element can individually switch the timing at which it emits an optical pulse signal. This allows the light-emitting device 4 to arbitrarily switch the size and location of a light-emitting area in which two or more light-emitting elements simultaneously emit light.
  • the light detecting device 1 When the light pulse signal emitted from the light emitting device 4 is irradiated onto the object 6, the reflected light signal from the object 6 is received by the light detecting device 1.
  • the light detecting device 1 has a light receiving section 11 and a distance measuring processing section 12.
  • the light receiving section 11 repeatedly receives the light pulse signal periodically emitted by the light emitting device 4.
  • the distance measuring processing section 12 generates a histogram that represents the frequency of receiving the reflected light signal for each timing, and measures the distance to the object 6 based on the peak position of the histogram.
  • the application unit 3 can perform any processing using the distance data of the object 6 output from the light detection device 1. For example, the application unit 3 can generate a distance image based on the distance data.
  • the host control unit 5 controls the light emitting device 4, the light detecting device 1, and the application unit 3.
  • the host control unit 5 may be, for example, a CPU (Central Processing Unit), a PC (Personal Computer), or a server.
  • the host control unit 5 may also be implemented on the same semiconductor chip as the light detecting device 1.
  • FIG. 2 is a detailed block diagram of the photodetector 1 in FIG. 1.
  • the photodetector 1 has a light receiving unit 11, a distance measurement processing unit 12, a control unit 13, a distance measurement control unit 14, a light emission timing control unit 15, a clock generating unit 16, a pixel control unit 17, and an interface (I/F) unit 18.
  • I/F interface
  • the light receiving section 11 has a pixel array section 19.
  • the pixel array section 19 has a plurality of pixels 20 arranged in a first direction X and a second direction Y.
  • Each pixel 20 has one or more light receiving elements.
  • the light receiving elements are, for example, photodiodes or SPADs. In this specification, an example in which a SPAD 21 is used as the light receiving element will be mainly described.
  • the pixel control unit 17 can individually control whether or not each pixel 20 in the pixel array unit 19 receives a reflected light signal from the object 6. This allows the reflected light signal to be received only in a pixel area of any size and position in the pixel array unit 19.
  • the distance measurement processing unit 12 has an analog front-end unit (hereinafter, AFE unit) 22, a generation unit 23, and a distance measurement unit 24.
  • AFE unit analog front-end unit 22
  • generation unit 23 generation unit 23
  • distance measurement unit 24 distance measurement unit 24
  • the AFE unit 22 has a number of pixel circuits 25 provided for each pixel 20 in the pixel array unit 19. Each pixel circuit 25 outputs a pixel signal with a predetermined pulse width when the corresponding SPAD 21 receives a reflected light signal.
  • the generation unit 23 generates a histogram based on the output timing and output frequency of the pixel signals output from each pixel circuit 25.
  • the histogram has a number of bins according to the number of pixels that receive the reflected light signal. More specifically, the generation unit 23 has a counter group consisting of multiple counters for each pixel 20. The multiple counters count the number of times that the corresponding pixel 20 receives the reflected light signal for each timing at which the corresponding pixel 20 receives the reflected light signal. The count value of each counter corresponds to one bin of the histogram.
  • the generation unit 23 generates a histogram having multiple bins based on the count values of the multiple counters.
  • the distance measurement unit 24 measures the distance to the object 6 based on the peak position of the histogram generated by the generation unit 23.
  • the distance measurement unit 24 may measure the distance by averaging the values (occurrence frequency) of multiple bins near the peak position of the histogram.
  • the control unit 13 controls each part of the light detection device 1.
  • the distance measurement control unit 14 controls the AFE unit 22, the generation unit 23, and the distance measurement unit 24 of the distance measurement processing unit 12 according to instructions from the control unit 13.
  • the pixel control unit 17 controls whether or not each pixel 20 of the pixel array unit 19 receives reflected light according to instructions from the control unit 13.
  • the light emission timing control unit 15 controls the timing at which each light emitting element of the light emitting device 4 emits a light pulse signal according to instructions from the control unit 13. At least a portion of the control unit 13, the distance measurement control unit 14, the pixel control unit 17, and the light emission timing control unit 15 may be integrated to provide an integrated control unit.
  • the clock generation unit 16 generates a clock signal for synchronizing each part of the light detection device 1.
  • the I/F unit 18 outputs the distance information of the object 6 measured by the distance measurement processing unit 12.
  • FIG. 3 is a circuit diagram of the pixel 20 of the pixel array section 19 and the AFE section 22 of the distance measurement processing section 12.
  • the pixel circuit 25 of the AFE section 22 has a PMOS transistor Q1 and an inverter 26.
  • the source of the PMOS transistor Q1 is connected to a reference voltage node Vs, and the drain of the PMOS transistor Q1 is connected to the cathode of the SPAD 21 and the input node of the inverter 26.
  • a control signal Vc from the pixel control section 17 is input to the gate of the PMOS transistor Q1. This causes the PMOS transistor Q1 to function as a current source 9.
  • the pixel control section 17 can turn off the PMOS transistor Q1 using the control signal Vc. This can forcibly stop the light receiving operation of the pixel 20.
  • the anode of the SPAD 21 is connected to, for example, a negative potential node (-Vbd).
  • a pixel signal is output from the output node of the inverter 26.
  • FIG. 4 is a voltage waveform diagram of the cathode of SPAD21 in FIG. 3 and the pixel signal output from pixel circuit 25.
  • the cathode voltage waveform of SPAD21 is W1
  • the voltage waveform of the pixel signal is W2.
  • the cathode of SPAD21 has the same voltage Vs as the reference voltage node Vs until SPAD21 detects a photon, and the pixel signal is at a low level. The detection of a photon by SPAD21 is called firing.
  • the cathode voltage of SPAD21 drops sharply and becomes a voltage lower than the threshold voltage Vth of inverter 26.
  • pixel circuit 25 when SPAD21 fires, pixel circuit 25 outputs a pixel signal with a predetermined pulse width. As a result, pixel circuit 25 converts the firing of SPAD21 into a digitized pixel signal and outputs it.
  • FIG. 5A is a circuit diagram showing an example of the internal configuration of the generation unit 23 in FIG. 2, and FIG. 5B is a diagram showing an example of a histogram generated by the generation unit 23.
  • the generation unit 23 has a distribution circuit 27 and a histogram generation unit 29 having a counter group 28.
  • the distribution circuit 27 has a plurality of switches 30.
  • the counter group 28 in the histogram generation unit 29 has a plurality of counters 31, the same number as the plurality of switches 30.
  • Each of the multiple switches 30 is associated with one of the counters 31 in the counter group 28.
  • the count value of each of the multiple counters 31 that make up the counter group 28 corresponds to the frequency value of one of the bins in the histogram shown in FIG. 5B.
  • Each of the multiple switches 30 switches whether or not the corresponding counter 31 counts the number of transitions of the pixel signal output from the corresponding pixel circuit 25.
  • the multiple switches 30 perform switching operations based on instructions from the distance measurement control unit 14.
  • the distance measurement control unit 14 controls the switching timing of the multiple switches 30 according to the elapsed time since the light emitting device 4 emitted a light pulse signal.
  • enabling the counter 31 connected to the switch 30 to perform a counting operation is referred to as "turning on the switch 30.”
  • the multiple switches 30 are each turned on at a different timing.
  • each of the multiple counters 31 measures the frequency of receiving the reflected light signal as a count value for each time the light receiving unit 11 receives the reflected light signal.
  • a binning process can be performed in which reflected light signals received by a pixel group consisting of two or more pixels 20 (for example, four pixels) are counted by a plurality of counter groups 28 in the pixel group.
  • reflected light signals from a long distance can be counted, and the measurable distance can be expanded.
  • FIG. 6A shows a pixel group 30g that is the subject of binning processing
  • FIG. 6B is a circuit diagram showing a distribution circuit 27 and a counter group 28 that correspond to the binning processing.
  • FIG. 6A shows an example of performing binning processing on a pixel group 30g of 2 ⁇ 2 pixels 20 as a unit, but the number of pixels included in pixel group 30g, which is the unit of binning processing, is arbitrary.
  • the distribution circuit 27 in FIG. 6B has multiple switches 30 and an OR circuit 32.
  • the OR circuit 32 calculates the logical sum of multiple pixel signals output from all pixel circuits 25 included in the pixel group 30g, which is the unit of the binning process.
  • the pixel circuit 25 connected to the pixel 20 that received the reflected light signal outputs a pixel signal consisting of a high-level pulse signal.
  • the multiple switches 30 perform switching operations in response to instructions from the distance measurement control unit 14.
  • the pixel group 30g which is the unit of the binning process, has multiple counter groups 28. By using these counter groups 28, it is possible to measure count values corresponding to reflected light signals from objects at long distances, thereby improving the accuracy of measuring the distance to objects at long distances.
  • FIG. 7 is a schematic perspective view of a semiconductor chip 40 having the functions of the photodetector 1.
  • the semiconductor chip 40 in FIG. 7 has a first substrate 44 and a second substrate 45 that are stacked.
  • the first substrate 44 is disposed on the incident surface side of the reflected light signal.
  • the second substrate 45 is stacked on the first substrate 44 on the side opposite the incident surface described above.
  • the pixel array section 19 is disposed on the first substrate 44. In a more specific example, the pixel array section 19 is disposed over substantially the entire area of the incident surface of the first substrate 44 for reflected light signals.
  • a plurality of pixels 20 are disposed on the pixel array section 19.
  • the AFE section 22 including a plurality of pixel circuits 25, the generation section 23, and the distance measurement section 24 are disposed on the second substrate 45. At least a portion of the generation section 23 and the distance measurement section 24 may be disposed on the first substrate 44. Alternatively, at least a portion of the generation section 23 and the distance measurement section 24 may be disposed on a third substrate (not shown) that is laminated on the second substrate 45.
  • the third substrate may not be laminated on the first substrate 44 and the second substrate 45, but may be provided on a semiconductor chip separate from the semiconductor chip 40 having the first substrate 44 and the second substrate 45.
  • Various types of signal transmission between the first substrate 44 and the second substrate 45 are carried out through vias, Cu-Cu joints, bumps, wiring patterns, etc.
  • FIG. 7 as in FIG. 6A, an example is shown in which binning processing can be performed using 2 ⁇ 2 pixels, but the number of pixels that serves as the unit for binning processing is arbitrary.
  • Each pixel 20 in the pixel array section 19 of the light receiving section 11 can be associated with each of the multiple light emitting elements of the light emitting device 4.
  • the greater the number of light emitting elements that emit light simultaneously among the multiple light emitting elements the greater the number of pixels that receive reflected light signals in the pixel array section 19 of the light receiving section 11.
  • the light emitting device 4 has a surface light emitting element such as a VCSEL (Vertical Cavity Surface Emitting Laser)
  • the greater the number of light emitting elements that the light emitting device 4 emits light simultaneously the lower the light emission intensity of each light emitting element, and the lower the S/N ratio when the light receiving element receives the reflected light signal. If the light emission intensity of each light emitting element decreases, the light pulse signal will not reach far away, and the distance accuracy of a distant object 6 will decrease.
  • the multiple light-emitting elements of the light-emitting device 4 emit light simultaneously, so as to prevent the light emission intensity of each light-emitting element from becoming as low as possible. If the number of light-emitting elements that emit light simultaneously in the light-emitting device 4 decreases, the number of pixels 20 that receive reflected light signals in the light-receiving unit 11 also decreases.
  • control unit 13 it is desirable for the control unit 13 to control the number of pixels 20 that receive reflected light signals in the light-receiving unit 11 in accordance with the number of light-emitting elements that emit light signals simultaneously in the light-emitting device 4, so as to prevent unnecessary power consumption in the light-receiving unit 11.
  • the pixel 20 that receives the reflected light signal is called an active pixel (first pixel) 20a, and the pixel 20 that does not receive the reflected light signal is called an inactive pixel (second pixel) 20n.
  • the active pixel 20a is arranged in a predetermined pixel region in the pixel array section 19, and the inactive pixel 20n is arranged in a pixel region other than the predetermined pixel region in the pixel array section 19.
  • the pixel control section 17 turns on the PMOS transistor Q1 connected to the cathode of the SPAD 21 of the active pixel 20a to operate the current source 9, and turns off the PMOS transistor Q1 connected to the cathode of the SPAD 21 of the inactive pixel 20n to stop the current source 9.
  • the reference voltage Vs is no longer supplied to the cathode of the SPAD 21 of the inactive pixel 20n, and the light reception of the inactive pixel 20n can be forcibly stopped, and the power consumption of the light receiving section 11 can be reduced.
  • the counter group 28 arranged after the SPAD 21 is not used. Therefore, in the first embodiment, the counter group 28 of the inactive pixel 20n can be used as part of the counter group 28 of the active pixel 20a. In this case, the second counter group 28n is connected to the counter group 28 and used.
  • the counter group 28 provided corresponding to the active pixel 20a is referred to as the first counter group 28a
  • each counter 31 constituting the first counter group 28a is referred to as the first counter 31a
  • the counter group 28 provided corresponding to the inactive pixel 20n is referred to as the second counter group 28n
  • each counter 31 constituting the second counter group 28n is referred to as the second counter 31n.
  • FIG. 8 is a circuit diagram of the main parts of the photodetection device 1 according to the first embodiment.
  • FIG. 8 shows a configuration capable of performing binning processing.
  • FIG. 8 illustrates the configuration of a pixel circuit 25 connected to four active pixels 20a and eight inactive pixels 20n, which are the units of the binning processing.
  • the photodetector 1 has a pixel circuit 25 (hereinafter, active pixel circuit 25a) connected to an active pixel 20a, a first distribution circuit 27a connected to the active pixel circuit 25a, a first counter group 28a connected to the first distribution circuit 27a, a pixel circuit 25 (hereinafter, inactive pixel circuit 25n) connected to an inactive pixel 20n, a second distribution circuit 27n connected to the inactive pixel circuit 25n, a second counter group 28n connected to the second distribution circuit 27n, and a counter switching circuit 33 that switches whether or not the second counter group 28n is connected to the first counter group 28a.
  • active pixel circuit 25a connected to an active pixel 20a
  • first distribution circuit 27a connected to the active pixel circuit 25a
  • a first counter group 28a connected to the first distribution circuit 27a
  • a pixel circuit 25 hereinafter, inactive pixel circuit 25n
  • inactive pixel circuit 25n connected to an inactive pixel 20n
  • second distribution circuit 27n connected to
  • the counter switching circuit 33 switches between connecting one end of the second distribution circuit 27n connected to the inactive pixel 20n to the second counter group 28n or connecting one end of the first distribution circuit 27a connected to the active pixel 20a. In other words, the counter switching circuit 33 switches between counting the number of transitions of the pixel signal output from the active pixel circuit 25a using the first counter group instead of the second counter group 28n, or counting using both the first counter group 28a and the second counter group 28n.
  • the first distribution circuit 27a, the second distribution circuit 27n, and the counter switching circuit 33 each have multiple switches 30. Each switch 30 is controlled by the distance measurement control unit 14.
  • the second distribution circuit 27n has a plurality of switches 30 connected to the second counter group 28n, and a switch 30 that switches whether the other end of the plurality of switches 30 is connected to an OR circuit 32 or to a counter switching circuit 33.
  • the counter switching circuit 33 has a switch 30 connected between one end of the first distribution circuit 27a and one end of the second distribution circuit 27n.
  • the distance measurement control unit 14 controls the counter switching circuit 33 to connect the second counter group 28n connected to the inactive pixel 20n to the first counter group 28a.
  • each second counter 31n constituting the second counter group 28n is used to generate data for some bins of the histogram generated based on the light reception results of the active pixel 20a.
  • the distance measurement control unit 14 functions as a mode selection unit that selects either a first mode in which the number of transitions of the pixel signal output from the active pixel circuit 25a is counted by the first counter group 28a without being counted by the second counter group 28n, or a second mode in which the number of transitions is counted by the first counter group 28a and the second counter group 28n.
  • the count values of the first counter group 28a and the second counter group 28n are used to measure the distance to the object 6.
  • the measurable distance is longer than when the first mode is selected.
  • the measurable distance when the second mode is selected is an integer multiple, that is, at least twice the measurable distance when the first mode is selected. Regardless of whether the first mode or the second mode is selected, the distance resolution and the resolution are the same.
  • Each of the first and second modes may have a third and fourth modes that can be alternatively selected.
  • one first counter group 28a is used to count the number of transitions of the output signal of the first pixel circuit 25.
  • all pixels 20 in the pixel array section 19 are active pixels 20a, and binning processing is not performed.
  • multiple first counter groups 28a are used to count the number of transitions of the output signal of the first pixel circuit 25.
  • all pixels 20 in the pixel array section 19 are active pixels 20a, and binning processing is performed.
  • the fourth mode may further include a fifth mode, a sixth mode, and a seventh mode that are alternatively selectable.
  • the sixth mode has a longer measurable distance than the fifth mode, a lower distance resolution than the fifth mode, and the same resolution as the fifth mode.
  • the seventh mode has a longer measurable distance than the fifth mode, and the same distance resolution and resolution as the fifth mode.
  • the number of bins in the histogram can be increased, improving the accuracy of measuring distances at longer distances.
  • FIGS. 9 and 10 are diagrams showing the schematic configuration of a distance measuring system 2 including a light detection device 1 and a light emitting device 4 according to the first embodiment.
  • FIG. 9 shows how all the light emitting elements 41 of the light emitting device 4 emit light simultaneously, and all the pixels 20 of the light receiving unit 11 receive reflected light signals.
  • FIG. 10 shows how some of the multiple light emitting elements 41 of the light emitting device 4 emit light simultaneously, and some of the multiple pixels 20 of the light receiving unit 11 receive reflected light signals.
  • the pixels 20 that receive the reflected light signals in FIG. 10 are active pixels 20a, and the pixels 20 that do not receive reflected light signals are inactive pixels 20n.
  • the light emitting device 4 has a VCSEL 42 in which multiple light emitting elements 41 are arranged in a planar direction and emit light from the surface, and an LDD (Laser Diode Driver) 43 that drives the VCSEL 42.
  • the light detecting device 1 has a first substrate 44 having a pixel array section 19 in which multiple pixels 20 are arranged in a planar direction, and a second substrate 45 laminated on the first substrate 44.
  • Each pixel 20 has one or more SPADs 21.
  • Figures 9 and 10 show an example in which the second substrate 45 has a larger area than the first substrate 44, but the size ratio between the first substrate 44 and the second substrate 45 is arbitrary.
  • the photodetector 1 transmits to the LDD 43 an LVDS (Low Voltage Differential Signaling) format signal including distance measurement information of the object 6, and an SPI (Serial Peripheral Interface) signal that serially transmits various control signals.
  • the LDD 43 controls the light emitting area of the VCSEL 42 based on the SPI signal.
  • the SPI signal is an example of a serial communication method, and control signals of other communication methods may also be transmitted from the photodetector 1 to the LDD 43.
  • the second counter group 28n provided corresponding to the inactive pixel 20n is used to expand the bins of the histogram of the active pixel 20a, but it may also be used to expand the number of bits of the first counter group 28a provided corresponding to the active pixel 20a.
  • the number of bits of each of the first counters 31a constituting the first counter group 28a can be expanded, distance measurement can be repeated for a longer period of time, improving the accuracy of the distance measurement of the object 6.
  • FIGS. 9 and 10 show an example in which the size of the light-emitting area of the light-emitting device 4 and the size of the pixel region of the active pixel 20a of the pixel array section 19 are linked, but they do not necessarily have to be linked.
  • the technical feature of the photodetector 1 according to this embodiment is that the second counter group 28n provided corresponding to the inactive pixel 20n is connected to the first counter group 28a provided corresponding to the active pixel 20a, and the size of the light-emitting area of the light-emitting device 4 and the size of the pixel region of the active pixel 20a of the pixel array section 19 do not necessarily have to be linked.
  • FIG. 11 is a diagram showing an example in which the host control unit 5 controls the photodetector 1 and the light-emitting device 4 according to the first embodiment.
  • the host control unit 5 controls the control unit 13 of the photodetector 1 and the LDD 43 of the light-emitting device 4, for example, by an I2C (Inter-Integrated Circuit) signal.
  • I2C Inter-Integrated Circuit
  • the I2C signal is just one example, and the host control unit 5 may transmit control signals of other communication methods to the control unit 13 and the LDD 43.
  • the I2C signal transmitted from the host control unit 5 to the control unit 13 includes pixel position information of the active pixels 20a in the pixel array unit 19.
  • the control unit 13 stores the pixel position information of the active pixels 20a transmitted from the host control unit 5 in, for example, the register 46.
  • the control unit 13 has a pixel setting unit 47 and an allocation setting unit 48.
  • the pixel setting unit 47 transmits a signal indicating whether each pixel 20 in the pixel array unit 19 is an active pixel 20a or an inactive pixel 20n to the distance measurement control unit 14 based on the pixel position information of the active pixel 20a transmitted from the host control unit 5.
  • the distribution setting unit 48 transmits switching control signals to each of the multiple switches 30 in the first distribution circuit 27a, the second distribution circuit 27n, and the counter switching circuit 33 based on the pixel position of the active pixel 20a transmitted from the host control unit 5.
  • the distance measurement control unit 14 Based on the signal sent from the pixel setting unit 47 of the control unit 13, the distance measurement control unit 14 turns on the PMOS transistor Q1 connected to the cathode of the SPAD 21 of the active pixel 20a in the pixel array unit 19, and turns off the PMOS transistor Q1 connected to the cathode of the SPAD 21 of the inactive pixel 20n.
  • the distance measurement control unit 14 also supplies power supply voltage to the AFE unit 22 of the active pixel circuit 25a connected to the active pixel 20a, and stops the supply of power supply voltage to the AFE unit 22 of the inactive pixel circuit 25n connected to the inactive pixel 20n.
  • the first distribution circuit 27a, the second distribution circuit 27n, and the counter switching circuit 33 control whether or not to connect the second counter group 28n to the first counter group 28a based on a signal sent from the distribution setting unit 48.
  • the I2C signal transmitted from the host control unit 5 to the LDD 43 of the light emitting device 4 includes light emitting area information of the light emitting device 4.
  • the LDD 43 stores the light emitting area information transmitted from the host control unit 5 in a register 49.
  • the LDD 43 has an output circuit 50 that generates a drive signal indicating whether or not to drive each light emitting element 41 of the VCSEL 42 based on the light emitting area information.
  • the VCSEL 42 individually controls whether or not to cause each light emitting element 41 to emit light based on the drive signal output from the output circuit 50.
  • FIG. 12 is a diagram showing an example of pixel positions of active pixels 20a and inactive pixels 20n on a pixel array.
  • FIG. 12 shows an example in which the pixel area of active pixels 20a is arranged in the center of the pixel array section 19, and the pixel area of inactive pixels 20n is arranged around it.
  • the switch 30 of the second distribution circuit 27n connected to the inactive pixel circuit 25n of the inactive pixel 20n By controlling the switching of the switch 30 of the second distribution circuit 27n connected to the inactive pixel circuit 25n of the inactive pixel 20n, the second counter group 28n provided corresponding to the inactive pixel 20n can be connected to the first counter group 28a provided corresponding to the active pixel 20a.
  • FIG. 12 shows a schematic diagram of wiring 53 connecting the first distribution circuit 27a connected to the first counter group 28a and the second distribution circuit 27n connected to the second counter group 28n.
  • the first distribution circuit 27a, the second distribution circuit 27n, the counter switching circuit 33, the first counter group 28a, and the second counter group 28n are arranged on a second substrate 45 which is laminated on a first substrate 44 on which the pixel array section 19 is arranged.
  • FIG. 12 shows the first substrate 44 and the second substrate 45 stacked on top of each other in a plan view.
  • the second counter group 28n can also be used not to increase the number of bins in the histogram, but to extend the number of bits of each of the first counters 31a in the first counter group 28a. In this case, the number of times that the distance measurement of the object 6 is repeated can be increased, improving the accuracy of the distance measurement.
  • FIG. 12 an example is shown in which the pixel region of the active pixel 20a is arranged in the center of the pixel array section 19, but the location and size of the pixel region of the active pixel 20a in the pixel array section 19 can be determined arbitrarily.
  • a ROI Region Of Interest
  • a ROI area may be set at the location of the object 6 in the pixel array section 19 based on the detection result, and each pixel 20 within the ROI area may be set as an active pixel 20a.
  • FIG. 13 is a diagram showing an example in which each pixel 20 in the ROI area 54 is an active pixel 20a, and pixel regions outside the ROI area 54 are inactive pixels 20n.
  • FIG. 13 shows an example in which each active pixel 20a in the ROI area 54 is associated with one of the inactive pixels 20n.
  • FIG. 13 shows an example in which each active pixel 20a is associated with an inactive pixel 20n located in the first direction X (horizontal direction) outside the ROI area 54.
  • Corresponding active pixels 20a and inactive pixels 20n are connected by wiring 55.
  • Each wiring 55 for association extends in the first direction X, and by preventing variation in the length of each wiring 55, variation in signal propagation delay can be suppressed.
  • each active pixel 20a may be associated with an inactive pixel 20n located in the second direction (vertical direction) Y outside the ROI area 54.
  • the size of the ROI area 54 can be further expanded.
  • the wiring 55 extending in the second direction Y in Fig. 13 shows an example in which two inactive pixels 20n are associated with one active pixel 20a.
  • a pixel area for the inactive pixels 20n can be secured outside the ROI area 54, so that the length of the wiring 55 for matching the active pixels 20a and the inactive pixels 20n can be made as short as possible.
  • FIG. 14 is a diagram showing the correspondence between active pixels 20a and inactive pixels 20n when multiple spot areas 56 are set in the pixel array section 19.
  • each pixel 20 within each spot area 56 is an active pixel 20a
  • each pixel 20 outside each spot area 56 is an inactive pixel 20n.
  • each active pixel 20a in each spot area 56 is associated with an adjacent inactive pixel 20n outside the spot area 56. This allows the length of the wiring 55 connecting the active pixel 20a and the corresponding inactive pixel 20n to be shortened.
  • the pixel position and size of each spot area 56 can be arbitrarily controlled by pixel position information from the host control unit 5.
  • the multiple active pixels 20a included in each spot area 56 shown in FIG. 14 may be the unit for performing binning processing.
  • Each of the multiple active pixels 20a, which are the unit for binning processing, can be associated with an inactive pixel 20n.
  • wiring 55 may be provided in advance to associate multiple pixels 20 with each other so that the spot area 56 can be set at any pixel position.
  • wiring 55 may be provided that associates two or more inactive pixels 20n with one active pixel 20a.
  • FIG. 15 is a diagram showing an example of the count values of the first counter group 28a in the pixel region (ROI area 54 or spot area 56) of an active pixel 20a set in a part of the pixel array section 19, and the count values of the second counter group 28n connected to the first counter group 28a.
  • the count value of the second count group which should originally be zero, becomes a value other than zero.
  • the second counter group 28n having a count value other than zero is used, for example, as information for the corresponding bin of a histogram.
  • FIG. 16 is a diagram showing an example of the count values of the first counter group 28a and the second counter group 28n when the second counter group 28n of the inactive pixel 20n is not used as part of the first counter group 28a of the active pixel 20a.
  • the count values of the second counter group 28n are all zero, and the number of bins of the histogram cannot be expanded.
  • FIG. 17 is a circuit diagram of the main parts of the photodetector 1 according to a modified example of FIG. 8.
  • components that are common to FIG. 8 are given the same reference numerals, and the following description will focus on the differences.
  • OR circuits 60 calculates the logical sum of the output signal of the OR circuit 32n, which calculates the logical sum of the pixel signals output from the inactive pixel circuits 25n, and the output signal of the OR circuit 60, which calculates the logical sum of the pixel signals output from the active pixel circuits 25a that perform the binning process. Since the pixel signals output from the inactive pixel circuits 25n are always at a low level, the output signal of the OR circuit 32 never becomes a high level. In contrast, the OR circuit 32a becomes a high level when a reflected light signal is received by any of the active pixel circuits 25a. Therefore, when the OR circuit 60 is used instead of the switch 30, the output of the OR circuit 60 can be made a high level when the output of the OR circuit 32a becomes a high level, and the same effect as turning on the switch 30 can be obtained.
  • FIG. 18 is a diagram summarizing the features of the photodetection device 1 according to the first embodiment.
  • the features of the photodetection device 1 according to the first embodiment are compared with the first comparative example to the fifth comparative example.
  • the first comparative example shows an example in which all pixels 20 in the pixel array section 19 are active pixels 20a and binning processing is not performed.
  • the second comparative example shows an example in which binning processing is performed in units of 2 ⁇ 2 pixels (hereinafter, binning pixels) in the pixel array section 19.
  • the third comparative example shows an example in which binning processing is performed in units of 2 ⁇ 2 binning pixels in the pixel array section 19, and the bin width of the histogram generated based on the count value of the first counter group 28a for binning pixels is doubled.
  • the fourth comparative example shows an example in which binning processing is performed in units of 2 ⁇ 2 binning pixels in the pixel array section 19, and the two first counter groups 28a are operated in a time-division manner.
  • the fifth comparative example shows an example in which binning processing is performed in units of 2 ⁇ 4 binning pixels in the pixel array section 19.
  • the photodetection device 1 according to the present embodiment shown in FIG. 18 shows an example in which binning processing is performed in units of 2 ⁇ 2 binning pixels in the pixel array section 19, and one second counter group 28n is connected to the first counter group 28a.
  • the second comparative example binning processing is performed in units of 2 x 2 binning pixels, so the resolution is reduced by half compared to the first comparative example.
  • the number of first counter groups 28a is increased by four times, so the distance resolution is four times better than in the first comparative example.
  • the distance resolution is expressed as distance L/4, which means that resolution can be obtained in short distance units.
  • the second comparative example achieves the same frame rate as the first comparative example.
  • the third comparative example Compared to the histogram shown in FIG. 19A generated by the second comparative example, the third comparative example has a wider histogram bin width as shown in FIG. 19B, so that the measurable distance is twice as long as that of the second comparative example, but the distance resolution is 1/2. Also, the third comparative example has the same resolution and frame rate as the second comparative example.
  • the two first counter groups 28a are operated in a time-division manner to generate two histograms (a first histogram and a second histogram), so the measurable distance is twice that of the first and second comparative examples.
  • the frame rate is half that of the first to third comparative examples.
  • the distance resolution of the fourth comparative example is the same as that of the second comparative example.
  • the number of pixels subjected to binning is twice that of the second to fourth comparative examples, and therefore the resolution is four times that of the first comparative example. Furthermore, in the fifth comparative example, the number of binning is twice that of the second to fourth comparative examples, and therefore the number of first counter groups 28a is also twice as large. Therefore, in the fifth comparative example, the measurable distance is twice that of the second comparative example, but the distance resolution is about the same.
  • the frame rate of the fifth comparative example is about the same as that of the first to third comparative examples.
  • the distance that can be measured by the optical detection device 1 according to this embodiment is comparable to that of the third to fifth embodiments, and has a resolution comparable to that of the second to fourth embodiments.
  • the optical detection device 1 according to this embodiment also has a distance resolution comparable to that of the second, fourth, and fifth embodiments.
  • the optical detection device 1 according to this embodiment has a frame rate comparable to that of the first to third, and fifth embodiments.
  • the second counter group 28n provided corresponding to the inactive pixels 20n can be linked to the first counter group 28a provided corresponding to the active pixels 20a, so that the number of bins in the histogram for the active pixels 20a can be expanded, improving the accuracy of distance measurement of an object 6 located at a long distance.
  • the second counter group 28n can be used to expand the number of bits of each of the first counters 31a that make up the first counter group 28a, improving the accuracy of distance measurement.
  • the second counter group 28n provided corresponding to the inactive pixels 20n can be effectively utilized. Therefore, it is possible to accurately measure the distance to a distant object 6 without increasing the number of pixels in the pixel array section 19.
  • the light detection device 1 according to the second embodiment is characterized in that it includes not only a light receiving section 11 for distance measurement but also an imaging section for capturing an image of subject light.
  • FIG. 20 is a diagram showing the configuration of the main parts of a distance measurement system 2 including a light detection device 1 according to the second embodiment.
  • the distance measurement system 2 in FIG. 20 includes a light detection device 1, a light emitting device 4, and a host control unit 5.
  • components that are common to FIG. 9 are given the same reference numerals, and the following description will focus on the differences.
  • the photodetector 1 in FIG. 20, like FIG. 7, has a first substrate 44 on which the light receiving section 11 is arranged, and a second substrate 45 laminated on the first substrate 44.
  • the second substrate 45 like FIG. 2, the distance measurement processing section 12, distance measurement control section 14, light emission timing control section 15, clock generation section 16, and I/F section 18 are arranged.
  • the light detection device 1 in FIG. 20 includes an imaging unit 61 that captures subject light.
  • the imaging unit 61 is also called an image sensor.
  • the imaging unit 61 is a semiconductor chip separate from the semiconductor chip 40 that includes the stacked first substrate 44 and second substrate 45. Alternatively, the imaging unit 61 may be disposed in an empty area of the first substrate 44.
  • the imaging unit 61 captures subject light that has passed through a telephoto optical system (not shown in FIG. 20) with a long focal length.
  • the optical system may be a zoom lens with an adjustable focal length.
  • the light emitting device 4 has a VCSEL 42 and an LDD 43, similar to FIG. 9.
  • the host control unit 5 controls the imaging unit 61, the light receiving unit 11, and the LDD 43, for example, by an I2C signal.
  • the imaging unit 61 shown in FIG. 20 captures the subject light that has passed through a telephoto optical system.
  • the imaging unit 61, light receiving unit 11, and light emitting device 4 in FIG. 20 operate in conjunction with each other under the control of the host control unit 5.
  • the imaging unit 61 captures subject light that has passed through a telephoto optical system
  • the light emitting device 4 narrows the light emitting area in order to measure the distance to an object 6 located at a long distance.
  • the light receiving unit 11 receives a reflected light signal from the object 6 in a spot area 56 of a pixel region whose size corresponds to the light emitting area.
  • the imaging unit 61 captures subject light with a wide-angle focal length
  • the light emitting device 4 widens its light emitting area
  • the light receiving unit 11 receives reflected light signals from the object 6 in a pixel area of a size according to the light emitting area.
  • FIG. 21 is a diagram showing the main parts of a distance measurement system 2 including an AF lens driver (optical system driver) 62 that variably controls the focal length of a focus adjustment optical system (AF lens) of an imaging unit 61.
  • the imaging unit 61 transmits, for example, an SPI signal to the light receiving unit 11.
  • the SPI signal includes information on the focal length of the AF lens.
  • the light receiving unit 11 not only transmits the SPI signal to the LDD 43, but also to the AF lens driver 62.
  • the host control unit 5 transmits, for example, an I2C signal to the imaging unit 61, the light receiving unit 11, and the LDD 43.
  • the imaging unit 61 When the imaging unit 61 captures an image of an object 6 located at a long distance, the imaging unit 61 transmits an SPI signal to that effect.
  • the SPI signal output from the imaging unit 61 is supplied to the AF lens driver 62 via the light receiving unit 11.
  • the AF lens driver 62 adjusts the focal length of the AF lens (not shown).
  • the VCSEL 42 also adjusts the light emitting area according to the focal length of the AF lens.
  • the light receiving unit 11 also controls the pixel area of the active pixel 20a of the pixel array unit 19 according to the focal length of the AF lens.
  • the control unit 13 controls the AF lens driver 62 based on the result of measuring the distance to the object based on the reflected light from the object received by the light receiving unit 11.
  • FIG. 22 is a flowchart showing the processing operation of the distance measurement system 2 in FIG. 21.
  • Step S1 it is determined whether or not to start telephoto AF (Auto Focus) operation (step S1).
  • Step S1 remains until telephoto AF operation is started.
  • the processing in FIG. 22 may be ended.
  • step S2 When starting the telephoto AF operation (if step S1 is YES), the host device activates the telephoto imaging unit 61 (step S2). Next, the host device sets information about the telephoto focal length to the imaging unit 61 (step S3). The imaging unit 61 starts the telephoto focus adjustment operation (AF operation) (step S4).
  • AF operation telephoto focus adjustment operation
  • the imaging unit 61 transmits the telephoto AF operation information to the light receiving unit 11 as an SPI signal (step S5).
  • the light receiving unit 11 transmits the telephoto AF operation information to the LDD 43 as an SPI signal (step S6).
  • the light receiving unit 11 sets the pixel area of the active pixel 20a based on the telephoto AF operation information (step S7).
  • the LDD 43 sets the light emitting area of the VCSEL 42 based on the telephoto AF operation information and starts light emission (step S8).
  • the light receiving unit 11 receives the reflected light signal in the pixel area of the active pixel 20a set in step S7, and starts distance measurement processing (step S9).
  • the distance to the object 6 is measured based on the result of receiving the reflected light signal at the light receiving unit 11. Specifically, the distance to the object 6 is measured based on the peak position of the histogram, and the AF lens driver 62 is controlled based on the measured distance to the object 6 (step S10).
  • the AF lens driver 62 adjusts the focal length of the AF lens according to the measured distance to the object 6 (step S11).
  • the second embodiment is provided with a telephoto imaging unit 61 that captures subject light, and when imaging a distant subject with the imaging unit 61, the light emitting area of the light emitting device 4 and the pixel area of the active pixels 20a of the light receiving unit 11 are controlled in conjunction with the focal length of the subject light incident on the imaging unit 61.
  • the imaging unit 61 when imaging a distant subject with the imaging unit 61, the light emitting area of the light emitting device 4 is narrowed, the pixel area of the active pixels 20a of the light receiving unit 11 is narrowed, and the second counter group 28n of the inactive pixels 20n is connected to the first counter group 28a. This improves the accuracy of distance measurement of a distant object 6.
  • the third embodiment is characterized by the format of the output data output from the generating unit 23 in the distance measurement processing unit 12 of the light detection device 1 according to the first or second embodiment.
  • the second counter group 28n provided corresponding to the inactive pixel 20n can be connected to the first counter group 28a.
  • the optical detection device 1 according to the third embodiment is characterized in that various information is added to the output data output by the generation unit 23, making it easy to determine what the count values of the first counter group 28a and the second counter group 28n represent.
  • the photodetector 1 has a block configuration similar to that of FIG. 2, for example.
  • the generator 23 of the distance measurement processor 12 outputs output data in the data format of FIG. 23A, FIG. 23B, FIG. 23C, or FIG. 23D, for example.
  • FIG. 23A is a diagram showing the configuration of output data when all pixels 20 in the pixel array section 19 are active pixels 20a and binning processing is not performed.
  • FIG. 23B is a diagram showing the configuration of output data when a part of the pixel array section 19 is active pixels 20a.
  • FIG. 23C is a diagram showing the configuration of output data when binning processing is performed.
  • FIG. 23D is a diagram showing the configuration of output data when the first counter group 28a and the second counter group 28n are linked when the pixel array section 19 includes active pixels 20a and inactive pixels 20n.
  • the output data includes embedded data (first bit string data) and multiple payload data (second bit string data) for each frame.
  • the embedded data includes information that indicates the characteristics of the payload data, such as counter connection number information that indicates the number of second counter groups 28n connected to the first counter group 28a, counter connection mode information that identifies whether the active pixel 20a is within the ROI area 54 or within the spot area 56, and binning information that indicates whether or not to perform binning processing.
  • the embedded data may include information other than the three pieces of information shown in FIG. 23A.
  • the output data contains payload data for all pixels 20 in the order in which the pixels 20 are arranged, as shown in FIG. 23A.
  • the output data includes payload data including count values in units of multiple pixels 20 (hereinafter, binning pixels) that perform binning processing, in the order of the binning pixels, as shown in FIG. 23C.
  • the output data includes payload data including the count values of each of the first counters 31a constituting the first counter group 28a, and payload data including the count values of each of the second counters 31n constituting the second counter group 28n connected to the first counter group 28a, as shown in FIG. 23D.
  • the distance measurement unit 24 can determine whether or not binning processing has been performed, whether or not a spot area 56 or ROI area 54 has been set in the pixel array unit 19, and how many second counter groups 28n are connected to the first counter group 28a, and can measure the distance to the object 6 with high accuracy.
  • the pixel array unit 19 and the distance measurement processing unit 12 including the distribution circuit 27 and the counter group 28 are mainly arranged on separate substrates, but the locations of the pixel array unit 19 and the distance measurement processing unit 12 are not limited, and they may be arranged on the same substrate, for example.
  • the counter group 28 may be provided for each set of pixels.
  • the counter group 28 may be integrated into the histogram generating unit 29.
  • FIG. 24 is a block diagram of the main parts of a photodetection device 1 according to a fourth embodiment.
  • the photodetection device 1 in FIG. 24 generates a histogram for each macro pixel 20m consisting of multiple active pixels 20a, or for each multiple active pixels 20a within a macro pixel 20m.
  • the pixel array section 19 has one or more macro pixels 20m and multiple inactive pixels other than the macro pixels 20m.
  • the photodetector 1 in FIG. 24 includes an active pixel circuit group 25ag, a first TDC 65a, a first histogram generator 29a, and a first distribution circuit 27a, with each active pixel group 20ag consisting of two or more active pixels 20a in a macro pixel 20m.
  • the first TDC 65a converts the pixel signal output from the active pixel circuit group 25ag into a time digital signal.
  • the first histogram generator 29a generates a histogram based on the time digital signal.
  • the first distribution circuit 27a is disposed between the first TDC 65a and the first histogram generator 29a.
  • the photodetector of FIG. 24 also includes an inactive pixel circuit group 25ng, a second TDC 65n, a second histogram generator 29n, and a second distribution circuit 27n, with each inactive pixel group 20ng consisting of two or more inactive pixels 20n.
  • the first histogram generating unit 29a and the second histogram generating unit 29n each have the function of counting the time digital signal.
  • the first distribution circuit 27a and the second distribution circuit 27n are controlled to be switched by the distance measurement control unit 14 in FIG. 2.
  • the distance measurement control unit 14 can connect the second histogram generation unit 29n corresponding to the inactive pixel group 20ng to the first histogram generation unit 29a.
  • the fourth embodiment includes a first histogram generator 29a with a plurality of active pixels 20a as a unit, and a second histogram generator 29n with a plurality of inactive pixels 20n as a unit.
  • the second histogram generator 29n can be connected to the first histogram generator 29a as necessary, and similar to the first to third embodiments, distance measurement processing can be performed using more counters (histogram generators) during long distance measurement without increasing the total number of counters.
  • the technology according to the present disclosure can be applied to various products.
  • the technology according to the present disclosure may be realized as a device mounted on any type of moving object, such as an automobile, an electric vehicle, a hybrid electric vehicle, a motorcycle, a bicycle, a personal mobility device, an airplane, a drone, a ship, a robot, a construction machine, or an agricultural machine (tractor).
  • FIG. 25 is a block diagram showing a schematic configuration example of a vehicle control system 7000, which is an example of a mobile control system to which the technology disclosed herein can be applied.
  • the vehicle control system 7000 includes a plurality of electronic control units connected via a communication network 7010.
  • the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an outside vehicle information detection unit 7400, an inside vehicle information detection unit 7500, and an integrated control unit 7600.
  • the communication network 7010 connecting these multiple control units may be, for example, an in-vehicle communication network conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark).
  • CAN Controller Area Network
  • LIN Local Interconnect Network
  • LAN Local Area Network
  • FlexRay registered trademark
  • Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores the programs executed by the microcomputer or parameters used in various calculations, and a drive circuit that drives various devices to be controlled.
  • Each control unit includes a network I/F for communicating with other control units via a communication network 7010, and a communication I/F for communicating with devices or sensors inside and outside the vehicle by wired or wireless communication.
  • the functional configuration of the integrated control unit 7600 includes a microcomputer 7610, a general-purpose communication I/F 7620, a dedicated communication I/F 7630, a positioning unit 7640, a beacon receiving unit 7650, an in-vehicle device I/F 7660, an audio/image output unit 7670, an in-vehicle network I/F 7680, and a storage unit 7690.
  • Other control units also include a microcomputer, a communication I/F, a storage unit, and the like.
  • the drive system control unit 7100 controls the operation of devices related to the drive system of the vehicle according to various programs.
  • the drive system control unit 7100 functions as a control device for a drive force generating device for generating a drive force for the vehicle, such as an internal combustion engine or a drive motor, a drive force transmission mechanism for transmitting the drive force to the wheels, a steering mechanism for adjusting the steering angle of the vehicle, and a braking device for generating a braking force for the vehicle.
  • the drive system control unit 7100 may also function as a control device such as an ABS (Antilock Brake System) or ESC (Electronic Stability Control).
  • the drive system control unit 7100 is connected to a vehicle state detection unit 7110.
  • the vehicle state detection unit 7110 includes at least one of the following: a gyro sensor that detects the angular velocity of the axial rotational motion of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, or a sensor for detecting the amount of operation of the accelerator pedal, the amount of operation of the brake pedal, the steering angle of the steering wheel, the engine speed, or the rotation speed of the wheels.
  • the drive system control unit 7100 performs arithmetic processing using the signal input from the vehicle state detection unit 7110, and controls the internal combustion engine, the drive motor, the electric power steering device, the brake device, etc.
  • the body system control unit 7200 controls the operation of various devices installed in the vehicle body according to various programs.
  • the body system control unit 7200 functions as a control device for a keyless entry system, a smart key system, a power window device, or various lamps such as headlamps, tail lamps, brake lamps, turn signals, and fog lamps.
  • radio waves or signals from various switches transmitted from a portable device that replaces a key can be input to the body system control unit 7200.
  • the body system control unit 7200 accepts the input of these radio waves or signals and controls the vehicle's door lock device, power window device, lamps, etc.
  • the battery control unit 7300 controls the secondary battery 7310, which is the power supply source for the drive motor, according to various programs. For example, information such as the battery temperature, battery output voltage, or remaining capacity of the battery is input to the battery control unit 7300 from a battery device equipped with the secondary battery 7310. The battery control unit 7300 performs calculations using these signals, and controls the temperature regulation of the secondary battery 7310 or a cooling device or the like equipped in the battery device.
  • the outside vehicle information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000.
  • the imaging unit 7410 and the outside vehicle information detection unit 7420 is connected to the outside vehicle information detection unit 7400.
  • the imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
  • the outside vehicle information detection unit 7420 includes at least one of an environmental sensor for detecting the current weather or climate, or a surrounding information detection sensor for detecting other vehicles, obstacles, pedestrians, etc., around the vehicle equipped with the vehicle control system 7000.
  • the environmental sensor may be, for example, at least one of a raindrop sensor that detects rain, a fog sensor that detects fog, a sunshine sensor that detects the level of sunlight, and a snow sensor that detects snowfall.
  • the surrounding information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device.
  • the imaging unit 7410 and the outside vehicle information detection unit 7420 may each be provided as an independent sensor or device, or may be provided as a device in which multiple sensors or devices are integrated.
  • the imaging units 7910, 7912, 7914, 7916, and 7918 are provided, for example, at least one of the front nose, side mirrors, rear bumper, back door, and the upper part of the windshield inside the vehicle cabin of the vehicle 7900.
  • the imaging unit 7910 provided on the front nose and the imaging unit 7918 provided on the upper part of the windshield inside the vehicle cabin mainly acquire images of the front of the vehicle 7900.
  • the imaging units 7912 and 7914 provided on the side mirrors mainly acquire images of the sides of the vehicle 7900.
  • the imaging unit 7916 provided on the rear bumper or back door mainly acquires images of the rear of the vehicle 7900.
  • the imaging unit 7918, which is installed on the top of the windshield inside the vehicle is primarily used to detect preceding vehicles, pedestrians, obstacles, traffic signals, traffic signs, lanes, etc.
  • FIG. 26 shows an example of the imaging ranges of the imaging units 7910, 7912, 7914, and 7916.
  • Imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose
  • imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors, respectively
  • imaging range d indicates the imaging range of the imaging unit 7916 provided on the rear bumper or back door.
  • image data captured by the imaging units 7910, 7912, 7914, and 7916 are superimposed to obtain an overhead image of the vehicle 7900.
  • External information detection units 7920, 7922, 7924, 7926, 7928, and 7930 provided on the front, rear, sides, corners, and upper part of the windshield inside the vehicle 7900 may be, for example, ultrasonic sensors or radar devices.
  • External information detection units 7920, 7926, and 7930 provided on the front nose, rear bumper, back door, and upper part of the windshield inside the vehicle 7900 may be, for example, LIDAR devices. These external information detection units 7920 to 7930 are mainly used to detect preceding vehicles, pedestrians, obstacles, etc.
  • the outside-vehicle information detection unit 7400 causes the imaging unit 7410 to capture an image outside the vehicle and receives the captured image data.
  • the outside-vehicle information detection unit 7400 also receives detection information from the connected outside-vehicle information detection unit 7420. If the outside-vehicle information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device, the outside-vehicle information detection unit 7400 transmits ultrasonic waves or electromagnetic waves and receives information on the received reflected waves.
  • the outside-vehicle information detection unit 7400 may perform object detection processing or distance detection processing for people, cars, obstacles, signs, or characters on the road surface, etc., based on the received information.
  • the outside-vehicle information detection unit 7400 may perform environmental recognition processing for recognizing rainfall, fog, road surface conditions, etc., based on the received information.
  • the outside-vehicle information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.
  • the outside vehicle information detection unit 7400 may also perform image recognition processing or distance detection processing to recognize people, cars, obstacles, signs, or characters on the road surface based on the received image data.
  • the outside vehicle information detection unit 7400 may perform processing such as distortion correction or alignment on the received image data, and may also generate an overhead image or a panoramic image by synthesizing image data captured by different imaging units 7410.
  • the outside vehicle information detection unit 7400 may also perform viewpoint conversion processing using image data captured by different imaging units 7410.
  • the in-vehicle information detection unit 7500 detects information inside the vehicle.
  • the in-vehicle information detection unit 7500 is connected to, for example, a driver state detection unit 7510 that detects the state of the driver.
  • the driver state detection unit 7510 may include a camera that captures an image of the driver, a biosensor that detects the driver's biometric information, or a microphone that collects sound inside the vehicle.
  • the biosensor is provided, for example, on the seat or steering wheel, and detects the biometric information of a passenger sitting in the seat or a driver gripping the steering wheel.
  • the in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, or may determine whether the driver is dozing off.
  • the in-vehicle information detection unit 7500 may perform processing such as noise canceling on the collected sound signal.
  • the integrated control unit 7600 controls the overall operation of the vehicle control system 7000 according to various programs.
  • the input unit 7800 is connected to the integrated control unit 7600.
  • the input unit 7800 is realized by a device that can be operated by the passenger, such as a touch panel, a button, a microphone, a switch, or a lever. Data obtained by voice recognition of a voice input by a microphone may be input to the integrated control unit 7600.
  • the input unit 7800 may be, for example, a remote control device using infrared or other radio waves, or an externally connected device such as a mobile phone or a PDA (Personal Digital Assistant) that supports the operation of the vehicle control system 7000.
  • PDA Personal Digital Assistant
  • the input unit 7800 may be, for example, a camera, in which case the passenger can input information by gestures. Alternatively, data obtained by detecting the movement of a wearable device worn by the passenger may be input. Furthermore, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on information input by a passenger or the like using the input unit 7800 and outputs the signal to the integrated control unit 7600. The passenger or the like operates the input unit 7800 to input various data to the vehicle control system 7000 and to instruct processing operations.
  • the memory unit 7690 may include a ROM (Read Only Memory) that stores various programs executed by the microcomputer, and a RAM (Random Access Memory) that stores various parameters, calculation results, sensor values, etc.
  • the memory unit 7690 may also be realized by a magnetic memory device such as a HDD (Hard Disc Drive), a semiconductor memory device, an optical memory device, or a magneto-optical memory device, etc.
  • the general-purpose communication I/F 7620 is a general-purpose communication I/F that mediates communication between various devices present in the external environment 7750.
  • the general-purpose communication I/F 7620 may implement cellular communication protocols such as GSM (registered trademark) (Global System of Mobile communications), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-A (LTE-Advanced), or other wireless communication protocols such as wireless LAN (also called Wi-Fi (registered trademark)) and Bluetooth (registered trademark).
  • GSM Global System of Mobile communications
  • WiMAX registered trademark
  • LTE registered trademark
  • LTE-A Long Term Evolution
  • Bluetooth registered trademark
  • the general-purpose communication I/F 7620 may connect to devices (e.g., application servers or control servers) present on an external network (e.g., the Internet, a cloud network, or an operator-specific network) via, for example, a base station or an access point.
  • the general-purpose communication I/F 7620 may connect to a terminal located near the vehicle (e.g., a driver's, pedestrian's, or store's terminal, or an MTC (Machine Type Communication) terminal) using, for example, P2P (Peer To Peer) technology.
  • P2P Peer To Peer
  • the dedicated communication I/F 7630 is a communication I/F that supports a communication protocol developed for use in a vehicle.
  • the dedicated communication I/F 7630 may implement a standard protocol such as WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communications), or a cellular communication protocol, which is a combination of the lower layer IEEE 802.11p and the higher layer IEEE 1609.
  • the dedicated communication I/F 7630 typically performs V2X communication, which is a concept that includes one or more of vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication.
  • the positioning unit 7640 performs positioning by receiving, for example, GNSS signals from GNSS (Global Navigation Satellite System) satellites (for example, GPS signals from GPS (Global Positioning System) satellites), and generates position information including the latitude, longitude, and altitude of the vehicle.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • the positioning unit 7640 may determine the current position by exchanging signals with a wireless access point, or may obtain position information from a terminal such as a mobile phone, PHS, or smartphone that has a positioning function.
  • the beacon receiver 7650 receives, for example, radio waves or electromagnetic waves transmitted from radio stations installed on the road, and acquires information such as the current location, congestion, road closures, and travel time.
  • the functions of the beacon receiver 7650 may be included in the dedicated communication I/F 7630 described above.
  • the in-vehicle device I/F 7660 is a communication interface that mediates the connection between the microcomputer 7610 and various in-vehicle devices 7760 present in the vehicle.
  • the in-vehicle device I/F 7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication), or WUSB (Wireless USB).
  • the in-vehicle device I/F 7660 may also establish a wired connection such as USB (Universal Serial Bus), HDMI (High-Definition Multimedia Interface), or MHL (Mobile High-definition Link) via a connection terminal (and a cable, if necessary) not shown.
  • USB Universal Serial Bus
  • HDMI High-Definition Multimedia Interface
  • MHL Mobile High-definition Link
  • the in-vehicle device 7760 may include, for example, at least one of a mobile device or wearable device owned by a passenger, or an information device carried into or attached to the vehicle.
  • the in-vehicle device 7760 may also include a navigation device that searches for a route to an arbitrary destination.
  • the in-vehicle device I/F 7660 exchanges control signals or data signals with these in-vehicle devices 7760.
  • the in-vehicle network I/F 7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010.
  • the in-vehicle network I/F 7680 transmits and receives signals in accordance with a specific protocol supported by the communication network 7010.
  • the microcomputer 7610 of the integrated control unit 7600 controls the vehicle control system 7000 according to various programs based on information acquired through at least one of the general-purpose communication I/F 7620, the dedicated communication I/F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle device I/F 7660, and the in-vehicle network I/F 7680.
  • the microcomputer 7610 may calculate the control target value of the driving force generating device, the steering mechanism, or the braking device based on the acquired information inside and outside the vehicle, and output a control command to the drive system control unit 7100.
  • the microcomputer 7610 may perform cooperative control for the purpose of realizing the functions of an ADAS (Advanced Driver Assistance System), including vehicle collision avoidance or impact mitigation, following driving based on the distance between vehicles, vehicle speed maintenance driving, vehicle collision warning, vehicle lane departure warning, etc.
  • ADAS Advanced Driver Assistance System
  • the microcomputer 7610 may control the driving force generating device, steering mechanism, braking device, etc. based on the acquired information about the surroundings of the vehicle, thereby performing cooperative control for the purpose of automatic driving, which allows the vehicle to travel autonomously without relying on the driver's operation.
  • the microcomputer 7610 may generate three-dimensional distance information between the vehicle and objects such as surrounding structures and people based on information acquired via at least one of the general-purpose communication I/F 7620, the dedicated communication I/F 7630, the positioning unit 7640, the beacon receiving unit 7650, the in-vehicle equipment I/F 7660, and the in-vehicle network I/F 7680, and may create local map information including information about the surroundings of the vehicle's current position.
  • the microcomputer 7610 may also predict dangers such as vehicle collisions, the approach of pedestrians, or entry into closed roads based on the acquired information, and generate warning signals.
  • the warning signals may be, for example, signals for generating warning sounds or turning on warning lights.
  • the audio/image output unit 7670 transmits at least one of audio and image output signals to an output device capable of visually or audibly notifying the vehicle occupants or the outside of the vehicle of information.
  • an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are illustrated as output devices.
  • the display unit 7720 may include, for example, at least one of an on-board display and a head-up display.
  • the display unit 7720 may have an AR (Augmented Reality) display function.
  • the output device may be other devices such as headphones, wearable devices such as glasses-type displays worn by the occupants, projectors, or lamps other than these devices.
  • the display device visually displays the results obtained by various processes performed by the microcomputer 7610 or information received from other control units in various formats such as text, images, tables, graphs, etc. Also, if the output device is an audio output device, the audio output device converts an audio signal consisting of reproduced voice data or acoustic data, etc., into an analog signal and outputs it audibly.
  • control units connected via the communication network 7010 may be integrated into one control unit.
  • each control unit may be composed of multiple control units.
  • the vehicle control system 7000 may include another control unit not shown.
  • some or all of the functions performed by any of the control units may be provided by another control unit.
  • a predetermined calculation process may be performed by any of the control units.
  • a sensor or device connected to any of the control units may be connected to another control unit, and multiple control units may transmit and receive detection information to each other via the communication network 7010.
  • the optical detection device 1 according to this embodiment described using FIG. 2 etc. can be applied to the outside vehicle information detection unit 7400 of the application example shown in FIG. 25.
  • the present technology can be configured as follows. (1) a first counter group including two or more first counters; a first pixel circuit or a first pixel circuit group connected to the first counter group; a first pixel connected to the first pixel circuit or a first pixel group connected to the first pixel circuit group; a second counter group including two or more second counters; a second pixel circuit or a second pixel circuit group connected to the second counter group; a second pixel connected to the second pixel circuit or a second pixel group connected to the second pixel circuit group; a switching circuit that switches between counting the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using the first counter group without using the second counter group, or counting using the first counter group and the second counter group; Light detection device.
  • the first pixel or the first pixel group is an active pixel or an active pixel group used to receive light reflected from an object; the second pixel or the second pixel group is an inactive pixel or an inactive pixel group that is not used to receive the reflected light;
  • (3) a mode selection unit that selects either a first mode in which the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group is counted by the first counter group without being counted by the second counter group, or a second mode in which the number of transitions is counted by the first counter group and the second counter group;
  • the switching circuit performs switching in accordance with the selection by the mode selection unit.
  • the count values of the first counter group and the second counter group are used to measure a distance to an object;
  • the measurable distance is longer than when the first mode is selected, Regardless of whether the first mode or the second mode is selected, the distance resolution and the resolution are the same.
  • a measurable distance when the second mode is selected is an integer multiple, which is equal to or greater than twice the measurable distance when the first mode is selected.
  • Each of the first mode and the second mode further includes a third mode and a fourth mode that are alternatively selectable,
  • the third mode counts the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using one of the first counter groups;
  • the fourth mode counts the number of transitions of the output signal of the first pixel circuit or the first pixel circuit group using a plurality of the first counter groups;
  • the optical detection device according to any one of (3) to (5).
  • the fourth mode further includes a fifth mode, a sixth mode, and a seventh mode which are alternatively selectable; the sixth mode has a longer measurable distance than the fifth mode, a lower distance resolution than the fifth mode, and the same resolution as the fifth mode; The seventh mode has a longer measurable distance than the fifth mode and has the same distance resolution and resolution as the fifth mode.
  • An optical detection device according to (6).
  • the optical detection device according to any one of (1) to (7).
  • the plurality of first pixels or the plurality of first pixel groups are arranged in a predetermined pixel region in the pixel array unit, the plurality of second pixels or the plurality of second pixel groups are arranged in a pixel region other than the predetermined pixel region in the pixel array unit; (8) An optical detection device according to (8). (10) An output unit for generating a signal, the output data including first bit string data including information regarding the mode selected by the mode selection unit, and second bit string data including the count value of the first counter group in the first mode and the count values of the first counter group and the second counter group in the second mode.
  • the optical detection device according to any one of (3) to (7).
  • the first bit string data includes information regarding the number of the second counter group connected to the first counter group when the second mode is selected.
  • An optical detection device according to (10).
  • the first bit string data includes information for identifying whether to perform binning processing in which two or more of the first counter groups are used for counting, or whether to perform counting using one of the first counter groups.
  • the optical detection device according to (10) or (11).
  • the first bit string data includes information for identifying whether the number of times is to be counted within a specific pixel region of interest or within a predetermined partial pixel region.
  • the optical detection device according to any one of (10) to (12).
  • the second bit string data is a plurality of bit string data in which count values of the first counter group and the second counter group corresponding to all of the first pixels are arranged in pixel order.
  • the optical detection device according to any one of (10) to (13).
  • a first pixel array unit in which a plurality of the first pixels or the first pixel group and a plurality of the second pixels or the second pixel group are arranged; a second pixel array unit in which a plurality of third pixels each capturing an image of subject light are arranged; a control unit that controls a light receiving range of the second pixel array unit in accordance with a focal length of subject light incident on the second pixel array unit.
  • the optical detection device according to any one of (1) to (14).
  • the control unit When controlling the focal length of the second pixel array unit to a telephoto side, the control unit reduces a size of a pixel region of the plurality of first pixels or the plurality of first pixel groups in the first pixel array unit.
  • An optical detection device (15) An optical system driving unit that drives a focus adjustment optical system that adjusts a focal length of subject light incident on the second pixel array unit, the control unit controls the optical system driving unit based on a measurement result of a distance to an object based on reflected light from the object received by the plurality of first pixels or the plurality of first pixel groups in the first pixel array unit.
  • a light emitting device that irradiates light onto an object; a light receiving unit that receives light emitted by the light emitting device and reflected by the object; a distance measuring unit that measures a distance to the object based on the light emitted by the light emitting device and the reflected light received by the light receiving unit; a control unit that controls the light emitting device, the light receiving unit, and the distance measuring unit,
  • the light receiving unit is a pixel array section having a plurality of first pixels or a first pixel group and a plurality of second pixels or a second pixel group; a plurality of first pixel circuits connected to the plurality of first pixels, or a plurality of first pixel circuit groups connected to the plurality of first pixel groups; a first counter group including a plurality of first counters, the first counter group being provided for each of the plurality of first pixel circuits or the plurality of first pixel circuit groups; a plurality of second pixel circuits connected to the plurality of second pixels, or a
  • the light emitting device includes a plurality of light emitting units that can be individually controlled to emit light or not based on the control of the control unit, the control unit controls a size of a light emitting area that emits light among the plurality of light emitting units in conjunction with a size of a pixel region of the plurality of first pixels or the plurality of first pixel groups in the pixel array unit.

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Abstract

Le problème décrit par la présente invention est de fournir un dispositif de détection de lumière et un système de télémétrie avec lesquels il est possible d'améliorer la précision de télémétrie à de longues distances sans augmentation du nombre de pixels. La solution selon la présente invention consiste en un dispositif de détection de lumière comprenant : un premier groupe de compteurs comprenant au moins deux premiers compteurs ; un premier circuit de pixels ou un premier groupe de circuits de pixels connecté au premier groupe de compteurs ; un premier pixel connecté au premier circuit de pixel ou un premier groupe de pixels connecté au premier groupe de circuits de pixel ; un second groupe de compteurs comprenant au moins deux seconds compteurs ; un second circuit de pixels ou un second groupe de circuits de pixels connecté au second groupe de compteurs ; un second pixel connecté au second circuit de pixel ou à un second groupe de pixels connecté au second groupe de circuits de pixel ; et un circuit de commutation pour une commutation selon qu'un nombre de fois qu'un signal de sortie du premier circuit de pixel ou des transitions de premier groupe de circuits de pixel doit être compté à l'aide du premier groupe de compteurs, sans être compté à l'aide du second groupe de compteurs, ou doit être compté à l'aide du premier groupe de compteurs et du second groupe de compteurs.
PCT/JP2024/001924 2023-01-31 2024-01-23 Dispositif de détection de lumière et système de télémétrie Ceased WO2024162109A1 (fr)

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