CN105043539A - A method and device for operating photodetector - Google Patents
A method and device for operating photodetector Download PDFInfo
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- CN105043539A CN105043539A CN201510311931.8A CN201510311931A CN105043539A CN 105043539 A CN105043539 A CN 105043539A CN 201510311931 A CN201510311931 A CN 201510311931A CN 105043539 A CN105043539 A CN 105043539A
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- 230000009849 deactivation Effects 0.000 claims description 21
- 230000004913 activation Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 6
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- 230000023077 detection of light stimulus Effects 0.000 description 2
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Classifications
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- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/02—Details
- G01J1/0228—Control of working procedures; Failure detection; Spectral bandwidth calculation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/4228—Photometry, e.g. photographic exposure meter using electric radiation detectors arrangements with two or more detectors, e.g. for sensitivity compensation
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/44—Electric circuits
- G01J2001/4446—Type of detector
- G01J2001/446—Photodiode
- G01J2001/4466—Avalanche
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Light Receiving Elements (AREA)
- Photometry And Measurement Of Optical Pulse Characteristics (AREA)
Abstract
The invention relates to a method of operating a photodetector (100). The photodetector (100) is provided with a plurailty of individually activatable avalanche photodiodes (104) per pixel (102). An avalanche photodiode (104) is formed in an activated state to provide an electrical pulse when an amount of light is received. The avalanche photo-diode (104) is light-insensitive after the electrical pulse is provided during a regeneration period. The method comprises a step of activating at least two of the avalanche photodiodes (104) of a pixel (102). The avalanche photodiodes (104) are activated by a time offset to one another, wherein the time period is less than the regeneration period.
Description
Technical field
The present invention relates to a kind of method, a kind of corresponding device and a kind of corresponding computer program for running photodetector.
Background technology
The light quantity that photodiode Structure of need form determines, to provide minimum luminance value.Significantly less light quantity can be converted to electric signal by avalanche photodide.
DE102009029376A1 describes a kind ofly has the photon detector of the photon-sensitive element that can paralyse and a kind of distance-measuring equipment with such photon detector.
Summary of the invention
The scheme introduced at this is utilized to introduce a kind of method for running photodetector according to independent claims, introduce and a kind ofly use the device of the method and finally introduce a kind of corresponding computer program in addition within this context.Favourable expansion scheme is provided by respective dependent claims and explanation subsequently.
When in the photo sensitive area that minimum amount of light falls avalanche photodide, avalanche photodide (also referred to as single-photon avalanche diode) triggers electric pulse.Light quantity can be reached when single photon.After providing electric pulse, avalanche photodide needs regular time, until it is ready to again, provides other electric pulse in response to the incidence of minimum amount of light.Can not recording light at this time durations.
According to the scheme introduced at this, reduce the insensitive or blind time in the following manner: within this time, discharge other avalanche photodide, to be imaged on the minimum amount of light in electric pulse.
Introduce a kind of photodetector with the multiple avalanche photodide that can activate separately of every picture point, wherein avalanche photodide is configured to provide electric pulse when receiving light quantity in active state, and avalanche photodide is that light is insensitive after providing electric pulse within the regeneration period.
In addition, introduce a kind of method for running photodetector, wherein the method has following steps:
Activate at least two in the avalanche photodide of picture point, wherein avalanche photodide offsets a duration each other and is activated, and wherein this duration is less than the regeneration period.
Photodetector can be understood to imageing sensor.Photodetector can have multiple picture point or pixel.Picture point can be arranged by two-way array.Avalanche photodide can be understood to single photon photodiode.Light quantity can depend on the embodiment of avalanche photodide.Light quantity can be little, makes the single photon be mapped on avalanche photodide can trigger pulse.Regeneration period can be avalanche photodide to again get out provide the duration needed for other pulse after providing pulse.Duration can be the inverse of the sampling rate of photodetector.
The avalanche photodide of picture point can be activated in chronological order.After the last avalanche photodide that have activated picture point, the first avalanche photodide of picture point can be reactivated.The avalanche photodide of picture point can be activated in order.By activating the continuous operation that can realize photodetector successively.
The inverse that this duration can be greater than quantity is multiplied by the regeneration period, can realize the detection without interrupting.This duration can depend on the quantity of avalanche photodide.Picture point has more avalanche photodides, then this duration can be set to shorter.
If regeneration stage should last much longer, then this duration can be extended little duration, make the first avalanche photodide of picture point and then other avalanche photodides all after its regeneration period through being used as the idle running stage that safety retains.Can guarantee that continuous print runs thus.
The method can have the step of deactivation avalanche photodide.After the activation duration of avalanche photodide started when activating avalanche photodide has expired, the step of deactivation can be implemented, to avoid error detector.Activating the duration can be the duration that avalanche photodide should keep activating.After the activation duration, before restarting to activate, can wait for that the regeneration period of nominal goes over.
Every picture point at least two avalanche photodides can be activated, to quantize the light quantity detected simultaneously.At this, when light quantity, a such as photon needed for receiving, can one of triggering avalanche photodiode.When light quantity is double greatly, when such as comprising two photons, two avalanche photodides can be triggered.Activate more avalanche photodides simultaneously, then can distinguish more classifications of intensity.
The method can start in response to start time point.This duration can be variable.Start time point can be such as the transmitting time point of light pulse.Lighting from initial time can Measuring Time, until one in the avalanche photodide of picture point provides electric pulse.The section, space that light pulse have passed through can be determined according to the time of passage and the light velocity in the medium penetrated.When light pulse is reflected at object place, depend on that the geometry of photodetector is approx corresponding to half section with the distance of object.
The method can have the step determining start time point when using operation timing signal.Operation timing signal can be sending light pulse and receiving between light pulse by the duration determined under the reception condition of the light pulse of process in time.Namely, operation timing signal can represent ABC.Therefore, when within this duration with little probability expect its light pulse time, can the start time point of matching process.
The method can have the step of setting duration, wherein smaller setting duration closer to start time point place than at start time point place further away from each other, to obtain the temporal resolution than start time point place is larger further away from each other closer to start time point place.By meticulousr spatial resolution can be realized at the shorter duration closer to start time point place, so can detect with more rough resolution in larger distance.Become less by the light quantity of meticulousr resolution when light intensity remains unchanged within duration compared with when more rough resolution.In other words, the susceptibility with the photodetector of more rough resolution becomes larger.
The method can start in response to start time point.Can activate than closer to the more avalanche photodide in start time point place at the start time point place of the method further away from each other, to have increased access to larger susceptibility along with the distance apart from start time point simultaneously.Effective avalanche photodide is more simultaneously, then the possible hit area for light becomes larger.Because expect that light pulse to be received has less intensity at start time point place further away from each other, because this light pulse is attenuated by medium, so can continue to guarantee reliable reception by larger susceptibility.
In addition, introduce a kind of device for running photodetector, wherein this photodetector has the multiple avalanche photodide that can activate separately of every picture point, wherein avalanche photodide is configured to provide electric pulse when receiving light quantity in active state, and avalanche photodide is that light is insensitive after electric pulse within the regeneration period, and wherein this device has following characteristics:
For activating the equipment of at least two in the avalanche photodide of picture point, wherein avalanche photodide offsets a duration each other and is activated, and wherein this duration is less than the regeneration period.
Can also by this enforcement flexible program of device form of the present invention fast and effectively solve the present invention based on task.
Device is current can be understood to electric equipment, its processes sensor signal and according to sensor signal export control and/or data-signal.This device can have interface, and this interface can construct with hardware and/or software mode.In the part that the situation lower interface constructed in hardware can be such as so-called system ASIC, this part comprises the difference in functionality of device.But also possible that, interface is distinctive, integrated circuit or is made up of discrete assembly at least in part.Can be software module at the situation lower interface constructed with software mode, it such as exists on a microcontroller except other software module.
There is computer program or the computer program of program code also advantageously, this program code can be stored in machine-readable carrier or storage medium, such as semiconductor memory, harddisk memory or optical memory, and particularly can be used to when program product or program are implemented on computing machine or device perform, realize and/or control the step according to the method for one of above-mentioned embodiment.
Accompanying drawing explanation
Exemplarily make an explanation in more detail with reference to the accompanying drawings below the scheme that this introduces.
Fig. 1 illustrates the diagram of the photodetector according to one embodiment of the present of invention;
Fig. 2 illustrates the time flow of the situation test light-metering at single avalanche photodide;
Fig. 3 illustrates the diagram of the detection time point of the avalanche photodide when the light pulse be differently shaped;
Fig. 4 a illustrates the diagram of the picture point according to one embodiment of the present of invention with the avalanche photodide that can activate separately;
Fig. 4 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse that avalanche photodide that a duration is activated detects;
Fig. 5 a illustrates that have according to one embodiment of the present of invention can by the diagram of the picture point of avalanche photodide that activates of group ground;
Fig. 5 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse that avalanche photodide group that a duration is activated detects;
Fig. 6 a illustrates the diagram of the picture point according to one embodiment of the present of invention with the avalanche photodide that can activate varying number;
Fig. 6 b illustrates the diagram of the different light pulse detected by the avalanche photodide group of varying number according to one embodiment of the present of invention;
Fig. 6 c illustrates the diagram of the different light pulse detected by the avalanche photodide group offseting the different sizes that different duration is activated according to one embodiment of the present of invention;
Fig. 7 a illustrates the diagram according to one embodiment of the present of invention with the picture point that can offset the avalanche photodide that different duration is activated;
Fig. 7 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse that avalanche photodide group that different duration is activated detects;
Fig. 8 illustrates the diagram of the light pulse detected with the interval of different size by the avalanche photodide group of different size according to one embodiment of the present of invention;
Fig. 9 illustrates the process flow diagram of the method for running photodetector according to one embodiment of the present of invention; With
Figure 10 illustrates the block scheme of the device for running photodetector according to one embodiment of the present of invention.
In the describing subsequently of advantageous embodiment of the present invention for illustrate in different figures and play the element of similar effect and use same or similar Reference numeral, wherein give up the repeated description to these elements.
Embodiment
Fig. 1 illustrates the diagram of the photodetector 100 according to one embodiment of the present of invention.
Photodetector 100 be schematically show and at this, such as there is four picture points 102 or pixel 102.Photodetector 100 can be called SPAD imager 2 × 2 and can per the count cycle record until 100 events.Picture point 102 is arranged in the rectangular grid be made up of row and column.Picture point 102 can be called SPAD pixel 5 × 5 and can per the count cycle records until 25 events.Each picture point 102 has the avalanche photodide 104 (for clarity sake each only avalanche photodide 104 of every picture point 102 is equipped with Reference numeral) that every picture point more than 102 can activate separately.Avalanche photodide 104 can be called SPAD micro unit and per count cycle records an event.
In this embodiment, photodetector 100 has every picture point 25 avalanche photodides 104.Avalanche photodide 104 is arranged in the rectangular grid be made up of row and column equally, and wherein every row and column arranges each five avalanche photodides 104 side by side or up and down overlappingly.Namely, picture point 102 is approximating square.Avalanche photodide 104 is configured in active state, when every avalanche photodide 104 receives light quantity, provides each electric pulse.Light quantity can corresponding to single photon.Electric pulse can be triggered by light quantity.After avalanche photodide 104 outputs electric pulse, it is that light is insensitive within the regeneration period, namely blind.Photon not trigger pulse incident within this time.When avalanche photodide 104 is in deactivation status, even if incident light does not also trigger electric pulse on the light quantity for triggering electric pulse.
SPAD receiver 100 can realize in a different manner.In the most simple form, it is made up of single SPAD unit 104.This SPAD unit can record or count the arrival of each photon.But due to a few nanosecond, such as 10 nanoseconds until the internal reset time of 50 nanoseconds, only limited counting rate, such as 20,000,000 countings (MCounts/s) per second are possible to 100MCounts/s, and in addition SPAD unit 104 is in saturated.In addition, single SPAD unit 104 is not record within counting, and single photon or multiple photon reach.
According to an embodiment, single avalanche photodide 104 does not have the threshold value for the light quantity for triggering electric pulse.Each single photon can trigger the activation.Therefore, bias light in principle per time unit produce certain interferometer digit rate or activation.In addition, activating also can be that heat causes, and this can be called dark count digit rate.But starting point is, by the effective light by effective radiation of light source, the laser pulse such as reflected, the measurable raising realizing gross-count rate or the counting rate that significantly improves and therefore can distinguish the component of signal of the noise component of the power of stray light counting rate and/or dark count digit rate or reception and the power of effective counter rate or reception.In an advantageous case, effective counter rate is more obvious than stray light counting rate/dark count digit rate larger at this.Under adverse conditions, relation is contrary.But can signal to noise ratio (S/N ratio) be improved by the Measuring Time of the length of a large amount of repetitions with measurement and therefore then also can direct impulse.
In order to realize higher susceptibility, multiple SPAD unit 1104 can abreast, such as parallel running in the matrix form.Increase useful area thus, record more multi-photon.But also can realize set direction or angular resolution by matrix arrangements, similar with the imaging in case of a camera in multiple pixel.Can the SPAD unit 104 arranged of connection matrix, make it possible to record the quantity of photon arrived.By the SPAD imager 100 with high count rate and high spatial resolution can be realized in SPAD (grand) pixel 102 with from multiple grand pixel 102 to the quantity of the increase of the micro unit 104 within the superstructure 100 of SPAD imager 100, be similar to the pixel quantity of camera.The high insensitivity relative to the error count due to surround lighting can be realized by high counting rate.
Such as can use photodetector 100 in conjunction with the driver assistance system of vehicle.In driver assistance system, commercially set up a large amount of comfortableness function in recent years, such as auto-cruising control, stopping guide, track keep assistant, traffic indication board identification; And security function, such as progressive security control, lane departur warning.At present, developed supermatic driving functions, wherein responsibility transfers to vehicle from driver more and more.In order to realize, need the most highly reliable sensing system of the almost seamless and error-free detection with vehicle environmental.Laser radar sensor can meet this requirement.
When different laser radar techniques, such system seems interested especially, light pulse is issued towards different direction in spaces and is received by the SPAD receiver (single-photon avalanche diode detects each photon) of the highest sensitivity by the light of Ambient in such systems.
Fig. 2 illustrates the time flow when single avalanche photodide to the detection of light.Avalanche photodide is such as the ingredient of picture point, as illustrated in fig. 1.Time changing curve shows this flow process.At this, an axle depicts the time.The intensity of signal is provided transverse to this axle.If effectively connect avalanche photodide and light quantity 200 is fallen on avalanche photodide, then avalanche photodide triggers electric pulse 202.In other words, SPAD is lighted when photon arrives.The intensity of electric pulse 202 is given in advance by the version of avalanche photodide.After avalanche photodide outputs pulse 202, within regeneration period 204 or reset time 204, avalanche photodide becomes insensitive.Within the regeneration period 204, avalanche photodide can not provide electric signal, even if required light quantity 200 is fallen on avalanche photodide.In other words, the SPAD not record when photon arrives.Even if dual light quantity 206 fall be ready to receive and on the avalanche photodide effectively connected, also only provide and there is the size or the electric pulse 202 of intensity that version determines.In other words, even if two photons arrive, also SPAD is lighted simply.
When such as stronger light pulse arrives due to the laser pulse of object place reflection nearby, start in pulse or count on the rising edge edge of pulse.
Fig. 3 illustrates the diagram of the detection time point 300 of avalanche photodide when be differently shaped light pulse 302,304,306.Detection time point 300 is provided in the graph, and this chart provides the time on the horizontal scale and provides signal intensity on the vertical scale.Light pulse 302,304,306 starts when minimum strength respectively and terminates.Light pulse 302,304,306 has maximum of intensity 308 respectively, and it occurs approx after the half duration of pulse.First light pulse 302 has little duration of pulse and little maximum intensity 308.Second light pulse 304 has little duration of pulse and large maximum intensity 308.3rd light pulse 306 has large duration of pulse and large maximum intensity 308, and wherein the 3rd light pulse 306 has the maximum intensity 308 less than the second light pulse 304.When the intensity of light exceedes detection limit, detection time point 300 be in respectively one of light pulse 302,304,306 start after soon.In other words, light at pulse beginning SPAD.Namely, to start little time migration to detect light pulse 302,304,306 with reality.Because single avalanche photodide exports its electric pulse 202 when single avalanche photodide record light quantity, and and then can not provide other pulse within its regeneration period, therefore do not detect the shape of light pulse 302,304,306.Electric pulse 202 depends on that the shape of light pulse 302,304,306 has the time migration different from maximal value 308.
In laser radar system, the porch 300 risen such as not only can be determined by the scheme introduced at this, but the pulse shape that determination and analysis is total.The pulse shape received relative to the change of pulse shape sent give to atmospheric interference, all like rain, the extension on mist, snow, the spray or reflective object surface and position, such as " soft " bushes, " hard " automobile, " long, tilt " wall prompting.
Fig. 4 a illustrates the diagram with the picture point 102 of the avalanche photodide 104 that can activate separately according to one embodiment of the present of invention.Picture point 102 is substantially corresponding to one of picture point in Fig. 1.Picture point 102 has 16 avalanche photodides that can activate separately 104 at this.
In other words, Fig. 4 a illustrates SPAD pixel 4 × 4.Per count cycle until 16 events two nanosecond grid moderate distance be extended to 32ns.
In one embodiment, SPAD pixel 102 is made up of 16 SPAD unit 104, and the independent reset time of described SPAD unit is such as 32ns.By step by step with the interval of 2ns (distance corresponding to 15cm) activate and deactivation SPAD unit 104, SPAD unit 104 be effective respectively in 2ns.After all SPAD unit 104 of traversal, restart with a SPAD unit 104.This method of operation can be called as rolling.Realize interval scan or interval sampling by this way.If light pulse arrives, then this embodiment can be utilized to detect the duration of pulse, but can't pulse height be detected.
Fig. 4 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse 302,304,306 that avalanche photodide that a duration is activated detects.At this by there is the picture point of 16 avalanche photodides as in figure 4 a to detect light pulse 302,304,306.In this embodiment, each avalanche photodide has the regeneration period 204 of 32ns.The duration that avalanche photodide offset for two nanoseconds is each other activated.Therefore, avalanche photodide can output electric pulse 202, be and then directly again activated through its regeneration period 204 or reset time 204.The inverse that this duration also can be greater than quantity 16 is multiplied by the regeneration period of 32ns, can realize the detection without interrupting.Deactivation avalanche photodide again after the duration of two nanoseconds expires, even if it does not provide electric pulse, to avoid error detector.Therefore, this duration activation duration of often circulating corresponding to avalanche photodide.Then, avalanche photodide in the quiescent duration corresponding to the regeneration period 204, keep deactivation until on once activate.15 remaining avalanche photodides of picture point activate and deactivation with being offset, and make in the avalanche photodide of picture point one to be offset to less all two nanoseconds in the active state and are therefore ready to receive.Once light pulse 302,304,306 causes the counting rate significantly improved, just by activating the temporal resolution causing for two nanoseconds avalanche photodide hour offset two nanosecond.Namely the pulse length 400 of light pulse 302,304,306 accurately can be defined as two nanoseconds.The avalanche photodide of picture point is activated in chronological order at this.At this, after the last avalanche photodide of picture point has been activated, reactivate the first avalanche photodide of picture point.
Fig. 5 a illustrates that have according to one embodiment of the present of invention can by the diagram of the picture point 102 of avalanche photodide 104 that activates of group ground.Picture point 102 is substantially corresponding to one of picture point in Fig. 1.With it differently, picture point 102 has 16 diode groups 500 that can activate separately at this.Diode group 500 is made up of 4 avalanche photodides 104 respectively.Namely, every picture point 102 at least two avalanche photodides 104 can be activated at this, to quantize the light quantity detected simultaneously.In other words, Fig. 5 a illustrates SPAD pixel 4 × 4 × 4, wherein can activate four SPAD simultaneously.
In one embodiment, SPAD pixel 102 is made up of 64 SPAD unit 104, and wherein four are activated at same time respectively.Thus, pulse height can also be detected by four height levels except the duration of pulse.
Introduce a kind of SPAD receiver 102 utilizing special circuit engineering, utilize this SPAD receiver can detect the signal shape of the light of arrival.In addition, the circuit engineering introduced at this can realize larger dynamic range.
At this, activate in time targetedly or each SPAD unit 104 of deactivation.By this way, some SPAD unit 104 such as can the rising edge edge of recording impulse, and activates other SPAD unit 104 and same recording impulse or pulse shape at the time point postponed a little.By the different postponement of many times, therefore can sampling pulse in time.The quantity belonging to the SPAD unit 104 of postponement can be designed about the time changeably at this, makes it possible to achieve higher dynamic range and/or meticulousr sampling and therefore measurement precision.
Fig. 5 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse 302,304,306 that avalanche photodide group that a duration is activated detects.This group is corresponding to the diode group in Fig. 5 a.Light pulse 302,304,306 is corresponding to the diagram in Fig. 3 and Fig. 4 b.As in Fig. 4 b, the duration that diode group offset for two nanoseconds is each other activated and is again deactivated after two nanoseconds, can realize the quasi-continuous detection of light pulse 302,304,306.Additionally, four intensity levels 502,504,506,508 can be distinguished because or an avalanche photodide within this two nanosecond, provide an electric pulse 202, two avalanche photodides within this two nanosecond, jointly provide two electric pulses, 202, three avalanche photodides within this two nanosecond, jointly provide three electric pulses 202 or four avalanche photodides jointly to provide four electric pulses 202 within this two nanosecond.At this, four pulses 202 represent the highest intensity level 508; Three pulses 202 represent the second the highest intensity level 506; Two pulses 202 represent the 3rd the highest intensity level 504 and a pulse 202 represents minimum intensity level 502.Do not have pulse to represent and there is no intensity level, so because do not receive light quantity.The pulse shape of light pulse can be detected except pulse length 400 by intensity level 502,504,506,508.
Large dynamic range can be covered by the scheme introduced at this.Can reach until 140dB at this.Can detect thus simultaneously and there is the object carrying out reflecting of extremely few photon under distance far away extremely weakly and there is near field the object extremely by force carrying out reflecting of profuse photon, and can not there is measuring inexactness or receiver in range observation can not due to saturated and no longer include measurement capability.
Time pulse position and the therefore measured working time corresponding to spacing value accurately can be determined, because detect total pulse shape in the scheme introduced herein.
By each SPAD unit activated targetedly, in time and in the complex that be made up of multiple SPAD unit of deactivation, the time postpones the SPAD unit of activation or deactivation can realize the sampling of light signal 302,304,306.
Fig. 6 a illustrates the diagram of the picture point 102 according to one embodiment of the present of invention with the avalanche photodide 104 that can activate varying number.Picture point 102 is substantially corresponding to the picture point in Fig. 5 a.With it differently, picture point has 64 diode groups 500 be made up of each four avalanche photodides 104.Namely, picture point 102 has 264 avalanche photodides 104.The avalanche photodide 104 of diode group 500 can jointly activate.Diode group 500 can be controlled individually.Also multiple diode group 500 can jointly and be side by side activated at this.Diode group 500 forms 8 × 8 matrixes.In other words, Fig. 6 a illustrates SPAD pixel 4 × 4 × (4-16), wherein can activate four to 16 SPAD simultaneously.
In one embodiment, SPAD pixel 102 is made up of 256 SPAD unit 104, wherein plays the forth day of a lunar month to be activated at same time respectively, but its quantity is increased to 16 along with the time.Thus receiver for further away from each other, usually more weak reflection become more responsive.There is the raising of dynamic range thereupon.
Fig. 6 b illustrates the diagram of the different light pulse 304,302 detected by the avalanche photodide group of varying number according to one embodiment of the present of invention.Light pulse 302,304 is corresponding to the light pulse in Fig. 3.Namely, light pulse 302 has little pulse length 400 and little maximum intensity as shown in Figure 4.Equally, light pulse 304 has little pulse length 400 and large maximum intensity as shown in Figure 4.Light pulse 302,304 is illustrated in the graph, and this chart provides the time on its horizontal ordinate.Provide intensity level or the pulse height of light on the vertical scale.Time starts at starting point 600 place.Starting point 600 represents a time point herein, sends light pulse at this time point.Light pulse 302,304 represents the light of the reflection of the light pulse sent.In this embodiment, the light pulse 304 with large maximum intensity is than having the light pulse 302 of little maximum intensity closer to starting point 600, be namely earlier detected.Different maximum intensity representative send when penetrating and sending medium that light passes with the decay of the light of reflection.Light pulse 304 is detected by four intensity levels 502,504,506,508.In other words, activate four SPAD, picture point is not too responsive and is lessly resolved thus.Light pulse 302 is detected by 16 intensity levels.In other words, 16 SPAD are activated.Light pulse 302 can be resolved more sensitively or higher than light pulse 304 thus.In order to set different susceptibility, when light pulse 304, every time step activates four avalanche photodides simultaneously, and every time step activates 16 avalanche photodides simultaneously when light pulse 302.Namely, starting point 600 activates more avalanche photodides than closer to starting point 600 simultaneously further away from each other, so as along with and the interval of starting point 600 have increased access to larger susceptibility.
Fig. 6 c illustrates the diagram of the different light pulse 304,302 detected by the avalanche photodide group offseting the different sizes that different duration is activated according to one embodiment of the present of invention.This diagram is substantially corresponding to the diagram in Fig. 6 b.Additionally, two known time points 602,604 are employed at this.Time point 602,604 is based on ABC.This ABC such as can obtain in previous action.Namely, starting point 600 is determined when using operation timing signal.Such as, not long ago have recorded each light pulse 302,304 at two known time points 602,604.The beginning of time point 602,604 difference marker light pulse 302,304.At this from starting point 600 until very first time point 602, run picture point with each diode group of every time step, draw the resolution with four intensity levels thus.Picture point is run with each four the diode groups of every time step from very first time point 602.As in Fig. 6 b, draw the resolution of 16 intensity levels thus.Additionally, from very first time point 602, time step shortened to for half nanosecond from 2ns.Draw more precise time resolution thus.After having read in the second light pulse 304, until the second time point 604 is again with every time step diode group, namely run picture points with four intensity levels.At this, time step can be raised to every time step 2ns again.Equally, time step can remain on every time step half nanosecond.From the second time point 604, again carry out operation image sensor with every time step four diode groups, this causes again 16 possible intensity levels.At this, time step is set to every time step 2ns.By the time step expanded, avalanche photodide is for longer periods effective.Can be similar to the video camera with the longer time shutter thus, the more light of every time step is fallen on avalanche photodide.Namely, imageing sensor is more responsive now.
By each SPAD unit activated targetedly, in time and in the complex that be made up of multiple SPAD unit of deactivation, can design changeably send with working time of the light reflected during the quantity of SPAD unit of activation/deactivation.The quantity of the unit activated can increase corresponding to the distance of object along with working time.Therefore receiver for further from the susceptibility of more weak signal of object can increase.
In one embodiment, such as known time point 602,604 from measurement before, it should be detected targetedly.First the direct activation carrying out SPAD unit before this time point 602,604.Improve the quantity of effective SPAD unit simultaneously and/or reduce sampling rate.Susceptibility and/or accuracy can be improved targetedly by this way by existing ABC.
Fig. 7 a illustrates the diagram according to one embodiment of the present of invention with the picture point 102 that can offset the avalanche photodide 104 that different duration is activated.Picture point is corresponding to the picture point in Fig. 6 a and have 264 avalanche photodides 104.With it differently, diode group 500 comprises 16 avalanche photodides 104 for 16 intensity levels at this.Namely, picture point 102 has 16 diode groups 500.In other words, Fig. 7 a illustrates the SPAD pixel 4 × 4 × 16 of the time grid had can be adaptive.
In one embodiment, SPAD pixel 102 is made up of 256 SPAD unit 104, and wherein 16 are activated at same time respectively.Originally, the activation progressively of SPAD unit 104 and deactivation are set with the interval of 0.5ns and therefore improve sampling.Along with the time increase or object expection away from, the sampling time will bring up to 2ns again.Interval accuracy is improved in region nearby by this way except the advantage before all.In addition, again dynamic range is improved, because less photon falls with less sampling step length.
Fig. 7 b illustrates according to one embodiment of the present of invention by the diagram offseting the different light pulse 304,302 that avalanche photodide group that different duration is activated detects.Light pulse 302,304 is corresponding to the light pulse in Fig. 6 b.As in fig. 6 c, carry out sampled light pulse 304 with the interval of 0.5ns.Light pulse 302 is sampled with the interval of 2ns as in fig. 6 c.Between be interposed between this time interval depending on starting point 600.Starting point 600 elapsed time is longer, then interval is larger.Two light pulses 302,304 are sampled with 16 intensity levels.In other words, each 16 SPAD are activated.Draw high temporal resolution when 0.5ns interval, draw less temporal resolution when the interval of 2ns.Namely, the flow process introduced at this starts in response to start time point 600.At this, duration is variable.Duration is smaller being set than at start time point 600 place further away from each other closer to start time point 600 place, to obtain than the temporal resolution larger at start time point 600 place further away from each other closer to start time point 600 place.
Fig. 8 illustrates the diagram of the light pulse 302 detected with the interval of different size by the avalanche photodide group of different size according to one embodiment of the present of invention.Light pulse 302 is corresponding to the short light pulse in Fig. 3 with little amplitude.Light pulse 302 is sampled with 16 intensity levels.
By each SPAD unit activated targetedly, in time and in the complex that is made up of multiple SPAD unit of deactivation, the quantity height of the SPAD unit of activation/deactivation dynamically can be matched with Received signal strength.
At this, the control of the quantity of the receiver of activationary time and deactivation time and activation and deactivation can come from the analysis of the previous sampled value of previous light signal.Namely, the Dynamic Matching with the situation of measurement can be carried out.
By the scheme introduced at this can test example as the signal shape of pulse signal.Draw the raising of dynamic range and the raising of measurement precision.
In one embodiment, the activationary time point of SPAD unit and the dynamic adaptability coupling of height of deactivation time point is carried out.Under ground state, all SPAD unit are effective, to realize the highest susceptibility.Check at this whether light within the time period given in advance than by the expected more SPAD unit of bias light, namely whether may there is the porch 800 of rising.Fade out bias light and only a small amount of SPAD unit is in reseting stage thus.The pulse height of quantity representative at porch 800 place of the SPAD unit lighted at porch 800 place.Determine thus, should deactivation how many also not by the SPAD unit lighted as the reservation for afterpulse 302.Additionally can mate the time period for future time grid and/or insertion dead time 802.
Time grid can be shortened, the pulse height of the rising with less dynamic range can be detected.The quantity of SPAD unit that is that activate and that light is determined again and derived pulse height thus within this future time grid.If new pulse height is higher, then activate from the SPAD unit be also deactivated such as larger quantity and/or for next cycle by insert the larger dead time 802 shorten effective time grid.If pulse height is lower, then reduces quantity and/or reduce the dead time 802.By each time grid of introducing at this to the control of the activation quantity of SPAD unit and the coupling in dead time 802, can intactly detect pulse 302 with the SPAD unit of restricted quantity.In the worst situation being even greater than reset time in pulse length, originally by the summation of the SPAD unit lighted and all SPAD unit be activated on the duration of pulse 400 not higher than the quantity of available SPAD unit.
In other words, before pulse starts 800, activate all SPAD, wherein neither one is triggered.When the quantity of the SPAD triggered is greater than the limit: N1 < < N0SPAD activates, identify that edge starts 800.The quantity starting the SPAD triggered after 800 at edge increases: N3 > N2 > N1, or time grid is less or the dead time 802 is larger.After pulse height, quantity declines: N4 > N3, or time grid is larger or the dead time 802 is less.To be activated as SPAD after pulse 302 and neither one is triggered.
Fig. 9 illustrates the process flow diagram of the method 900 for running photodetector according to one embodiment of the present of invention.The every picture point of photodetector has multiple avalanche photodide that can activate separately.Avalanche photodide is configured to provide electric pulse when receiving light quantity in active state.Avalanche photodide is that light is insensitive after electric pulse within the regeneration period.Method 900 has activation step 902.Activating in step 902 at least two of activating in the avalanche photodide of picture point.Avalanche photodide offsets a duration each other and is activated.This duration is less than the regeneration period.
In this scheme introduced, a kind of dynamic single photon avalanche diode SPAD timing is described.
Can carry out time measurement by fast counter, such as TDC, time-to-digital converter, this fast counter starts when giving off laser beam and stops when pulse arrives receiver.So meter reading is corresponding to light working time and therefore corresponding to distance.The time point of the pulse of each reception can be determined, usually in rising edge at this point.
In all embodiments shown in this, can at the counting of fixing or carrying out in variable time grid photo-event corresponding to distance grid from rising pulses edge.The histogram of such formation simulates total pulse shape.In order to technology realizes, such as can use counter storehouse, it to stop with set time grid step by step and stores event count in each step-length corresponding to distance grid after jointly the starting of the transmitting time point for laser beam after identifying porch.The length in counter storehouse is significantly less than the solution of time-sampling for complete and AD conversion.This reduces the accessing cost for data being used for further process, required chip area and cost.If rollably counters design storehouse, then also can detect one successively and send multiple received pulse of pulse and realize multiple target capability.Histogram content can be copied in histogram memory extremely rapidly.The memory spending of this histogram memory is much smaller than the memory spending for total sampling.Such as, the sampling corresponding to a microsecond of 150m requires 1000 memory cells in nanosecond grid.Counter storehouse and histogram require 45 memory cells when the pulse that the duration of pulse and three of supposing 15ns are to be stored.
This introduce scheme can be used in for driver assistance system in 2D and the 3D laser radar sensor of environment measuring.In addition, the use in other products is possible.Such as, in the gesture identification that the scheme introduced at this can be used in service robot technology, in motor-vehicle inside space, in space measurement, work space monitor in, during space monitors.
Figure 10 illustrates the block scheme of the device 1000 for running photodetector according to one embodiment of the present of invention.At this, photodetector is substantially corresponding to the photodetector shown in Fig. 1.Device 1000 has the equipment 1002 at least two in the avalanche photodide of the picture point of exciting light electric explorer.This equipment is configured to avalanche photodide to be offset each other a duration and activates.At this, this duration is less than the regeneration period.
Embodiment that is described and that illustrate in the drawings is only exemplarily selected.Different embodiments can fully or about each feature combination with one another.An embodiment also can be supplemented by the feature of other embodiment.
In addition, the method step introduced at this can repeatedly and by the order different from described order be implemented.
If embodiment comprises the "and/or" association between fisrt feature and second feature, then this can be read as and make this embodiment have fisrt feature and second feature according to a kind of embodiment and according to another embodiment or only have fisrt feature or only have second feature.
Claims (13)
1. one kind for running the method (900) of photodetector (100), wherein said photodetector (100) has the multiple avalanche photodide (104) that can activate separately of every picture point (102), wherein avalanche photodide (104) is configured to provide electric pulse (202) when receiving light quantity (200) in active state, and described avalanche photodide (104) is that light is insensitive after providing described electric pulse (202) within the regeneration period (204), wherein said method (900) has following steps:
Activate at least two in the avalanche photodide (104) of (902) picture point (102), wherein said avalanche photodide (104) offsets a duration each other and is activated, and wherein said duration is less than the described regeneration period (204).
2. method according to claim 1 (900), wherein, activate the avalanche photodide (104) of described picture point (102) in chronological order, wherein after the last avalanche photodide (104) that have activated described picture point (102), reactivate first avalanche photodide (104) of described picture point (102).
3. according to the method (900) one of the claims Suo Shu, wherein, be multiplied by the described regeneration period (204), the detection without interrupting can be realized at the inverse activating duration described in step (902) and be greater than quantity.
4. according to the method (900) one of the claims Suo Shu, there is the step of deactivation avalanche photodide (104), after the activation duration of described avalanche photodide (104) wherein started when activating (902) described avalanche photodide (104) expires, implement the step of deactivation, to avoid error detector.
5. according to the method (900) one of the claims Suo Shu, wherein, activate every picture point (102) at least two avalanche photodides (104), to quantize the light quantity (200) detected in activation step (902) simultaneously.
6. according to the method (900) one of the claims Suo Shu, wherein, described method (900) starts in response to start time point (600), and wherein described in activation step (902), duration is variable.
7. method according to claim 6 (900), has the step determining described start time point (600) when using operation timing signal.
8. the method (900) according to claim 6 or 7, there is the step setting described duration, wherein smaller setting described duration closer to described start time point (600) place than at described further away from each other start time point (600) place, to obtain than the temporal resolution larger at described further away from each other start time point (600) place closer to described start time point (600) place.
9. according to the method (900) one of the claims Suo Shu, wherein, described method (900) starts in response to start time point (600), wherein activate than closer to the more avalanche photodide (104) in described start time point (600) place in activation step (902) at start time point (600) place of described further away from each other method (900), to have increased access to larger susceptibility along with the distance apart from described start time point (600) simultaneously.
10. one kind for running the device (1000) of photodetector (100), wherein said photodetector (100) has the multiple avalanche photodide (104) that can activate separately of every picture point (102), wherein avalanche photodide (104) is configured to provide electric pulse (202) when receiving light quantity (200) in active state, and described avalanche photodide (104) is that light is insensitive after providing described electric pulse (202) within the regeneration period (204), wherein said device (1000) has following characteristics:
For activating the equipment (1002) of at least two in the avalanche photodide (104) of picture point (102), wherein said avalanche photodide (104) offsets a duration each other and is activated, and wherein said duration is less than the described regeneration period (204).
11. 1 kinds of photodetectors (100) with the multiple avalanche photodide (104) that can activate separately of every picture point (102), wherein avalanche photodide (104) is configured to provide electric pulse (202) when receiving light quantity (200) in active state, and described avalanche photodide (104) is that light is insensitive after providing described electric pulse (202) within the regeneration period (204).
12. a computer program, its by set up for perform method according to claim 1 institute in steps.
13. 1 kinds of machine-readable storage mediums, have the computer program according to claim 12 stored thereon.
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102014207599B4 (en) | 2024-09-26 |
| CN105043539B (en) | 2019-11-19 |
| DE102014207599A1 (en) | 2015-10-29 |
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