CN105043539B - Method and apparatus for running photodetector - Google Patents
Method and apparatus for running photodetector Download PDFInfo
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- CN105043539B CN105043539B CN201510311931.8A CN201510311931A CN105043539B CN 105043539 B CN105043539 B CN 105043539B CN 201510311931 A CN201510311931 A CN 201510311931A CN 105043539 B CN105043539 B CN 105043539B
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004913 activation Effects 0.000 claims abstract description 43
- 230000008929 regeneration Effects 0.000 claims abstract description 28
- 238000011069 regeneration method Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims description 19
- 230000005693 optoelectronics Effects 0.000 claims description 14
- 230000003213 activating effect Effects 0.000 claims description 12
- 230000004044 response Effects 0.000 claims description 6
- 210000001367 artery Anatomy 0.000 claims description 5
- 210000003462 vein Anatomy 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 29
- 238000005070 sampling Methods 0.000 description 10
- 238000005259 measurement Methods 0.000 description 9
- 230000000630 rising effect Effects 0.000 description 7
- 230000002123 temporal effect Effects 0.000 description 5
- 238000004080 punching Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000009849 deactivation Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
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- 230000002411 adverse Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000023077 detection of light stimulus Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- 230000003111 delayed effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
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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
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- 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)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (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 present invention relates to the method and apparatus for running photodetector.A kind of method for running photodetector (100) is provided.The photodetector (100) have every picture point (102) it is multiple can single activation avalanche photodide (104).Avalanche photodide (104) is configured to provide electric pulse when receiving light quantity in active state.The avalanche photodide (104) is that light is insensitive within the regeneration period after electric pulse.This method has the step of at least two in the avalanche photodide (104) of activation picture point (102).It is activated here, avalanche photodide (104) is offset from one another a duration, wherein the duration is less than the regeneration period.
Description
Technical field
The method that the present invention relates to a kind of by running photodetector, a kind of corresponding device and it is a kind of it is corresponding based on
Calculation machine program product.
Background technique
The light quantity that photodiode Structure of need form determines, in order to provide minimum luminance value.Avalanche photodide can
Significant less light quantity is converted to electric signal.
10 2,009 029 376 A1 of DE describe a kind of photon detector with the photon-sensitive element that can be paralysed with
And a kind of distance-measuring equipment with such photon detector.
Summary of the invention
It is introduced in this context using the scheme introduced herein according to independent claims a kind of for running photodetection
Furthermore the method for device introduces a kind of device using this method and finally introduces a kind of corresponding computer program product.Have
The expansion scheme of benefit is provided by respective dependent claims and subsequent explanation.
When minimum amount of light is fallen in the photo sensitive area of avalanche photodide, avalanche photodide is (also referred to as single
Photon avalanches diode) triggering electric pulse.Light quantity is can achieve in the case where single photon.Having been provided for electric pulse
Later, avalanche photodide needs regular time, until it is ready to again, in response to minimum amount of light incidence and provide
Other electric pulse.It is unable to recording light during this time period.
According to the scheme introduced herein, reduce the insensitive or blind time in the following manner: being discharged within the time
Other avalanche photodide, to be imaged on the minimum amount of light in electric pulse.
Introduce it is a kind of with every picture point it is multiple can single activation avalanche photodide photodetector, wherein snowslide
Photodiode is configured to provide electric pulse when receiving light quantity in active state, and avalanche photodide is mentioning
It is that light is insensitive within the regeneration period after power pulses.
In addition, introducing a kind of method for running photodetector, wherein this method is had follow steps:
At least two in the avalanche photodide of picture point are activated, wherein avalanche photodide is offset from one another a duration
It is activated, wherein the duration is less than the regeneration period.
Photodetector is construed as imaging sensor.Photodetector can have multiple picture points or pixel.Picture
Point can be arranged by two-way array.Avalanche photodide is construed as single photon photodiode.Light quantity can depend on
In the embodiment of avalanche photodide.Light quantity can be it is small so that being mapped to the single photon on avalanche photodide
It can be with trigger pulse.Regeneration period can be avalanche photodide to be ready to provide in addition again after providing pulse
Pulse needed for duration.Duration can be the inverse of the sample rate of photodetector.
The avalanche photodide of picture point can be activated in chronological order.In the last avalanche optoelectronic two for having activated picture point
After pole pipe, the first avalanche photodide of picture point can be reactivated.The avalanche optoelectronic two of picture point can be activated in order
Pole pipe.The continuous operation of photodetector may be implemented by successively activating.
The duration can be greater than the inverse of quantity multiplied by the regeneration period, so as to realize the detection of no interruption.The duration
It can depend on the quantity of avalanche photodide.Picture point has more avalanche photodides, then the duration can be set
It is set to shorter.
If regeneration stage should last much longer, which can be extended small duration, so that the of picture point
One avalanche photodide and then all other avalanche photodide retain after its regeneration period by being used as safety
Idle stage.It may thereby be ensured that continuous operation.
This method can have the step of deactivating avalanche photodide.Start when activating avalanche photodide
After the activation duration of avalanche photodide has expired, it is possible to implement deactivated step, to avoid error detector.
The activation duration, which can be avalanche photodide, should keep the duration of activation.After activating the duration, again
Before starting activation, the nominal regeneration period can be waited to go over.
Every at least two avalanche photodide of picture point can be activated, simultaneously to quantify light quantity detected.Here, working as
It, can be with one of triggering avalanche photodiode when receiving required light quantity, a such as photon.When light quantity is double greatly, for example wraps
When including two photons, two avalanche photodides can be triggered.More avalanche photodides, the area Ze Keyi are activated simultaneously
Divide more classifications of intensity.
This method can start in response to start time point.The duration can be variable.Start time point for example may be used
To be the sending time point of light pulse.Lighting from initial time can be with time of measuring, until in the avalanche photodide of picture point
An offer electric pulse.The light velocity according to the time of passage and in the medium penetrated can determine the sky that light pulse have passed through
Between section.When light pulse is reflected at object, at a distance from object approximatively depending on the geometry of photodetector
Corresponding to half of section.
This method can have the step of determining start time point using operation timing signal.Runing time
Signal can be and issue light pulse under the reception condition of the light pulse passed through in time and receiving true between light pulse
Fixed duration.It is, operation timing signal can represent basic knowledge.Therefore, when pre- with small probability within the duration
It, can be with the start time point of matching process when its light pulse of phase.
This method can have setting duration the step of, wherein closer to ratio at start time point further away from rise
Begin smaller to set duration at time point, to obtain ratio closer at start time point at start time point
Bigger temporal resolution.By the way that finer spatial discrimination may be implemented closer to the shorter duration at start time point
Rate can then be detected in bigger distance with more rough resolution ratio.It is protected by finer resolution ratio in luminous intensity
Hold it is constant in the case where in the light quantity within duration become smaller compared in the case where more rough resolution ratio.In other words,
The sensibility of photodetector with more rough resolution ratio becomes much larger.
This method can start in response to start time point.It can be at the start time point further away from this method
It is activated simultaneously than closer to more avalanche photodides at start time point, to increase with the distance away from start time point
Add and obtains bigger sensibility.Effective avalanche photodide is more simultaneously, then becomes for the possible hit area of light
It is bigger.Because there is lesser intensity in light pulse to be received expected at start time point, because of the light arteries and veins
Punching is attenuated by medium, so can continue to ensure reliably to receive by biggish sensibility.
In addition, introduce it is a kind of for running the device of photodetector, wherein the photodetector have every picture point it is multiple
Can single activation avalanche photodide, wherein avalanche photodide be configured in active state when receive light quantity
When electric pulse is provided, and avalanche photodide is that light is insensitive within the regeneration period after electric pulse, wherein the dress
It sets and has the feature that
At least two equipment in avalanche photodide for activating picture point, wherein avalanche photodide is each other
It deviates a duration to be activated, wherein the duration is less than the regeneration period.
Can also the implementation modification of device form through the invention quickly and efficiently solve institute's base of the present invention
In task.
Device is currently construed as electric equipment, handles sensor signal and exports control according to sensor signal
And/or data-signal.The device can have interface, which can be constructed with hardware and/or software mode.With hardware
Interface for example can be the part of so-called system ASIC in the case that mode constructs, which includes the different function of device.
However, it is also possible that interface is distinctive, integrated circuit or is at least partly made of discrete component.With software side
Interface can be software module in the case that formula constructs, such as deposit other than other software modules on a microcontroller
In.
It is also advantageous in that computer program product or computer program with program code, the program code can be deposited
Storage is in machine readable carrier or storage medium, such as semiconductor memory, harddisk memory or optical memory, and spy
Be not can be used to carry out, realize and/or control when program product or program are carried out on computer or device according to
The step of method of one of above embodiment.
Detailed description of the invention
The scheme introduced herein illustratively explains in more detail below according to attached drawing.
Fig. 1 shows the diagram of the photodetector of one embodiment according to the invention；
Fig. 2 shows the time flows that light is detected in the case where single avalanche photodide；
Fig. 3 shows the diagram of the detection time point of the avalanche photodide in the case where light pulse being shaped differently；
Fig. 4 a show one embodiment according to the invention have can single activation avalanche photodide picture point
Diagram；
Fig. 4 b shows one embodiment according to the invention and is detected by deviating the avalanche photodide that a duration is activated
Different light pulses diagram；
Fig. 5 a shows the picture point that one embodiment according to the invention has the avalanche photodide that can be activated by group
Diagram；
Figure 5b shows that one embodiment according to the invention by deviating the avalanche photodide group inspection that a duration is activated
The diagram for the different light pulses surveyed；
Fig. 6 a, which shows one embodiment according to the invention, has the avalanche photodide that can activate to different number
The diagram of picture point；
Fig. 6 b shows the difference that one embodiment according to the invention is detected by the avalanche photodide group of different number
Light pulse diagram；
Fig. 6 c shows the different size of snowslide light that one embodiment according to the invention is activated by deviating different durations
The diagram of the different light pulses of electric diode group detection；
Fig. 7 a show one embodiment according to the invention have can deviate two pole of avalanche optoelectronic that different durations are activated
The diagram of the picture point of pipe；
Fig. 7 b shows the avalanche photodide group that one embodiment according to the invention is activated by deviating different durations
The diagram of the different light pulses of detection；
Fig. 8 shows one embodiment according to the invention by different size of avalanche photodide group in different sizes
It is spaced the diagram of the light pulse of detection；
Fig. 9 shows the flow chart of the method for running photodetector of one embodiment according to the invention；With
Figure 10 shows the block diagram of the device for running photodetector of one embodiment according to the invention.
It is element show in different figures and similar effect in the subsequent description of advantageous embodiment of the invention
Using same or similar appended drawing reference, wherein giving up the repeated description to these elements.
Specific embodiment
Fig. 1 shows the diagram of the photodetector 100 of one embodiment according to the invention.
Photodetector 100 be schematically show and herein such as tool there are four picture point 102 or pixel 102.Photoelectricity
Detector 100 is properly termed as SPAD imager 2 × 2 and can be with every counting periodic recording until 100 events.102 cloth of picture point
It sets in the rectangular grid being made of row and column.Picture point 102 is properly termed as SPAD pixel 5 × 5 and can be each with every counting period
Record is until 25 events.Each picture point 102 have every picture point more than 102 can single activation avalanche photodide 104 (for
Each only one avalanche photodide of every picture point 102 104 is equipped with appended drawing reference for the sake of clear).Avalanche photodide 104 can
An event is recorded with referred to as SPAD micro unit and every counting period.
In this embodiment, photodetector 100 has 25 avalanche photodides 104 of every picture point.Avalanche optoelectronic two
Pole pipe 104 is equally arranged in the rectangular grid being made of row and column, and overlappingly arrangement is each side by side or up and down for wherein each row and column
Five avalanche photodides 104.It is, picture point 102 is approximating square.Avalanche photodide 104 is in activation shape
It is configured under state, when every avalanche photodide 104 receives light quantity, provides each electric pulse.Light quantity can be corresponding
In single photon.Electric pulse can be triggered by light quantity.After avalanche photodide 104 outputs electric pulse, again
In the raw period it is that light is insensitive, that is, blind.The incident photon not trigger pulse within the time.When two pole of avalanche optoelectronic
When pipe 104 is in deactivation status, incident light does not trigger electric pulse on the light quantity for triggering electric pulse.
SPAD receiver 100 may be realized in various forms.In the most simple form, by single SPAD unit 104
Composition.The SPAD unit can recorde or count the arrival of each photon.But since several nanoseconds, such as 10 nanoseconds are until 50
The internal reset time of nanosecond, only limited counting rate, 20,000,000 counting (MCounts/s) for example per second to 100MCounts/s are
Possible, in addition to this SPAD unit 104 is in saturation.In addition, single SPAD unit 104 does not record within counting, if
Single photon or multiple photons reach.
According to one embodiment, single avalanche photodide 104 does not have for the light quantity for triggering electric pulse
Threshold value.Each single photon can trigger activation.Therefore, per time unit generates certain interference counting rate to bias light in principle
Or activation.In addition, activation is also possible to thermally-induced, this is properly termed as dark count rate.But starting point is, by by effective
Effective light of radiation of light source, such as the laser pulse of reflection, the meter realizing measurable raising of gross-count rate or significantly improving
Digit rate and the noise component(s) and effective meter that therefore can distinguish interference photometry digit rate and/or dark count rate or received power
The signal component of digit rate or received power.In an advantageous case, effective counter rate is herein than interfering photometry digit rate/dark counting
Rate is significantly larger.Under adverse conditions, relationship is opposite.But it can by the time of measuring of a large amount of duplicate length with measurement
To improve signal-to-noise ratio and therefore and then can also be with direct impulse.
In order to realize higher sensibility, multiple SPAD units 1104 abreast, can be transported for example parallel in the matrix form
Row.Thus increase effective area, record more multi-photon.But direction selection or angle point also may be implemented by matrix arrangements
Resolution, it is similar with the imaging in case of a camera in multiple pixels.It can connect the SPAD unit 104 of matrix arrangements,
Allow to record the quantity of the photon of arrival.By being imaged in SPAD (macro) pixel 102 and from multiple macro pixels 102 to SPAD
The increased quantity of micro unit 104 within the superstructure 100 of device 100 may be implemented with high count rate and high spatial resolution
SPAD imager 100, similar to the pixel quantity of camera.It may be implemented by high counting rate relative to due to environment light
Error count high insensitivity.
Such as photodetector 100 can be used in conjunction with the driver assistance system of vehicle.In driver assistance system
Set up a large amount of comfortable sexual functions on the market in recent years, such as auto-cruising control, stopping guide, lane keep assistant, hand over
Logical signage recognition；And security function, such as progressive security control, lane departur warning.Currently, having developed supermatic
Driving functions, wherein responsibility is transferred to vehicle from driver more and more.In order to realize that it is necessary to have vehicle environmentals almost
The reliable sensing system of the highest of seamless and error-free detection.Laser radar sensor can satisfy the requirement.
Such system seems especially interested in the case where different laser radar techniques, in such systems light arteries and veins
Punching is issued towards different direction in spaces and the SPAD receiver (single-photon avalanche by the light of Ambient by highest sensitivity
Diode detects each photon) it receives.
Fig. 2 shows in the case where single avalanche photodide to the time flow of the detection of light.Two pole of avalanche optoelectronic
The component part of pipe e.g. picture point, it is as illustrated in fig. 1 such.The process is shown on time changing curve.Here,
The time is depicted on an axis.The intensity of signal is provided transverse to the axis.If effectively connecting avalanche photodide
And light quantity 200 is fallen on avalanche photodide, then avalanche photodide triggers electric pulse 202.In other words, when photon arrives
Up to when light SPAD.The intensity of electric pulse 202 is previously given by the structure type of avalanche photodide.In avalanche optoelectronic two
After pole pipe outputs pulse 202, within regeneration period 204 or resetting time 204, avalanche photodide becomes insensitive.
Avalanche photodide cannot provide electric signal within the regeneration period 204, even if required light quantity 200 falls on avalanche optoelectronic two
In pole pipe.In other words, when photon reaches, SPAD is not recorded.Even if dual light quantity 206 fall on be ready to it is received and effectively
On the avalanche photodide of connection, the electric pulse 202 of the size or intensity that there is structure type to determine also only is provided.Change speech
It also simply lights SPAD even if two photons reach.
For example due to the laser pulse that is reflected at nearby object and stronger light pulse reach when, start in pulse or
It is counted on the rising edge edge of pulse.
When Fig. 3 shows the detection of avalanche photodide in the case where light pulse 302,304,306 being shaped differently
Between point 300 diagram.Detection time point 300 is provided in the graph, which provides the time and on the horizontal scale vertical
Signal strength is provided on coordinate.Beginning and end in the case where minimum strength respectively of light pulse 302,304,306.Light pulse
302,304,306 it is respectively provided with maximum of intensity 308, approximatively occurred after the half pulse duration.First smooth arteries and veins
Punching 302 has small pulse duration and small maximum intensity 308.Second light pulse 304 has the small pulse duration
With big maximum intensity 308.Third light pulse 306 has big pulse duration and big maximum intensity 308, wherein third
Light pulse 306 has than the smaller maximum intensity 308 of the second light pulse 304.When the intensity of light is more than detection limit, when detection
Between point 300 be respectively at one of light pulse 302,304,306 start after soon.In other words, at pulse beginning, SPAD is lighted.
It is, detecting light pulse 302,304,306 to start small time migration with reality.Because working as single two pole of avalanche optoelectronic
Single avalanche photodide exports its electric pulse 202 when pipe record light quantity, and and then cannot mention within its regeneration period
For other pulses, therefore the shape of light pulse 302,304,306 is not detected.Electric pulse 202 depends on light pulse 302,304,306
Shape have the time migration different from maximum value 308.
The porch risen for example can be not only determined in laser radar system by the scheme introduced herein
300, but the pulse shape that detection and analysis is total.Received pulse shape given relative to the change of the pulse shape of transmission
To atmospheric interference, such as rain, mist, snow, the spray or the extension on reflective object surface and position, such as " soft " bushes, " hard
" prompt of automobile, " long, inclined " wall.
Fig. 4 a show one embodiment according to the invention have can single activation avalanche photodide 104 picture
The diagram of point 102.Picture point 102 substantially corresponds to one of picture point in Fig. 1.Picture point 102 herein can single activation with 16
Avalanche photodide 104.
In other words, Fig. 4 a shows SPAD pixel 4 × 4.Every counting period is until 16 events are equidistant in two nanosecond grids
It is liftoff to be extended to 32ns.
In one embodiment, SPAD pixel 102 is made of 16 SPAD units 104, the SPAD unit it is individual
Resetting time is, for example, 32ns.It is mono- by being activated step by step with the interval of 2ns (corresponding to the distance of 15cm) and deactivating SPAD
104, SPAD of member unit 104 is respectively effective in 2ns.After traversing all SPAD units 104, with the first SPAD unit
104 restart.The method of operation, which can be referred to as, to be rolled.Interval scan or interval sampling are realized in this way.If light
Pulse reaches, then can use the embodiment detection pulse duration, but can't detect pulse height.
Fig. 4 b shows one embodiment according to the invention and is detected by deviating the avalanche photodide that a duration is activated
Different light pulses 302,304,306 diagram.Herein by as in figure 4 a with the picture of 16 avalanche photodides
Point is to detect light pulse 302,304,306.In this embodiment, each avalanche photodide has the regeneration period of 32ns
204.The duration that avalanche photodide was offset from one another for two nanoseconds is activated.Therefore, avalanche photodide can export electric arteries and veins
By its regeneration period 204 or resetting time 204 and and then punching 202 is directly activated again.The duration can also be greater than
The regeneration period reciprocal multiplied by 32ns of quantity 16, so as to realize the detection of no interruption.It is expired in the duration of two nanoseconds
Avalanche photodide is deactivated again afterwards, even if it does not provide electric pulse, to avoid error detector.Therefore, this when
The long activation duration for corresponding to the every circulation of avalanche photodide.Then, avalanche photodide is corresponding to regeneration week
It keeps deactivating in the quiescent duration of phase 204 activating until next time.Remaining 15 avalanche photodides of picture point
It activates and deactivates with being shifted by, so that one in the avalanche photodide of picture point is shifted by least institute in the active state
There are two nanoseconds and is therefore ready to receive.Once light pulse 302,304,306 leads to the counting rate significantly improved, just by
Activation leads to two nanosecond of avalanche photodide hour offset the temporal resolution of two nanoseconds.Namely can by light pulse 302,
304,306 pulse length 400 was precisely determined as two nanoseconds.The avalanche photodide of picture point is swashed in chronological order herein
It is living.Here, reactivating the first avalanche optoelectronic two of picture point after the last avalanche photodide of picture point has been activated
Pole pipe.
Fig. 5 a shows the picture that one embodiment according to the invention has the avalanche photodide 104 that can be activated by group
The diagram of point 102.Picture point 102 substantially corresponds to one of picture point in Fig. 1.Differently therefrom, picture point 102 has 16 herein
Can single activation diode group 500.Diode group 500 is made of 4 avalanche photodides 104 respectively.It is, herein
Every 102 at least two avalanche photodide 104 of picture point can be activated, simultaneously to quantify light quantity detected.In other words, scheme
5a shows SPAD pixel 4 × 4 × 4, wherein four SPAD can be activated simultaneously.
In one embodiment, SPAD pixel 102 is made of 64 SPAD units 104, wherein four respectively when identical
Between be activated.As a result, pulse height can also be detected by four height grades other than the pulse duration.
A kind of SPAD receiver 102 using special circuit engineering is introduced, can detecte using the SPAD receiver
The signal shape of the light reached.In addition, the circuit engineering introduced herein can be realized biggish dynamic range.
Here, targetedly activating or deactivating in time each SPAD unit 104.In this way, some
SPAD unit 104 for example can recorde the rising edge edge of pulse, and other SPAD unit is activated at the time point being slightly delayed
104 and same recording impulse or pulse shape.By more times of different postponements, therefore can sampling pulse in time.
Herein higher move can may be implemented about being designed such that temporally variablely in the quantity for belonging to the SPAD unit 104 of postponement
State range and/or finer sampling and therefore measurement precision.
Figure 5b shows that one embodiment according to the invention by deviating the avalanche photodide group inspection that a duration is activated
The diagram for the different light pulses 302,304,306 surveyed.The group is corresponding to the diode group in Fig. 5 a.Light pulse 302,304,
306 corresponding to the diagram in Fig. 3 and Fig. 4 b.As in Fig. 4 b, the duration that diode group was offset from one another for two nanoseconds is activated simultaneously
And be deactivated again after two nanoseconds, so as to realize the quasi-continuous detection of light pulse 302,304,306.Additionally,
Four intensity levels 502,504,506,508 can be distinguished because an avalanche photodide mentioned within two nanosecond
Two electric pulses 202, three snow are provided jointly within two nanosecond for 202, two avalanche photodides of an electric pulse
Avalanche photo diode provides three electric pulses 202 or four avalanche photodides jointly within two nanosecond and two receives at this
Four electric pulses 202 are provided jointly within second.Here, four pulses 202 represent highest intensity level 508；Three 202 generations of pulse
The highest intensity level 506 of table second；Two pulses 202 represent the highest intensity level 504 of third and a pulse 202 represents most
Low intensity level 502.There is no pulse to represent no intensity level, because then without receiving light quantity.By intensity level 502,504,
506,508 pulse shape that can detect light pulse other than pulse length 400.
Big dynamic range can be covered by the scheme introduced herein.It is can achieve herein until 140dB.It is possible thereby to
The object reflected extremely weakly under remote distance with extremely few photon is detected simultaneously and is had extremely near field
The object of more photons extremely reflected by force, without there is measurement inexactness or receiver not in range measurement
Can due to saturation and there is no measurement capabilities.
Time pulse position and therefore measured corresponding to interval can be accurately determined in the scheme introduced here
The runing time of value, because of the pulse shape that detection is total.
It is each in the complex being made of multiple SPAD units by activating and deactivating targetedly, in time
SPAD unit, postpones ground activation on the time or deactivated SPAD unit can be realized the sampling of optical signal 302,304,306.
Fig. 6 a, which shows one embodiment according to the invention, has the avalanche photodide 104 that can activate to different number
Picture point 102 diagram.Picture point 102 substantially corresponds to the picture point in Fig. 5 a.Differently therefrom, picture point is with 64 by each four
The diode group 500 that a avalanche photodide 104 forms.It is, picture point 102 has 264 avalanche photodides
104.The avalanche photodide 104 of diode group 500 can be activated jointly.Diode group 500 can be individually controlled.In
This can also jointly and simultaneously activate multiple diode groups 500.Diode group 500 constitutes 8 × 8 matrixes.In other words, Fig. 6 a
SPAD pixel 4 × 4 × (4-16) is shown, wherein four to 16 SPAD can be activated simultaneously.
In one embodiment, SPAD pixel 102 is made of 256 SPAD units 104, wherein playing the forth day of a lunar month respectively in phase
It is activated with the time, but its quantity increases to 16 with the time.Thus receiver for further away from, usually it is weaker
Reflection becomes more sensitive.Occurs the raising of dynamic range therewith.
Fig. 6 b shows the difference that one embodiment according to the invention is detected by the avalanche photodide group of different number
Light pulse 304,302 diagram.Light pulse 302,304 is corresponding to the light pulse in Fig. 3.It is, light pulse 302 is such as being schemed
There is small pulse length 400 and small maximum intensity like that in 4.Equally, light pulse 304 has small as shown in Figure 4
Pulse length 400 and big maximum intensity.Light pulse 302,304 is shown in the graph, which above mentions in its abscissa
The time is supplied.The intensity level or pulse height of light are provided on the vertical scale.Time starts at starting point 600.Starting point 600
A time point is represented herein, issues light pulse at the time point.Light pulse 302,304 represents the reflection of the light pulse issued
Light.In this embodiment, the light pulse 304 with big maximum intensity is more leaned on than the light pulse 302 with small maximum intensity
Nearly starting point 600 is namely detected earlier.Different maximum intensitys represents the hair when penetrating the medium that transmission light is passed through
The decaying of out and reflection light.Light pulse 304 is detected by four intensity levels 502,504,506,508.In other words, four are activated
A SPAD, thus picture point is less sensitive and less is resolved.Light pulse 302 is detected by 16 intensity levels.In other words,
Activate 16 SPAD.Thus light pulse 302 can it is more more sensitive than light pulse 304 ground or be higher resolved.In order to set difference
Sensibility, every time step activates four avalanche photodides simultaneously in the case where light pulse 304, and in light pulse
Every time step activates 16 avalanche photodides simultaneously in the case where 302.It is, comparing further away from starting point 600
More avalanche photodides are activated simultaneously closer to starting point 600, to obtain more with increasing with the interval of starting point 600
Big sensibility.
Fig. 6 c shows the different size of snowslide light that one embodiment according to the invention is activated by deviating different durations
The diagram of the different light pulses 304,302 of electric diode group detection.The diagram substantially corresponds to the diagram in Fig. 6 b.It is additional
Two known time points 602,604 are employed on ground herein.Time point 602,604 is based on basic knowledge.The basic knowledge for example may be used
To obtain in acting previous.It is, determining starting point 600 using operation timing signal.For example, two
Each light pulse 302,304 has been had recorded shortly before a known time point 602,604.Time point 602,604 marks respectively
Remember the beginning of light pulse 302,304.Herein up to first time point 602 from starting point 600, with every time step each one two
Pole pipe group runs picture point, it follows that there are four the resolution ratio of intensity level for tool.It is each with every time step from first time point 602
Four diode groups run picture point.As in Fig. 6 b, it follows that the resolution ratio of 16 intensity levels.When additionally, from first
Between put 602, time step shortened to for half nanosecond from 2ns.Thus more accurate temporal resolution is obtained.Reading in the second light
After pulse 304, until the second time point 604 is again with one diode group of every time step, namely with four intensity levels
Run picture point.Here, time step can be raised to every time step 2ns again.Equally, time step may remain in often
Half nanosecond of time step.From the second time point 604, carry out operation image sensing again with four diode groups of every time step
Device, this leads to 16 possible intensity levels again.Here, setting every time step 2ns for time step.Pass through the widened time
Step-length, avalanche photodide are for longer periods effective.It is possible thereby to the video camera with the longer time for exposure is similar to, when per
Between the more light of step-length fall on avalanche photodide.It is, imaging sensor is more sensitive now.
It is each in the complex being made of multiple SPAD units by activating and deactivating targetedly, in time
SPAD unit can changeably design the SPAD unit of the activation/deactivation during the runing time of sending and reflection light
Quantity.The quantity of the unit of activation can increase as runing time corresponds to the distance of object.Therefore receiver for
Further from the sensibility of weaker signal of object can increase.
In one embodiment, the known time point 602,604 such as from measurement before, should targetedly by
Detection.Directly carry out the activation of SPAD unit before 602,604 at the time point first.Raising while effectively SPAD unit
Quantity and/or reduction sample rate.Can targetedly be improved by existing basic knowledge in this way sensibility and/or
Accuracy.
Fig. 7 a show one embodiment according to the invention have can deviate two pole of avalanche optoelectronic that different durations are activated
The diagram of the picture point 102 of pipe 104.Picture point is corresponding to the picture point in Fig. 6 a and has 264 avalanche photodides 104.With
Differently, diode group 500 includes 16 avalanche photodides 104 for 16 intensity levels herein.It is, picture point
102 have 16 diode groups 500.In other words, Fig. 7 a shows the SPAD pixel 4 × 4 × 16 with the time grid that can be adapted to.
In one embodiment, SPAD pixel 102 is made of 256 SPAD units 104, wherein 16 respectively when identical
Between be activated.Originally, it the activation gradually of SPAD unit 104 and deactivates and is set with the interval of 0.5ns and is therefore improved
Sampling.With the time increase or object expected from it is separate, and 2ns will be increased in the sampling time.In this way in addition to all
Interval accuracy is nearby improved except before the advantages of in region.In addition, improve dynamic range again because less photon with
Lesser sampling step length is fallen.
Fig. 7 b shows the avalanche photodide group that one embodiment according to the invention is activated by deviating different durations
The diagram of the different light pulses 304,302 of detection.Light pulse 302,304 is corresponding to the light pulse in Fig. 6 b.As in fig. 6 c
Like that, light pulse 304 is sampled with the interval of 0.5ns.Light pulse 302 is sampled as in fig. 6 c with the interval of 2ns.Between
It is interposed between this time interval for depending on starting point 600.Starting point 600 is longer by the time, then is spaced bigger.Two light pulses
302, it 304 is sampled with 16 intensity levels.In other words, each 16 SPAD are activated.When obtaining high in the case where the interval 0.5ns
Between resolution ratio, obtain lesser temporal resolution in the case where the interval of 2ns.It is, the process introduced herein in response to
Start time point 600 and start.Here, duration is variable.Duration closer to ratio at start time point 600 further remote
From being smaller set at start time point 600, so as to closer to obtaining at start time point 600 than further away from rising
Bigger temporal resolution at time point 600 beginning.
Fig. 8 shows one embodiment according to the invention by different size of avalanche photodide group in different sizes
It is spaced the diagram of the light pulse 302 of detection.Light pulse 302 is corresponding to the short light pulse in Fig. 3 with small amplitude.Light pulse
302 are sampled with 16 intensity levels.
It is each in the complex being made of multiple SPAD units by activating and deactivating targetedly, in time
SPAD unit can highly dynamically match the quantity of the SPAD unit of activation/deactivation with reception signal.
Here, activationary time and the control for the quantity for deactivating live time and activation and deactivated receiver can be derived from
The analysis of the previous sampled value of previous optical signal.It is, the Dynamic Matching of situation can be carried out and be measured.
It can detecte the signal shape of such as pulse signal by the scheme introduced herein.Obtain dynamic range raising and
The raising of measurement precision.
In one embodiment, it carries out the activationary time point of SPAD unit and deactivates the adaptability of the high dynamic at time point
Matching.All SPAD units are effective under ground state, to realize highest sensibility.It checks herein, previously given
Whether lighted within period than by the expected more SPAD units of bias light, that is, whether there may be risings
Porch 800.Thus it fades out bias light and only small amounts of SPAD unit is in reseting stage.The point at porch 800
Pulse height of the quantity representative of the SPAD unit of combustion at porch 800.Thereby determine that, should deactivate it is how many also not by
The SPAD unit lighted is as the reservation for residual impulse 302.The time for future time grid can additionally be matched
Section and/or insertion dead time 802.
Time grid can be shortened, so as to detect the pulse height of the rising with lesser dynamic range.At this
The quantity for the SPAD unit that the sum of activation is lighted is determined within future time grid again and is derived there pulse height.If new
Pulse height it is higher, then such as larger number and/or logical for next period is activated from the SPAD unit being also deactivated
It crosses and is inserted into the biggish dead time 802 to shorten effective time grid.If pulse height is lower, reduce quantity and/or drop
The low dead time 802.Control and in dead time 802 by each time grid for introducing herein to the activation quantity of SPAD unit
Match, can completely detect pulse 302 with the SPAD unit for being restricted quantity.Even it is greater than resetting time most in pulse length
Under adverse conditions, the SPAD unit that is originally ignited and all SPAD units being activated on the pulse duration 400
Summation is not higher than the quantity of available SPAD unit.
In other words, all SPAD are activated before pulse starts 800, none of which is triggered.As the SPAD of triggering
Quantity be greater than the limit: N1 < < N0SPAD activation, identification edge start 800.The SPAD's triggered after edge starts 800
Quantity increases: N3 > N2 > N1 or time grid is smaller or the dead time 802 is bigger.Quantity declines after pulse height: N4 >
N3 or time grid are bigger or the dead time 802 is smaller.It is activated after pulse 302 as SPAD and none is touched
Hair.
Fig. 9 shows the flow chart of the method 900 for running photodetector of one embodiment according to the invention.Light
The every picture point of electric explorer have it is multiple can single activation avalanche photodide.Avalanche photodide in active state by
It is configured to provide electric pulse when receiving light quantity.Avalanche photodide is that light is unwise within the regeneration period after electric pulse
Sense.Method 900 has activation step 902.At least two in avalanche photodide for activating picture point in activation step 902
It is a.Avalanche photodide is offset from one another a duration and is activated.The duration is less than the regeneration period.
The scheme introduced herein describes a kind of dynamic single photon avalanche diode SPAD timing.
Time measurement, the fast counter can be carried out by fast counter, such as TDC, time-to-digital converter
Start when issuing laser beam and stops when pulse reaches receiver.Then, meter reading corresponds to light runing time
And therefore correspond to distance.The time point of each received pulse can be determined with regard to this, usually rising edge.
It, can be since rising pulses edge corresponding to the fixation apart from grid in all embodiments being shown here
Or the counting of photo-event is carried out in variable time grid.The histogram formed in this way simulates total pulse shape.For skill
Art is realized, counter library can be used for example, and is being identified after the common beginning for the sending time of laser beam point
Stopped and in corresponding to each step-length apart from grid with set time grid to thing step by step after porch
Part is counted and is stored.The length in counter library is significantly less than the solution for complete time sampling and AD conversion.This
Reduce accessing cost for data, required chip area and the cost for further handling.If rollably designing counter library,
Multiple reception pulses of a transmission pulse can also successively be detected and realize multiple target capability.Histogram content can be extremely
Rapidly it is copied in histogram memory.The memory spending of the histogram memory is much smaller than depositing for total sampling
Reservoir expense.For example, the sampling corresponding to a microsecond of 150m requires 1000 memory cells in nanosecond grid.Counter
Library and histogram assuming that the pulse duration of 15ns and three pulses to be stored in the case where require 45 memory lists
Member.
The scheme introduced herein can be used in 2D the and 3D laser for environment measuring for driver assistance system
In radar sensor.In addition, the use in other products is possible.Such as the scheme introduced herein can be used in service
In gesture identification in robot technology, in motor-vehicle inside space, in space measurement, working space monitoring in, space
In monitoring.
Figure 10 shows the block diagram of the device 1000 for running photodetector of one embodiment according to the invention.
Here, photodetector substantially corresponds to photodetector shown in Fig. 1.Device 1000 has for activating photodetection
At least two equipment 1002 in the avalanche photodide of the picture point of device.The equipment is configured to two pole of avalanche optoelectronic
Pipe is offset from one another duration activation.Here, the duration is less than the regeneration period.
Embodiment described and shown in figure only illustratively selects.Different embodiments can be fully
Or it is combined with each other about each feature.One embodiment can also be supplemented by the feature of other embodiment.
In addition, the method and step introduced herein can be repeatedly and real by coming with described order in a different order
It applies.
If embodiment includes the "and/or" association between fisrt feature and second feature, this can be read as making
Obtain the embodiment has fisrt feature and second feature and according to another embodiment or only in one embodiment
With fisrt feature or only with second feature.
Claims (12)
1. one kind is for running the method (900) of photodetector (100), wherein the photodetector (100) has every picture
Point (102) it is multiple can single activation avalanche photodide (104), wherein avalanche photodide (104) is in state of activation
Under be configured to provide electric pulse (202) when receiving light quantity (200), and the avalanche photodide (104) is mentioning
For being that light is insensitive within the regeneration period (204) after the electric pulse (202), wherein the method (900) has following
Step:
At least two in the avalanche photodide (104) of (902) picture point (102) are activated, wherein two pole of the avalanche optoelectronic
Pipe (104) is offset from one another a duration and is activated, wherein the duration is less than the regeneration period (204).
2. according to the method for claim 1 (900), wherein activate the avalanche optoelectronic of the picture point (102) in chronological order
Diode (104), wherein being reactivated after having activated the last avalanche photodide (104) of the picture point (102)
The first avalanche photodide (104) of the picture point (102).
3. method (900) according to one of the above claims, wherein the duration described in activation step (902) is greater than
The inverse of quantity is multiplied by the regeneration period (204), so as to realize the detection of no interruption.
4. method (900) according to one of the above claims has the step for deactivating avalanche photodide (104)
Suddenly, wherein the avalanche photodide (104) started at activation (902) avalanche photodide (104) swashs
After duration living expires, implement deactivated step, to avoid error detector.
5. method (900) according to one of the above claims, wherein activate every picture simultaneously in activation step (902)
(102) at least two avalanche photodide (104) of point, to quantify light quantity detected (200).
6. method (900) according to one of the above claims, wherein the method (900) is in response to start time point
(600) start, wherein the duration described in activation step (902) is variable.
The starting is determined using operation timing signal 7. according to the method for claim 6 (900), having
The step of time point (600).
8. method (900) according to claim 6 or 7, there is the step of setting the duration, wherein closer to described
Ratio is smaller setting the duration at the start time point (600) at start time point (600), so as to
It obtains at closer to the start time point (600) than in the bigger time at the start time point (600)
Resolution ratio.
9. method (900) according to one of the above claims, wherein the method (900) is in response to start time point
(600) start, wherein at the start time point of the method (900) (600) in activation step (902)
It is activated simultaneously than closer to more avalanche photodides (104) at the start time point (600), so as to away from institute
The distance for stating start time point (600), which increases, obtains bigger sensibility.
10. one kind is for running the device (1000) of photodetector (100), wherein the photodetector (100) has often
Picture point (102) it is multiple can single activation avalanche photodide (104), wherein avalanche photodide (104) activation shape
It is configured to provide electric pulse (202) when receiving light quantity (200) under state, and the avalanche photodide (104) In
There is provided after the electric pulse (202) is that light is insensitive within the regeneration period (204), wherein described device (1000) have with
Lower feature:
At least two equipment (1002) in avalanche photodide (104) for activating picture point (102), wherein the snow
Avalanche photo diode (104) is offset from one another a duration and is activated, wherein the duration is less than the regeneration period (204).
11. one kind have every picture point (102) it is multiple can single activation avalanche photodide (104) photodetector
(100), wherein avalanche photodide (104) is configured to provide electric arteries and veins when receiving light quantity (200) in active state
It rushes (202), and the avalanche photodide (104) is interior in the regeneration period (204) after providing the electric pulse (202)
It is that light is insensitive, wherein at least two in the avalanche photodide (104) of picture point (102) can be offset from one another a duration
It is activated, wherein the duration is less than the regeneration period (204).
12. a kind of machine readable storage medium, has the computer program stored on it, which is set up use
In all steps for executing the method according to claim 11.
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| DE102014207599.8A DE102014207599A1 (en) | 2014-04-23 | 2014-04-23 | Method and device for operating a photodetector |
| DE102014207599.8 | 2014-04-23 |
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