EP3888247A1 - Convertisseur analogique-numérique - Google Patents

Convertisseur analogique-numérique

Info

Publication number
EP3888247A1
EP3888247A1 EP19812963.7A EP19812963A EP3888247A1 EP 3888247 A1 EP3888247 A1 EP 3888247A1 EP 19812963 A EP19812963 A EP 19812963A EP 3888247 A1 EP3888247 A1 EP 3888247A1
Authority
EP
European Patent Office
Prior art keywords
time
analog
signal
digital converter
histogram
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP19812963.7A
Other languages
German (de)
English (en)
Inventor
Ralf Beuschel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Microvision Inc
Original Assignee
Ibeo Automotive Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ibeo Automotive Systems GmbH filed Critical Ibeo Automotive Systems GmbH
Publication of EP3888247A1 publication Critical patent/EP3888247A1/fr
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/06—Continuously compensating for, or preventing, undesired influence of physical parameters
    • H03M1/08—Continuously compensating for, or preventing, undesired influence of physical parameters of noise
    • H03M1/0836—Continuously compensating for, or preventing, undesired influence of physical parameters of noise of phase error, e.g. jitter
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/50—Analogue/digital converters with intermediate conversion to time interval
    • H03M1/56—Input signal compared with linear ramp
    • 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
    • G01S7/484—Transmitters
    • 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
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G01S7/4866—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak by fitting a model or function to the received signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates generally to an analog-to-digital converter.
  • Various methods for optical transit time measurement are generally known, which can be based on the so-called time-of-flight principle, in which the transit time of a light signal emitted and reflected by an object is measured in order to determine the distance to the object on the basis of the transit time.
  • sensors which are based on the so-called LIDAR principle (Light Detection and Ranging), in which pulses are periodically emitted and the reflected pulses are detected to scan the surroundings.
  • LIDAR principle Light Detection and Ranging
  • a corresponding method and a device are known for example from WO 2017/081294.
  • analog signals are from one
  • Photodiode can be emitted for light measurements, to be scanned or for that
  • the present invention provides an analog-to-digital converter comprising:
  • a first time-to-digital converter sampling the analog signal based on a ramp signal and providing an output to the histogram block, which generates a time-correlated histogram based thereon.
  • AD converter (hereinafter AD converter) ready, comprehensive:
  • the first time-to-digital converter sampling the analog signal based on a ramp signal and providing an output to the histogram block, which generates a time-correlated histogram based thereon.
  • the analog signals that are emitted by a photodiode for light measurements are to be sampled or for monitoring the current and / or voltage signals of a laser or a laser diode and accordingly the AD converter is used for the AD conversion in some exemplary embodiments analog signals from a photodiode or the voltage or current from a laser (diode) or the like and it can be used in a
  • a device for LI DAR measurements or the like which is used for example in the automotive environment, without the present invention being limited to these cases. Consequently, some exemplary embodiments also relate to a device with a detector or sensor, for example based on SPAD (Single Avalanche Photo Diode) technology, CAPD (Current Assisted Photo Diode) technology, CMOS
  • SPAD Single Avalanche Photo Diode
  • CAPD Current Assisted Photo Diode
  • CMOS Current Assisted Photo Diode
  • the AD converter Complementary Metal Oxide Semiconductor technology or the like, for detecting light pulses which are emitted by a light source (eg laser) and reflected by an object, in which device the AD converter the invention can be used. Furthermore, such a device can be set up to determine the transit time of the emitted light pulses and, based on this, to determine, for example, the distance between the device and the object, a three-dimensional image of the object or the like. In some exemplary embodiments, the determination of the distance is based on the so-called TCSPC (time correlated single photon couting) measuring principle,
  • TCSPC time correlated single photon couting
  • the devices, devices or AD converters described can also be used in an autonomously operated (motor) vehicle.
  • Laser current pulses in particular for LIDAR measurements, can be in the range between two to ten nanoseconds and consequently, AD converters with a frequency of 1 GHz to 5 GHz would be required, such AD converters typically being expensive and having a high consumption (e.g. .> 500 mW).
  • fast time-to-digital converters are generally known and can, for example, have a time resolution of better than 500 picoseconds and the first time-to-digital converter (also called “TDC”, time-to-digital converter) can accordingly based on such a known TDC.
  • TDC time-to-digital converter
  • analog signals such as the current signal or voltage signal from a light source, can be digitized inexpensively and with high time resolution.
  • the first TDC provides a corresponding output based on the analog signal, the output typically containing time-correlated digital values that characterize the analog signal by using the ramp signal for sampling.
  • the histogram block creates a time-correlated histogram, the bins of which relate to a start time and consequently represent the time interval from the start time, the respective values of the output of the first TDC being filled into each bin. Accordingly, in some embodiments, the amplitude of a periodic input signal (analog signal) can be compared to the ramp signal and the shape of the periodic input signal can be sampled sequentially in several sampling cycles.
  • the histogram block is configured to correct the time-correlated histogram in order to reduce the effect of a time jitter.
  • the time jitter can cause values in the output of the first TDC to be correlated with "wrong" ones (e.g. due to time or late).
  • the histogram block can at least partially correct such temporal shifts and / or the associated too high or low values in the time-correlated histogram, wherein the correction here does not necessarily mean a complete correction in the sense that the effects of a time jitter can be completely compensated for, but rather it also includes a partial correction in which, for example, the effects of a time jitter are at least partially
  • the time jitter effect results
  • Time-shifted values in the output of the first time-to-digital converter and such effects can be at least partially mitigated.
  • the histogram block combines values from different outputs.
  • the first TDC provides sequential outputs, for example, and the histogram block can contain values from such different,
  • the values can be combined so that the maximum value of an output is filled in the time-correlated histogram. If, for example, a second output for the same bin of the time-correlated histogram contains a higher value than the one already existing and from a first output, the existing value is replaced by the higher value of the second output.
  • the values can also be combined in such a way that an average value is filled into the time-correlated histogram, for example the average of a value from a previous output and the value of a current output for a specific bin of the time-correlated histogram.
  • the values are combined based on a function
  • the function may be non-linear, which in principle in some embodiments results in a finer or more fine-tuned or
  • the function can also depend on the difference in the values, so that, for example, there is a greater correction in the case of larger differences between different outputs.
  • the values in the time-correlated histogram are shifted by at least one time instance. This can (at least partially) compensate for shifts in sample values caused by time jitter.
  • the AD converter further includes one
  • the periodic start signal input for receiving a periodic start signal.
  • the periodic start signal can, for example, be generated by a pulse generator and delivered to the AD converter.
  • the periodic start signal can also be supplied to the (first) TDC and / or to the histogram block, which then the
  • the AD converter further includes one
  • Ramp generator that generates the ramp signal.
  • the ramp generator has a ramp counter, for example, which generates a counter value based on the periodic start signal.
  • the AD converter (or the ramp generator) further comprises a digital-to-analog converter, which generates the ramp signal based on the counter value.
  • the AD converter further includes a comparator that compares the ramp signal and the analog signal and outputs a comparator signal to the first time-to-digital converter.
  • the AD converter further includes a second time-to-digital converter, the first time-to-digital converter capturing time intervals at which the analog signal is above the ramp signal and the second time-to-digital converter capturing time intervals at which the analog signal is below the ramp signal.
  • the corresponding outputs of the first and second TDC are delivered to the histogram block, which based on that
  • the histogram block for example, outputting a waveform that it generates based on the time-correlated histogram, for example by using a Gaussian function, a
  • Some embodiments also relate to a (computer) program that
  • Some embodiments also relate to a computer readable medium that receives a program or instructions that, when executed on a processor or computer, result in the program or method described herein being executed.
  • FIG. 1 illustrates a circuit diagram of an embodiment of an analog-to-digital converter
  • Figure 4 shows an output of a TDC and a TC histogram under the influence of time jitter, the TC histogram being corrected
  • FIG. 6 illustrates a circuit diagram of an exemplary embodiment of an analog-digital converter with a preactivation signal.
  • Fig. 1 illustrates a circuit diagram of an embodiment of an analog-digital converter 1, hereinafter referred to as AD converter 1.
  • the AD converter 1 can be used for all signals that are periodic and repeat themselves at least twice without being changed.
  • the AD converter 1 is used in a LI DAR measuring system which uses the TCSPC measuring principle.
  • the laser pulse used or the laser pulse sequence can be emitted periodically and at a high frequency, e.g. B. every two microseconds for a 300 meter range.
  • the basic functioning of the AD converter is based on the fact that a periodic input signal is compared with a ramp signal.
  • the ramp signal is relatively slow and can be synchronous or asynchronous with the periodic input signal cycle.
  • TDCs Time-to-Digital Converter
  • the AD converter 1 has an analog input 2, at which the analog signal to be converted is input, and it has a start signal input 3, at which a periodic start signal or pulse signal is present, which, for example
  • Pulse generator comes and is also used for the generation of light pulses for the LIDAR measuring system.
  • the AD converter 1 has a comparator 4 in order to compare the analog signal which is received at the analog input 2 with an analog ramp signal.
  • the analog ramp signal is in the form of a rising sawtooth in this embodiment, starts at approximately zero volts, and rises to one
  • the rise time of the ramp signal is based on a fixed multiple of the pulse generator frequency and is e.g.
  • framp 1/128 * fpulse to scan with an effective resolution of 7 bits, where "framp” is the frequency of the ramp signal and “fpulse” is the frequency of the
  • Pulse signal which is received via start signal input 3.
  • the ramp signal is generated via a ramp counter 5 which is coupled to a digital-to-analog converter 6 (DA converter hereinafter referred to).
  • DA converter digital-to-analog converter
  • the ramp counter 5 increments its counter by one with each received start pulse (that is, when a new sampling cycle is started) that is received via the start signal input 3.
  • the binary value obtained is supplied to the DA converter 6, which generates a corresponding ramp signal from the binary value, which consequently also has a higher ramp voltage or a higher ramp threshold with increasing binary value.
  • the output of the comparator 4 is on the one hand (directly) coupled to a first TDC 7 and on the other hand (indirectly) coupled to a second TDC 8, the comparator signal first passing through an inverter 9 which inverts the comparator signal and then supplies it to the second TDC 8 .
  • the start pulse is also supplied from the start signal input 3 to the first TDC 7 and to the second TDC 8, so that the "start" of the signal pulse starts a measurement cycle.
  • the first TDC 7 measures the time instances (or time intervals) when the analog input signal coming from the analog input 2 rises above the ramp signal, that is to say it crosses upwards, with respect to the start signal which is received by the start signal input 3.
  • the second TDC 8 receives the inverted comparator signal and measures it
  • the first 7 and the second TDC 8 each output their measurement results (outputs) to a histogram block 10.
  • Measurement result in histogram block 0 can be evaluated.
  • the ramp counter 5 also gives a digital counter value (corresponds to one
  • the time intervals at which the analog input signal is above the ramp signal are stored in the histogram of the histogram block, with all measurements being aligned with a different ramp voltage at the time “0”, which is determined by the start signal.
  • the analog input signals can have between 0 and N time intervals in each sampling cycle if it exceeds the ramp signal.
  • Ramp generation is ended and the data in the histogram of the histogram block 10 are ready for the evaluation, being after the evaluation
  • the measurement cycle is restarted by resetting the ramp counter 5 and filling the histogram of the histogram block 10 with “0” values.
  • the sampling of the analog input signal by the first TDC 7 results in twelve entries for the output 20.
  • the TC histogram 21 shows the state after a complete measurement cycle. Again there are six values on the ordinate corresponding to the six
  • the bins of the TC histogram 21 are each time the value of
  • the course of the TC histogram 21 roughly corresponds to a sine or Gaussian curve.
  • the sequential scanning can react sensitively to time jitter and with some
  • the histogram block 10 of the AD converter 1 of FIG. 1 is set up accordingly, so that the time-jitter performance is improved.
  • FIG. 3 illustrates an output 25 of the first TDC 7 at the top and the resulting TC histogram 26 at the bottom, as is shown in the histogram block 10 under the influence of an (uncorrected)
  • a time instance T is sampled at a level N (ramp threshold), then a new value in the TC histogram (memory) for the time instance T is Fh (T, N).
  • Combination (A, B) (A + B) / 2, that is, the new value corresponds to the mean of the values A and B, which is also referred to as the “50% combination method”.
  • combination (A, B) truncated ((A + B) / 2) is provided, which corresponds to a shift to the right by one bin, the fraction being discarded.
  • a non-linear mapping function is used, which depends on the difference between B-A, and that the histogram values are corrected accordingly in order to reduce the effect of the time jitter.
  • FIG. 4 shows again the output 25 of the first TDC 7 with a
  • the resulting TC histogram 30, which, by applying the above-mentioned measures, namely rules (1) and (2), is shown in FIG. 4 below, the effect of the time jitter being compared to the TC histogram 26 of FIG. 3 is reduced.
  • the sample value at 30a (see value at 26a in FIG. 3) is reduced from the value “3” (26a in FIG. 3) to the value “2” (30a in FIG. 4) (original is “1”).
  • the sample value which corresponds to the value at 26b in FIG. 2, remains at the value “3” and is therefore not changed (original is “4”).
  • the sample at 30b is reduced from “4" to "3" (original is "4").
  • the sample value at 30c is reduced from "3.5" (see 26c in Fig. 3) to "2.5" (original is “1").
  • Combination method ” (rule (2)) generates a TC histogram 30 which comes closer to the original course of the TC histogram 21 without time jitter than the application of the explained combination method, in which simply the maximum value is taken and which in the case of time jitter is in the middle 5
  • the maximum combination method shown in the middle of FIG. 5 tends to broaden the shape of the histogram and to produce larger steps in the values between the individual bins, since it represents both the time jitter and the shape of the signal.
  • the 50% combination method tends to increase the rise and fall times according to the time jitter statistics.
  • AD converter 40 illustrates a circuit diagram of a further exemplary embodiment of an analog-digital converter 40, hereinafter referred to as AD converter 40 for short.
  • AD converter 40 as also explained above, can be used with all
  • a preactivate signal is provided to initialize the AD conversion before the analog (input) signal is converted.
  • This preactivation signal is sent, for example, 3 ns before the start signal, without restricting the present invention to this example.
  • the AD converter 40 has an analog input 41, at which the analog signal to be converted is input, and it has a start signal input 51, at which a periodic start signal or pulse signal is present, which, for example
  • Pulse generator comes and is also used for the generation of light pulses for the LIDAR measuring system.
  • the AD converter 40 has a preactivation signal input 42, to which a preactivation signal is present, which, as mentioned, is sent, for example, 3 ns before the start signal.
  • the AD converter 40 has a comparator 43 to convert the analog signal received at the analog input 41 to an analog signal
  • the analog ramp signal is in the form of a rising sawtooth in this embodiment, starts at approximately zero volts, and rises to one
  • the rise time of the ramp signal is based on a fixed multiple of the pulse generator frequency and is e.g.
  • framp 1/128 * fpulse to scan with an effective resolution of 7 bits, where "framp” is the frequency of the ramp signal and “fpulse” is the frequency of the
  • Pulse signal which is received via the pre-activation signal input 42.
  • the ramp signal is generated via a ramp counter 44 which is connected to a
  • Digital-to-analog converter 45 (DA converter referred to below) is coupled.
  • the ramp counter 44 increments its counter by one with each received preactivation signal received via the preactivation signal input 42.
  • the binary value obtained is supplied to the DA converter 45, which generates a corresponding ramp signal from the binary value, which consequently also produces a higher ramp voltage or a higher ramp value as the binary value increases
  • Has ramp threshold The output of the comparator 43 is on the one hand (directly) coupled to a first TDC 46 and on the other hand (indirectly) coupled to a second TDC 47, the comparator signal previously passing through an inverter 48 which inverts the comparator signal and then supplies it to the second TDC 47 .
  • the pre-activation signal is also supplied from the pre-activation signal input 42 to the first TDC 46 and to the second TDC 47, so that the
  • Preactivation signal initialized a scan.
  • the first TDC 46 measures the time instances (or time intervals) when the analog input signal coming from the analog input 41 rises above the ramp signal, ie crosses it up, with respect to the preactivation signal which is received by the preactivation signal input.
  • the second TDC 47 receives the inverted comparator signal and measures it
  • the first 46 and the second TDC 47 each output their measurement results (outputs) to a synchronizer 50, which synchronizes the outputs of the TDCs 46 and 47 with the start signal 51.
  • the synchronizer 50 determines the time interval between the preactivation signal and the start signal by means of
  • t_diff (SC) t_Start - t_Vor2011 mich, where t_d iff (SC) the time interval between the start signal and preactivation signal measured at the synchronizer 50, t_Start the time of the start signal and t_Vor2011 mich the time of the
  • Pre-activation signal is.
  • the times t start and t_pre-activation are determined by means of the time t_nominal, which is at least as long as the maximum measured time Distance between the start signal and the pre-activation signal, ie tjiominal> max (t_diff (SC)).
  • t_nominal is used as a constant time value in each
  • Measurement result in histogram block 49 can be evaluated.
  • the ramp counter 44 also gives a digital counter value corresponding to the
  • the ramp threshold value being low at the beginning and increasing in the course.
  • the time intervals at which the analog input signal is above the ramp signal are stored in the histogram of histogram block 49, all measurements being aligned with a different ramp voltage at the point in time “0”, which is determined by the preactivation signal.
  • Input signal is above the ramp signal.
  • Ramp generation ended and the data in the histogram of the histogram Blocks 49 are ready for the evaluation, and a corresponding waveform output 52 can take place after the evaluation.
  • the measurement cycle is restarted by resetting the ramp counter 44 and filling the histogram of the histogram block 49 with “0” values.

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

Abstract

L'invention concerne un convertisseur analogique-numérique (1) comprenant : une entrée analogique destinée à recevoir un signal analogique ; un premier convertisseur temps-numérique (7) ; et un bloc d'histogramme (10). Le premier convertisseur temps-numérique (7) échantillonne le signal analogique sur la base d'un signal en rampe et délivre un résultat (20, 25) au bloc d'histogramme (10), qui produit un histogramme corrélé dans le temps (21, 26, 30) basé sur celui-ci.
EP19812963.7A 2018-11-30 2019-11-27 Convertisseur analogique-numérique Pending EP3888247A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018220688.0A DE102018220688A1 (de) 2018-11-30 2018-11-30 Analog-Digital-Wandler
PCT/EP2019/082728 WO2020109378A1 (fr) 2018-11-30 2019-11-27 Convertisseur analogique-numérique

Publications (1)

Publication Number Publication Date
EP3888247A1 true EP3888247A1 (fr) 2021-10-06

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US (1) US11984908B2 (fr)
EP (1) EP3888247A1 (fr)
JP (1) JP7365719B2 (fr)
KR (1) KR102631502B1 (fr)
CN (1) CN113169741B (fr)
CA (1) CA3122867A1 (fr)
DE (1) DE102018220688A1 (fr)
IL (1) IL283479A (fr)
WO (1) WO2020109378A1 (fr)

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IL283479A (en) 2021-07-29
CN113169741A (zh) 2021-07-23
US20220029633A1 (en) 2022-01-27
JP7365719B2 (ja) 2023-10-20
CA3122867A1 (fr) 2020-06-04
CN113169741B (zh) 2024-08-02
US11984908B2 (en) 2024-05-14
KR102631502B1 (ko) 2024-01-30
KR20210089735A (ko) 2021-07-16
JP2022510177A (ja) 2022-01-26
DE102018220688A1 (de) 2020-06-04

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