WO2018235944A1 - Dispositif de mesure de distance optique - Google Patents

Dispositif de mesure de distance optique Download PDF

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Publication number
WO2018235944A1
WO2018235944A1 PCT/JP2018/023817 JP2018023817W WO2018235944A1 WO 2018235944 A1 WO2018235944 A1 WO 2018235944A1 JP 2018023817 W JP2018023817 W JP 2018023817W WO 2018235944 A1 WO2018235944 A1 WO 2018235944A1
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WIPO (PCT)
Prior art keywords
timing
time
light
distance measuring
correction
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PCT/JP2018/023817
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English (en)
Japanese (ja)
Inventor
晶文 植野
武廣 秦
柏田　真司
Original Assignee
株式会社デンソー
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Priority claimed from JP2018111123A external-priority patent/JP2019007950A/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN201880040986.1A priority Critical patent/CN110799854B/zh
Publication of WO2018235944A1 publication Critical patent/WO2018235944A1/fr
Priority to US16/720,553 priority patent/US11662442B2/en

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the present disclosure relates to a light ranging device that measures a distance from a round trip time of light to an object, and relates to a technique for detecting light using a SPAD.
  • Patent Document 1 proposes a technique for detecting light incident on a SPAD by detecting the presence or absence of responses of a plurality of SPADs in synchronization with a clock.
  • the technique of Patent Document 1 below it is considered that the number of SPADs responding (hereinafter, the number of SPAD responses) is detected in synchronization with a clock, and the number of SPAD responses increases as the light intensity increases. .
  • One aspect of the present disclosure is to provide a technology that enables a SPAD to accurately estimate the timing at which light is detected by a light ranging device that detects light using a SPAD.
  • the optical distance measuring apparatus includes an irradiation unit, a plurality of SPADs, a plurality of signal output units, a response number detection unit, a timing recognition unit, and a timing correction unit.
  • the irradiating unit is configured to irradiate a light wave to an area where an object is to be detected.
  • the plurality of SPADs are configured to respond to the incidence of photons including reflected waves of light waves.
  • the plurality of signal output units are configured to output a pulse signal when the SPAD responds to each of the plurality of SPADs.
  • the response number detection unit is configured to detect the number of responses representing the number of SPADs that are responding based on the pulse signal.
  • the timing recognition unit recognizes temporary timing based on the change state of the number of responses along the time series, and recognizes detection timing representing the timing at which the optical distance measuring device detects light according to the temporary timing. Configured
  • the timing correction unit obtains a correction time representing a time difference between the temporary timing and the true timing corresponding to the distance to the object, and detects the timing corrected by the correction time with respect to the temporary timing. Configured to set.
  • the timing obtained by correcting the provisional timing by the correction time is recognized as the detection timing, the true timing and the provisional timing corresponding to the distance to the object are obtained. Time difference can be corrected. Therefore, the timing at which the SPAD detects light can be accurately estimated.
  • An optical distance measuring apparatus 1A shown in FIG. 1 is an apparatus for measuring a distance from a round trip time of light to an object, and is a light detector for detecting light using an avalanche photodiode (hereinafter referred to as APD), particularly SPAD. Equipped with The optical distance measuring apparatus 1A recognizes the distance to the object by, for example, emitting signal light such as a laser radar, and using a light detector to recognize the timing at which the reflected light is received with respect to the timing at which the signal light is emitted. Have a function to
  • SPAD is an abbreviation of Single Photon Avalanche Diode. SPAD operates by applying a voltage higher than the breakdown voltage as a reverse bias voltage. Since SPAD breaks down upon incidence of photons, this type of photodetector usually detects a voltage change when SPAD breaks down and outputs a digital pulse of a predetermined pulse width (hereinafter referred to as a pulse signal) Configured.
  • a pulse signal a digital pulse of a predetermined pulse width
  • the optical distance measuring apparatus 1 ⁇ / b> A includes an irradiation unit 3, a plurality of light receiving units 2, and a plurality of level detection circuits 20.
  • the optical distance measuring apparatus 1A may include an adder 40, a peak detection unit 45, and an arithmetic unit 50A.
  • At least the plurality of light receiving units 2 and the plurality of level detection circuits 20 of the light ranging device 1A constitute a light detector that detects light.
  • part of the adder 40 and the peak detection unit 45 also constitutes a light detector.
  • the irradiation unit 3 includes, for example, a laser diode as a light source, and irradiates a light wave to a region where it is intended to detect an object to be a target of distance measurement from the light source.
  • the irradiation unit 3 irradiates the light wave every cycle set according to a clock to be described later, for example, every 100 ms, so that the reflected wave can be received by the light detector.
  • each light receiving unit 2 is arranged in a grid in the vertical and horizontal directions to form a light receiving unit array 10 that constitutes one pixel for light detection.
  • Each light receiving unit 2 is configured to output a pulse signal as a response when photons are incident.
  • each light receiving unit 2 includes an SPAD 4, a quench resistor 6, and a pulse output unit 8.
  • SPAD 4 has a cathode connected to reverse bias voltage VB and an anode connected to quench resistor 6 and pulse output 8.
  • the quench resistor 6 is connected in series to the conduction path to the SPAD 4.
  • the quench resistor 6 applies a reverse bias voltage VB to the SPAD 4 and generates a voltage drop due to the current flowing through the SPAD 4 when photons are incident on the SPAD 4 and the SPAD 4 breaks down, thereby stopping the Geiger discharge of the SPAD 4 It is a thing.
  • the quench resistor 6 is formed of a resistive element having a predetermined resistance value, or a MOSFET or the like whose on-resistance can be set by a gate voltage.
  • the pulse output unit 8 is connected to the connection point of the SPAD 4 and the quench resistor 6.
  • the pulse output unit 8 outputs the value 1 when the SPAD 4 is not broken down.
  • the pulse output unit 8 when the SPAD 4 breaks down, a current flows through the quench resistor 6, and a voltage equal to or greater than the threshold voltage is generated at both ends of the quench resistor 6, the above-described pulse signal has a value 0 Output digital pulse. That is, the quench resistor 6 and the pulse output unit 8 are configured to output a pulse signal when the SPAD 4 responds to each of the plurality of SPADs 4.
  • Each level detection circuit 20 is provided for each light receiving unit 2 and has a function of detecting whether a pulse signal from the light receiving unit 2 is obtained, that is, whether the SPAD 4 responds.
  • the level detection circuit 20 includes an inverter 21 and a clock synchronization unit 22.
  • the inverter 21 is configured as a known inverter in a logic circuit that inverts and outputs an input.
  • the clock synchronization unit 22 is configured as a clock synchronization circuit that receives a clock (CLK) that is a periodic pulse, and outputs an input signal value at the time of clock input each time the clock is input.
  • CLK clock
  • the input signal value here is the output of the inverter 21 in the clock synchronization unit 22.
  • the clock synchronization unit 22 is configured as, for example, a D flip flop.
  • the clock synchronization unit 22 outputs the value input from the inverter 21 each time a clock is input.
  • the adders 40 are known adders that add and output the pulses output from the respective level detection circuits 20.
  • the output from the adder 40 is referred to as a level value.
  • the level value is a response number representing the number of light receiving units 2 outputting pulse signals, that is, the number of light receiving units 2 outputting a value of 0. Therefore, the level value also indicates the intensity of incident light. It can be said.
  • a pulse signal is output from the light receiving unit 2 configured in this way at a frequency according to the amount of light in the surrounding area. For this reason, when strong light such as sunlight is incident on the light receiving unit 2, the number of pulse signals output from the light receiving unit 2 per unit time, that is, the pulse rate is significantly increased.
  • the peak detection unit 45 recognizes a detection timing representing a timing at which the optical distance measuring device 1A detects light by recognizing a temporary timing obtained based on a change state of the level value along the time series.
  • the detection timing here is a provisional detection timing before correction.
  • the provisional timing indicates the timing at which this change state satisfies a preset condition based on the change state of the number of responses along the time series.
  • the provisional timing is timing to be a reference for obtaining detection timing, and here, for example, a timing at which the actual level value becomes the maximum value is adopted.
  • any timing that satisfies a predetermined condition such as the timing when the calculated level value becomes the maximum value or the timing when the level value increases and becomes the predetermined value may be adopted.
  • this timing is based on the rate of change of the level value as the slope of the tangent when the level value is a specific value when the level value increases and decreases. It may be expressed as the timing of the intersection of a plurality of tangents. Specifically, in a graph as shown in FIG. 4 in which the horizontal axis is time series and the vertical axis is level value, when crossing points at a plurality of tangents when the level value is a predetermined value such as half of the maximum value are obtained Good.
  • the timing when the calculated level value becomes the maximum value may be the timing when the level value becomes the center value with respect to a plurality of timing when the level value becomes a specific value.
  • the peak detection unit 45 acquires the operating state of the irradiation unit 3, that is, the irradiation timing of the light wave. Then, a signal corresponding to the difference between the irradiation timing and the provisional timing is output. The output from the peak detection unit 45 is input to the calculation unit 50A.
  • the arithmetic unit 50A is mainly configured of a well-known microcomputer including a CPU 51 and a semiconductor memory (hereinafter, memory 52) such as a RAM, a ROM, and a flash memory.
  • memory 52 such as a RAM, a ROM, and a flash memory.
  • the various functions of the calculation unit 50A are realized by the CPU 51 executing a program stored in a non-transitional tangible recording medium.
  • the memory 52 corresponds to a non-transitional tangible storage medium storing a program.
  • the non-transitional tangible recording medium has a meaning excluding the electromagnetic wave in the recording medium.
  • the number of microcomputers constituting the arithmetic unit 50A may be one or more.
  • the arithmetic unit 50A includes a response time correction unit 56 and a light amount correction unit 57 as shown in FIG. 1 as a configuration of functions realized by the CPU 51 executing a program.
  • the method for realizing these elements constituting the arithmetic unit 50A is not limited to software, and part or all of the elements may be realized using one or more hardware.
  • the electronic circuit may be realized by a digital circuit including many logic circuits, an analog circuit, or a combination thereof.
  • the level value indicates the maximum value at the timing when the number of responding SPADs 4 becomes maximum.
  • the SPAD [3] when the SPAD [3] responds, the level value becomes 4 and becomes the maximum value.
  • the light receiving unit 2 is described as SPAD [N].
  • N is a number for specifying one of the four light receiving units 2 by a number, and is any one of 0, 1, 2, 3.
  • the relationship between the amount of light received by the signal light, that is, the amount of light incident on the plurality of SPADs, and the level value is as shown in FIG. Referring to FIG. 4, the level value increases as the amount of light received by the signal light increases. However, a time difference ⁇ T1 occurs between the true timing P at which the amount of light received by the signal light is maximum and the timing L at which the level value is maximum. Therefore, in order to detect the timing of light reception using the level value, it is preferable to correct by the time difference ⁇ T1.
  • the true timing P is the timing corresponding to the distance to the object, and the timing at which the amount of light emitted to the optical distance measuring device 1A is maximum is ideal, but the true timing P is Since it can not be detected by the optical distance measuring apparatus 1A, when using the true timing P, the timing experimentally obtained in advance is used.
  • the timing L at which the level value becomes maximum is the timing at which the amount of light received by the signal light is maximized by the functions of the response time correction unit 56 and the light amount correction unit 57. Correct to get closer to P. That is, in the functions as the response time correction unit 56 and the light amount correction unit 57, the time difference ⁇ T1 from the true timing P at which the light reception amount peaks with respect to the temporary timing, here the timing L at which the response number peaks It is calculated as a correction time, and this timing is recognized as the timing when light is detected.
  • the response time correction unit 56 corrects the tentative timing using the correction time corresponding to the length of the response continuation time that represents the time for which the responding SPAD 4 continues the response.
  • a fixed value set in advance is adopted as the correction time corresponding to the response continuation time.
  • the light quantity correction unit 57 is configured to calculate the correction time according to the light reception environment of the light ranging device 1A.
  • the present invention is not limited to this configuration, and the correction time is calculated using an equation that returns the correction time when a parameter indicating the light reception environment is input. It may be calculated.
  • the light amount correction unit 57 obtains a correction time according to the light intensity in the light reception environment.
  • the light intensity is a value indicating the magnitude of the amount of incident light, and, for example, the height of the peak of the level value or the rate of change of the level value (for example, the slope of the tangent at a specific point in the level value graph of FIG. 4). It can be obtained by the size.
  • the time difference ⁇ TA between the timing A1 at which the incident light quantity peaks and the timing A2 at which the level value reaches the maximum value Lmax becomes relatively small.
  • the amount of incident light is large, so many SPADs 4 respond in a relatively short time, and when the amount of incident light reaches a peak, most SPADs 4 have responded It is from.
  • the time difference ⁇ TB between the timing B1 at which the incident light quantity peaks and the timing B2 at which the level value reaches the maximum Lmax is large relative to the time difference ⁇ TA.
  • the SPAD 4 responds gradually according to the increase in the amount of light.
  • the number of responses increases by 8 during the period [A] which is the initial stage of light detection, and the period of [B] where the light intensity reaches its peak and the light intensity weakens.
  • the number of responses is increased by 4 or 3 which is less than 8.
  • the number of responses increases by one in the period of [A]
  • the number of responses increases by three or four more than one in the periods of [B] and [C]. That is, when the light is strong, many SPADs 4 respond in the early stage of detection, and the increase in the number of responses slows down in the subsequent period. As a result, a difference occurs between the timings A2 and B2 at which the level value becomes the maximum value Lmax between when the light is strong and when the light is weak.
  • the light amount correction unit 57 of the present embodiment obtains the correction time according to the light intensity according to the map as shown in FIG. That is, as the maximum value Lmax of the level value increases, a map in which the correction amount decreases is adopted.
  • the SPAD 4 approaches saturation before the timing when the incident light amount peaks, and this timing is shifted to the near distance side than the timing when the original level value becomes the maximum Lmax. is there.
  • the light amount correction unit 57 sets a time value obtained by adding the correction time corresponding to the light intensity and the correction time corresponding to the response duration time obtained by the response time correction unit 56 to the above-described time difference ⁇ T1, as a level value. Is corrected so as to be close to the true timing P at which the light reception amount peaks. Specifically, the timing obtained by subtracting the time difference ⁇ T1 from the timing L at which the level value becomes maximum is recognized as a detection timing.
  • the provisional timing is corrected by ⁇ T1 to be the true timing by the functions of the response time correction unit 56 and the light amount correction unit 57, the difference between the irradiation timing and the provisional timing is the irradiation timing and the true timing. Corrected to the difference between
  • the calculated distance representing the distance to the object obtained only by the peak of the level value is corrected to be the corrected distance.
  • the corrected distance roughly corresponds to the true distance to the object.
  • the optical distance measuring apparatus 1A described above includes a plurality of SPADs 4, a plurality of quench resistors 6 and pulse output units 8, a level detection circuit 20, an adder 40, a peak detection unit 45, and a response time correction unit And a light amount correction unit 57.
  • the plurality of SPADs 4 are configured to respond to the incidence of photons.
  • the plurality of quench resistors 6 and the pulse output unit 8 are configured to output a pulse signal when the SPAD 4 responds to each of the plurality of SPADs 4.
  • the level detection circuit 20 and the adder 40 are configured to detect the number of responses representing the number of SPADs 4 that are responding based on the pulse signal.
  • the peak detection unit 45 recognizes temporary timing based on the change state along the time series of the number of responses, and recognizes detection timing representing the timing at which the light ranging device 1A detects light according to the temporary timing. Configured to The response time correction unit 56 and the light amount correction unit 57 obtain a correction time representing a time difference between the temporary timing and the true timing corresponding to the distance to the object, and for the temporary timing, only the correction time It is configured to set the corrected timing as the detection timing.
  • the peak detection unit 45 is configured to recognize the timing at which the number of responses takes the maximum value as a temporary timing. According to such an optical distance measuring apparatus 1A, since the timing when the number of responses reaches the maximum value may be set as the tentative timing, the tentative timing can be recognized by a simple process.
  • the light quantity correction unit 57 is configured to calculate the correction time according to the light reception environment of the light ranging apparatus 1A. According to such an optical distance measuring apparatus 1A, since the correction time is calculated according to the light receiving environment of the optical distance measuring apparatus 1A, when the light receiving environment changes, it is possible to cope with the change. Therefore, detection timing can be estimated more accurately.
  • the response time correction unit 56 calculates the correction time in consideration of the number of responses at temporary timing and the response continuation time representing the time for which the responding SPAD 4 continues the response. Configured to
  • the correction time is calculated in consideration of the number of responses and the response continuation time, so that the light quantity for the optical distance measuring apparatus 1A and the characteristics of the SPAD 4 can be considered. . Therefore, detection timing can be estimated more accurately.
  • the light quantity correction unit 57 is configured to calculate the correction time according to the intensity of light incident on the light ranging apparatus 1A.
  • SPAD 4 saturates early when the light intensity becomes strong, and temporary timing tends to change, so correction is performed using this tendency.
  • the correction time is calculated according to the intensity of the light incident on the light distance measuring apparatus 1A. Therefore, the correction time is calculated according to the change of the temporary timing. Can. Therefore, detection timing can be estimated more accurately.
  • the level detection circuit 20 is configured as a clock synchronous circuit having a function of recognizing a pulse signal each time a clock input in a preset cycle is received.
  • the pulse signal can be recognized with a simple configuration as compared with the configuration using software. .
  • the correction time is determined using the maximum value of the level value.
  • the optical distance measuring apparatus 1B of the second embodiment is different from the first embodiment in that the correction time is obtained using the offset value of the level value in addition to the maximum value of the level value.
  • the light quantity correction unit 57 calculates the offset value Loff of the level value in addition to the maximum value Lmax of the level value, as shown in FIGS.
  • the offset value Loff of the level value represents the number of SPADs 4 that constantly respond.
  • the light receiving unit 2 receives light according to the ambient brightness as disturbance light, and a part of the SPAD 4 responds with the disturbance light.
  • the light quantity correction unit 57 recognizes an arbitrary value such as an average value or a median value of the number of SPADs 4 that respond in a period in which signal light is not emitted as the number of SPADs 4 that constantly respond, and this value as an offset value Loff. recognize.
  • the offset value Loff increases or decreases depending on the amount of disturbance light, and when there is little disturbance light, as shown in FIG. 9, the maximum value Lmax of the level value becomes larger than the offset value Loff. On the other hand, when there is much disturbance light, as shown in FIG. 10, the maximum value Lmax of the level value is smaller than the offset value Loff.
  • the light quantity correction unit 57 may set the correction time using a map in which the offset value Loff is also taken into consideration in addition to the maximum value Lmax of the level value, as shown in FIG.
  • the light quantity correction unit 57 may adopt a map in which the correction amount decreases as the offset value Loff increases.
  • the response time correction unit 56 and the light amount correction unit 57 are configured to calculate the correction time in consideration of the offset value representing the number of regularly responding SPADs.
  • an optical ranging device 1B it is possible to recognize the intensity of incident light excluding disturbance light by adding the offset value. Then, the detection timing can be corrected according to the intensity of the incident light.
  • the computing unit 50C further includes a response time computing unit 58 as shown in FIG. 1 as a configuration of functions realized by the CPU 51 executing a program.
  • the function of the response time calculation unit 58 is configured to calculate the correction time according to the light reception environment of the light ranging device 1A.
  • the above-mentioned time difference ⁇ T1 tends to be larger as the response duration time of the SPAD 4 becomes longer. Therefore, in the function of the response time calculation unit 58, the correction time is varied according to the response continuation time of the SPAD 4 in the light reception environment.
  • the function of the response time calculation unit 58 inputs a signal from at least one level detection circuit 20, and monitors whether or not a pulse signal is output from the level detection circuit 20. Then, the response continuation time of the monitoring target SPAD 4 is recognized by measuring the time from when the pulse signal is output until when it is not output.
  • a correction time according to the length of the measured response continuation time is set using a map as shown in FIG.
  • the map shown in FIG. 13 when the response duration time becomes long, the timing when the level value takes the maximum value is shifted to the long distance side, and a map is adopted in which the correction amount increases as the response duration time increases.
  • the response time calculation unit 58 measures the response continuation time for the SPAD 4 by monitoring whether or not the SPAD 4 is responding for at least one SPAD 4. Configured The response time correction unit 56 and the light amount correction unit 57 are configured to calculate the correction time in consideration of the response continuation time measured by the response time calculation unit 58.
  • An optical distance measuring apparatus 1D further includes a SPAD temperature detection unit 48, as shown in FIG.
  • the SPAD temperature detection unit 48 is configured as a known temperature sensor that detects the temperature of the SPAD 4 or the temperature around the SPAD 4.
  • the function as the light amount correction unit 57 of the calculation unit 50D corresponds to the SPAD temperature detection unit 48 using a previously prepared relational expression or map for specifying the relationship between the SPAD temperature detection unit 48 and the response continuation time.
  • the response duration time is specified, and the correction time is calculated using the map shown in FIG. 13 described above.
  • the SPAD temperature detection unit 48 is configured to acquire the temperature of the SPAD 4 or the temperature around the SPAD 4 for at least one SPAD 4.
  • the response time correction unit 56 and the light amount correction unit 57 are configured to calculate the response continuation time according to the temperature, and to calculate the correction time in consideration of the response continuation time.
  • the temperature of the SPAD 4 or the temperature around it is obtained, and the response continuation time is calculated according to the temperature, so that the accuracy of the correction can be improved. Therefore, detection timing can be estimated more accurately.
  • the correction time ⁇ T1 is determined according to the number of responses of SPAD2.
  • the fifth embodiment is different from the first embodiment in that the correction time ⁇ T1 is determined according to the degree of saturation of SPAD2.
  • the light amount correction unit 57 of the fifth embodiment determines the correction time ⁇ T1 according to the saturation of the SPAD 2 as shown in FIG.
  • the degree of saturation of SPAD2 indicates the ratio of the number of SPAD2 responses to the total number of SPAD2. For example, in the example of the timing [C] in FIG. 5, the total number of SPAD2s is 16 and the number of SPADs 2 that respond is 15, so the degree of saturation is about 94%.
  • the relationship between the degree of saturation of the SPAD 2 and the correction time is set so that the correction time decreases as the degree of saturation increases, as shown in the graph of FIG.
  • the tendency in this graph is almost the same as the relationship between the number of responses of SPAD 2 and the correction time shown in FIG.
  • the light quantity correction unit 57 calculates the correction time in consideration of the response rate to the total number of SPADs. According to such a configuration, not only the amount of incident light but also the ratio to the number of SPADs is taken into consideration, a system in which the number of SPADs in a pixel dynamically changes, or a system in which pixels of different SPAD numbers coexist However, the same correction time can be adopted without changing the correction time according to the total number of SPADs.
  • the tentative timing is determined based on the number of responses of the SPAD 2 obtained by the one-time light wave irradiation.
  • the sixth embodiment is different from the first embodiment in that the number of responses of the SPAD 2 obtained by irradiation of light waves a plurality of times is integrated, and a provisional timing is determined based on this value.
  • the peak detection unit 45 of the sixth embodiment recognizes a change in the number of responses along the time series each time the irradiation unit 3 irradiates a light wave. For example, as shown in FIG. 16, for the irradiation of light waves for an arbitrary number of times including the latest irradiation, the relationship between the time from the time of irradiation of the light waves and the number of responses is acquired as data indicating a change state. Here, data indicating the change state for the past three times is acquired.
  • data indicating a change state in the past is recorded in any memory.
  • data indicating a change state is stored in the memory 52 of the arithmetic unit 50 and obtained from the memory 52.
  • the peak detection unit 45 integrates the number of responses for each time after each light wave is irradiated on data indicating a change state in the past, and obtains an integrated change state which is data after the integration.
  • the integrated change state is obtained by simply integrating the number of responses for three times, as shown in the second diagram from the bottom of FIG.
  • the peak detection unit 45 divides the integrated change state by the number of integrations, here three times, and determines the position of the peak from the number of responses or the saturation based on the integrated change state after division. To recognize the tentative timing.
  • the peak detection unit 45 recognizes the change state along the time series of the number of responses every time the irradiation unit 3 irradiates the light waves, and integrates the number of responses for each time after each light wave is irradiated The temporary timing is recognized based on the change state.
  • the configuration for obtaining the correction time is realized as software processing, and the configuration of the peak detection unit 45 is realized as hardware, but the present invention is not limited to this.
  • the configuration for obtaining the correction time and the configuration of the peak detection unit 45 may be implemented as software processing, hardware, or a combination thereof.
  • the plurality of functions of one component in the above embodiment may be realized by a plurality of components, or one function of one component may be realized by a plurality of components . Also, a plurality of functions possessed by a plurality of components may be realized by one component, or one function realized by a plurality of components may be realized by one component.
  • part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of the other above-described embodiment.
  • all the aspects contained in the technical thought specified from the wording described in the claim are an embodiment of this indication.
  • the present disclosure can be realized in various forms such as a program for causing a computer to function as a part of the configuration, a non-transitional real recording medium such as a semiconductor memory storing the program, a light detection method, and the like.
  • the quench resistor 6 and the pulse output unit 8 correspond to the signal output unit in the present disclosure
  • the level detection circuit 20 and the adder 40 correspond to the response number detection unit in the present disclosure
  • the peak detection unit 45 corresponds to the timing recognition unit in the present disclosure
  • the SPAD temperature detection unit 48 corresponds to the temperature acquisition unit in the present disclosure.
  • the response time correction unit 56 and the light amount correction unit 57 correspond to a timing correction unit and a correction operation unit in the present disclosure
  • the response time calculation unit 58 is a response measurement unit in the present disclosure. Equivalent to.
  • the level detection circuit 70 corresponds to a clock synchronization circuit as referred to in the present disclosure.

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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Le dispositif de mesure de distance optique (1A, 1B, 1C, 1D) selon un aspect de la présente invention est pourvu d'une unité d'irradiation (3), d'une pluralité de SPAD (4), d'une pluralité d'unités de sortie de signal (6, 8), d'une unité de détection de numéro de réponse (20, 40), d'une unité de reconnaissance de temporisation (45) et d'une unité de correction de temporisation (56, 57). L'unité de détection de numéro de réponse est configurée pour détecter, sur la base d'un signal d'impulsion, un numéro de réponse représentant le nombre de SPAD répondeurs. L'unité de reconnaissance de temporisation est configurée pour reconnaître une temporisation temporaire sur la base de l'état de changement de série chronologique dans le nombre de réponses et pour reconnaître, en fonction de la temporisation temporaire, une temporisation de détection qui représente une temporisation à laquelle le dispositif de mesure de distance optique a détecté de la lumière. L'unité de correction de temporisation est configurée pour acquérir un temps de correction qui représente une différence de temps entre la temporisation temporaire et une temporisation réelle correspondant à la distance par rapport à un objet, et pour définir, en tant que temporisation de détection, la temporisation obtenue par correction de la temporisation temporaire par la quantité du temps de correction.
PCT/JP2018/023817 2017-06-22 2018-06-22 Dispositif de mesure de distance optique WO2018235944A1 (fr)

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CN201880040986.1A CN110799854B (zh) 2017-06-22 2018-06-22 光测距装置
US16/720,553 US11662442B2 (en) 2017-06-22 2019-12-19 Distance measurement apparatus with detection timing correction

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JP2017122287 2017-06-22
JP2018111123A JP2019007950A (ja) 2017-06-22 2018-06-11 光測距装置
JP2018-111123 2018-06-11

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019194039A1 (fr) * 2018-04-04 2019-10-10 株式会社デンソー Appareil de mesure de distance optique
JP2020118695A (ja) * 2020-04-14 2020-08-06 株式会社デンソー 光測距装置
CN113518929A (zh) * 2019-03-06 2021-10-19 株式会社电装 光学测距装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150041625A1 (en) * 2013-08-06 2015-02-12 Stmicroelectronics (Research & Development) Limited Time to digital converter and applications thereof
JP2016151458A (ja) * 2015-02-17 2016-08-22 株式会社デンソー 演算装置
WO2017042993A1 (fr) * 2015-09-10 2017-03-16 ソニー株式会社 Dispositif de correction, procédé de correction, et dispositif de mesure de distance
JP2018091760A (ja) * 2016-12-05 2018-06-14 株式会社豊田中央研究所 光学測定装置、光学測定方法、及び光学測定プログラム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150041625A1 (en) * 2013-08-06 2015-02-12 Stmicroelectronics (Research & Development) Limited Time to digital converter and applications thereof
JP2016151458A (ja) * 2015-02-17 2016-08-22 株式会社デンソー 演算装置
WO2017042993A1 (fr) * 2015-09-10 2017-03-16 ソニー株式会社 Dispositif de correction, procédé de correction, et dispositif de mesure de distance
JP2018091760A (ja) * 2016-12-05 2018-06-14 株式会社豊田中央研究所 光学測定装置、光学測定方法、及び光学測定プログラム

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019194039A1 (fr) * 2018-04-04 2019-10-10 株式会社デンソー Appareil de mesure de distance optique
JP2019184297A (ja) * 2018-04-04 2019-10-24 株式会社デンソー 光測距装置
CN113518929A (zh) * 2019-03-06 2021-10-19 株式会社电装 光学测距装置
JP2020118695A (ja) * 2020-04-14 2020-08-06 株式会社デンソー 光測距装置

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