WO2019084445A1 - Lidar sensor assembly with detector gap - Google Patents

Lidar sensor assembly with detector gap

Info

Publication number
WO2019084445A1
WO2019084445A1 PCT/US2018/057772 US2018057772W WO2019084445A1 WO 2019084445 A1 WO2019084445 A1 WO 2019084445A1 US 2018057772 W US2018057772 W US 2018057772W WO 2019084445 A1 WO2019084445 A1 WO 2019084445A1
Authority
WO
WIPO (PCT)
Prior art keywords
detector array
sensor assembly
lidar sensor
set forth
light
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.)
Ceased
Application number
PCT/US2018/057772
Other languages
French (fr)
Inventor
Patrick B Gilliland
Jan Michael MASUR
Heiko Leppin
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.)
Aumovio Systems Inc
Original Assignee
Continental Automotive Systems Inc
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 Continental Automotive Systems Inc filed Critical Continental Automotive Systems Inc
Publication of WO2019084445A1 publication Critical patent/WO2019084445A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • 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
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
    • H04N25/41—Extracting pixel data from a plurality of image sensors simultaneously picking up an image, e.g. for increasing the field of view by combining the outputs of a plurality of sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/703—SSIS architectures incorporating pixels for producing signals other than image signals
    • H04N25/705—Pixels for depth measurement, e.g. RGBZ
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10F—INORGANIC SEMICONDUCTOR DEVICES SENSITIVE TO INFRARED RADIATION, LIGHT, ELECTROMAGNETIC RADIATION OF SHORTER WAVELENGTH OR CORPUSCULAR RADIATION
    • H10F39/00—Integrated devices, or assemblies of multiple devices, comprising at least one element covered by group H10F30/00, e.g. radiation detectors comprising photodiode arrays
    • H10F39/011—Manufacture or treatment of image sensors covered by group H10F39/12
    • H10F39/018—Manufacture or treatment of image sensors covered by group H10F39/12 of hybrid image sensors
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10W—GENERIC PACKAGES, INTERCONNECTIONS, CONNECTORS OR OTHER CONSTRUCTIONAL DETAILS OF DEVICES COVERED BY CLASS H10
    • H10W90/00—Package configurations
    • 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
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10W—GENERIC PACKAGES, INTERCONNECTIONS, CONNECTORS OR OTHER CONSTRUCTIONAL DETAILS OF DEVICES COVERED BY CLASS H10
    • H10W72/00—Interconnections or connectors in packages
    • H10W72/20—Bump connectors, e.g. solder bumps or copper pillars; Dummy bumps; Thermal bumps
    • H10W72/251—Materials
    • H10W72/252—Materials comprising solid metals or solid metalloids, e.g. PbSn, Ag or Cu
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10W—GENERIC PACKAGES, INTERCONNECTIONS, CONNECTORS OR OTHER CONSTRUCTIONAL DETAILS OF DEVICES COVERED BY CLASS H10
    • H10W90/00—Package configurations
    • H10W90/701—Package configurations characterised by the relative positions of pads or connectors relative to package parts
    • H10W90/721—Package configurations characterised by the relative positions of pads or connectors relative to package parts of bump connectors
    • H10W90/722—Package configurations characterised by the relative positions of pads or connectors relative to package parts of bump connectors between stacked chips

Definitions

  • the technical field relates generally to lidar sensor assemblies and more specifically to a plurality of light sensitive detectors.
  • Lidar sensor assemblies often utilize a plurality of light sensitive detectors. These detectors may be arranged in a generally rectangular array representing a "field of view" of the sensor. Such a detector array may be directly connected to an integrated circuit using a plurality of metallic bonds.
  • the thermal expansion rates of the detector array and the integrated circuit may be different from one another.
  • excessive strain may occur between the detector array and the integrated circuit due to the difference in thermal expansion rates, resulting in failure of all or part of the sensor.
  • a lidar sensor assembly includes a first detector array having a plurality of light sensitive detectors each configured to receive light reflected from an object and produce an electrical signal in response to receiving the light.
  • the lidar sensor assembly also includes a second detector array having a plurality of detectors configured to receive light reflected from an object and produce an electrical signal in response to receiving the light.
  • a readout integrated circuit (“ROIC") is bonded to the first detector array and the second detector array.
  • the first detector array is disposed adjacent the second detector array and forms a gap therebetween.
  • a lidar sensor assembly includes a light source configured to produce an output of pulsed light.
  • the lidar sensor assembly also includes a diffusion optic for diffusing the pulsed light into a field of view.
  • a first detector array includes a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light.
  • a second detector array includes a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light.
  • the lidar sensor assembly further includes a readout integrated circuit ("ROIC") bonded to the first detector array and the second detector array. The first detector array is disposed adjacent the second detector array and forms a gap therebetween.
  • ROIC readout integrated circuit
  • a vehicle in one exemplary embodiment, includes a lidar sensor assembly.
  • the lidar sensor assembly includes a light source configured to produce an output of pulsed light.
  • the lidar sensor assembly also includes a diffusion optic for diffusing the pulsed light into a field of view.
  • a first detector array includes a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light.
  • a second detector array includes a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light.
  • the lidar sensor assembly further includes a readout integrated circuit ("ROIC") bonded to the first detector array and the second detector array.
  • ROIC readout integrated circuit
  • the first detector array is disposed adjacent the second detector array and forms a gap therebetween.
  • the vehicle further includes at least one of a propulsion system, a steering system, and a braking system.
  • a controller is in communication with the lidar sensor assembly and at least one of the propulsion system, the steering system, and the braking system. The controller is configured to at least partially control at least one of the propulsion system, the steering system, and the braking system in response to data received from the lidar sensor assembly.
  • FIG. 1 is a block diagram of a lidar sensor assembly according to one exemplary embodiment
  • Figure 2 is a top view of a plurality of detector arrays of the lidar sensor assembly according to one exemplary embodiment
  • Figure 3 is a cross-sectional view of the plurality of detector arrays and a readout integrated circuit along line 3-3 in Figure 2 according to one exemplary embodiment.
  • Figure 4 is an exploded view of the plurality of detector arrays and the readout integrated circuit according to one exemplary embodiment
  • Figure 5 is an exploded view of the plurality of detector arrays and the readout integrated circuit according to another exemplary embodiment
  • FIG. 6 is a block diagram of a vehicle incorporating the lidar sensor assembly according to one exemplary embodiment.
  • FIG. 7 is a detailed block diagram of the lidar sensor assembly according to one exemplary embodiment.
  • lidar sensor assembly 100 is shown and described herein.
  • the lidar sensor assembly 100 of the exemplary embodiment includes a light source 102.
  • the light source 102 includes a laser transmitter (not separately shown) configured to produce a pulsed laser light output.
  • the laser transmitter may be a solid-state laser, monoblock laser, semiconductor laser, fiber laser, and/or an array of semiconductor lasers. It may also employ more than one individual laser.
  • the pulsed laser light output in the exemplary embodiment, has a wavelength in the infrared range. More particularly, the pulsed laser light output has a wavelength of about 1064 nanometers (nm). However, it should be appreciated that other wavelengths of light may be produced instead of and/or in addition to the 1064 nm light.
  • the lidar sensor assembly 100 may also include a diffusion optic 104 to diffuse the pulsed laser light output produced by the light source 102.
  • the diffused, pulsed laser light output of the exemplary embodiment allows for the lidar sensor assembly 100 to operate without moving, e.g., rotating, the light source 102, as is often typical in prior art lidar sensors.
  • the lidar sensor assembly 100 may also include a controller 105 in communication with the light source 102.
  • the controller 105 may include a microprocessor and/or other circuitry capable of performing calculations, manipulating data, and/or executing instructions (i.e., running a program).
  • the controller 105 in the exemplary embodiment controls operation of the light source 102 to produce the pulsed laser light output.
  • the lidar sensor assembly 100 of the exemplary embodiment also includes a receiving optic 106, e.g., a lens (not separately numbered).
  • a receiving optic 106 e.g., a lens (not separately numbered).
  • Light produced by the light source 102 may reflect off one or more objects 107 and is received by the receiving optic 106.
  • the receiving optic 106 focuses the received light into a focal plane.
  • the focal plane is coincident with a plurality of light sensitive detectors 108.
  • Each light sensitive detector 108 is each associated with a pixel (not shown) of an image (not shown).
  • each pixel measures about 135 ⁇ x 135 ⁇ , giving each pixel a net pixel area of about 18.2 nm 2
  • the light sensitive detectors 108 are arranged into at least two detector arrays 200, 202, 204, as shown in Figure 2.
  • the lidar sensor assembly 100 includes three detector arrays 200, 202, 204: a first detector array 200, a second detector array 202, and a third detector array 204.
  • a first detector array 200 a second detector array 202
  • a third detector array 204 a third detector array 204.
  • other number of detector arrays 200, 202, 204 may be implemented.
  • each detector array 200, 202, 204 may be arranged into a plurality of rows (not numbered) and columns (not numbered).
  • a number of rows and columns of the first detector array 200 is the same as a number of rows and columns of the second detector array 202 and the third detector array 204.
  • each detector array 200, 202, 204 includes 4096 light sensitive detectors 108 arranged in a 64 x 64 array. That is, the light sensitive detectors 108 are arranged as 64 rows and 64 columns in a generally square shape.
  • each detector array 200, 202, 204 are generally identical to one another.
  • the detector arrays 200, 202, 204 may include any number of light sensitive detectors 108 and be arranged in other shapes and configurations. It should also be appreciated that the various detector arrays 200, 202, 204 may be asymmetrical from one another and/or non-identical in other ways. In the exemplary embodiment, the pitch of the rows and columns is about 140 ⁇ .
  • Each light sensitive detector 108 is configured to receive light produced by the light source 102 and reflected from at least one of the objects 107, as shown in Figure 1. Each light sensitive detector 108 is also configured to produce an electrical signal in response to receiving the reflected light.
  • the detectors 108 of the detector arrays 200, 202, 204 may be formed in a thin film of indium gallium arsenide ("InGaAs”) (not shown) deposited epitaxially atop an indium phosphide (“InP”) semiconducting substrate (not separately numbered).
  • InGaAs indium gallium arsenide
  • InP indium phosphide
  • At least one readout integrated circuit (“ROIC") 116 is bonded to the detector arrays 200, 202, 204, as shown in Figure 1. More particularly, in the exemplary embodiment, as shown in Figure 3, a plurality of indium bumps 300 electrically and mechanically connect the detector arrays 200, 202, 204 to the ROIC 116.
  • ROIC readout integrated circuit
  • the ROIC 116 is formed with a silicon substrate (not separately numbered) and includes a plurality of unit cell electronic circuits (hereafter "unit cells” or "unit cell”) 302.
  • each unit cell 302 is associated with one of the light sensitive detectors 108 and receives the electrical signal generated by the associated light sensitive detector 108.
  • Each unit cell 302 is configured to amplify the signal received from the associated light sensitive detector 102 and sample the amplified output.
  • the unit cell 302 may also be configured to detect the presence of an electrical pulse in the amplified output associated with a light pulse reflected from the object 107.
  • each unit cell 302 may be configured to perform functions other than those described above or herein.
  • the unit cells 302 of the exemplary embodiment are arranged into a plurality of rows (not numbered) and columns (not numbered).
  • the detector arrays 200, 202, 204 have a substrate comprising indium phosphide while the ROIC 116 includes a substrate comprising silicon.
  • a coefficient of thermal expansion of the detector arrays 200, 202, 204 may be different from a coefficient of thermal expansion of the ROIC 116. Therefore, the detector arrays 200, 202, 204 may expand or contract based on changes in temperature and/or pressure at a different rate than the ROIC 116. More particularly, in the exemplary embodiment, the coefficient of thermal expansion ("CTE") of Indium Phosphide is 4.6 ⁇ / ⁇ - ⁇ 0 while the CTE of silicon is 3.0 ⁇ / ⁇ - .
  • CTE coefficient of thermal expansion
  • the first detector array 200 is disposed adjacent the second detector array 202 and forms a first gap 206 therebetween.
  • the third detector array 204 is disposed adjacent the second detector array 202 and forms a second gap 208 therebetween.
  • the detector arrays 200, 202, 204 may expand and/or contract with differences in temperature and pressure.
  • strain on the detector arrays 200, 202, 204 and the bonds, e.g., the indium bumps 300 is reduced in comparison to a single detector array (not shown) where no gaps are used. More particularly, strain is reduced 3: 1 over the prior art where one detector array is utilized.
  • the reduction in strain yields a reduction in failure of all or a portion of the lidar sensor assembly 100, when compared to use of a larger, single detector array.
  • assembly time of the lidar sensor assembly 100 may be reduced by using three 64 x 64 arrays 200, 202, 204, instead of one larger 192 x 64 array.
  • the ROIC 116 is arranged into a first section 304, a second section 306, and a third section 308.
  • a first space 310 is formed between the first section 304 and the second section 306 and a second space 312 is formed between the second section 306 and the third section 308.
  • each space 310, 312 has a width of about 35 ⁇ . As such, two dark lines (not shown) having a width of about 35 ⁇ will be present in the resulting image.
  • FIG. 5 Another exemplary embodiment of the ROIC 116 is shown in Figure 5.
  • the sections 304, 306, 308 are continuous; i.e., there is no spacing between the sections 304, 306, 308.
  • the area of the pixels corresponding to the edge columns of detectors 108, i.e., the detectors 108 adjacent the gaps 206, 208, will be reduced.
  • these edge column pixels have dimensions of about 135 ⁇ x 105 ⁇ . This provides a net pixel area that is 78% of the net pixel area of detectors 108 which are not adjacent to the gaps 206, 208.
  • a vehicle 600 such as an automobile (not separately numbered) may incorporate at least one lidar sensor assembly 100, as described herein.
  • the vehicle 600 of the exemplary embodiment includes a propulsion system 601, a steering system 602, and a braking system 603.
  • the propulsion system 602 may include, but is certainly not limited to, an engine (not shown), a motor (not shown), and a transmission (not shown), for propelling the vehicle 600.
  • the braking system 603 may include one or more brakes to slow one or more wheels of the vehicle 600.
  • the steering system 602 controls the direction of travel of the vehicle 600 by, e.g., turning one or more wheels of the vehicle 600.
  • the vehicle 600 may also include a controller 604.
  • the controller 604 is in communication with the at least one lidar sensor assembly 100.
  • the controller 604 is also in communication with at least one of the propulsion system 601, the steering system 602, and the braking system 603. As such, the controller 604 may utilize data received from the at least one lidar sensor assembly 100 to control operation of the vehicle 600 via the propulsion system 601, the steering system 602, and/or the braking system 603.
  • one of the lidar sensor assemblies 100 may detect that an object 107, i.e., an obstruction such as another vehicle, a pedestrian, etc., lies in the forward driving path of the vehicle 600.
  • the controller 604 may instruct the braking system 603 to apply the brakes to avoid a collision with the object 107.
  • the controller 604 may instruct the steering system 602 to maneuver the vehicle 600 around the object 107.
  • FIG. 7 shows a more detailed block diagram of the lidar sensor assembly 100 according to one exemplary embodiment. This embodiment is detailed in U. S. Patent No. 9,420,264, which is hereby incorporated by reference.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A lidar sensor assembly includes a first detector array having a plurality of light sensitive detectors each configured to receive light reflected from an object and produce an electrical signal in response to receiving the light. The lidar sensor assembly also includes a second detector array having a plurality of detectors configured to receive light reflected from an object and produce an electrical signal in response to receiving the light. A readout integrated circuit ("ROIC") is bonded to the first detector array and the second detector array. A gap is formed between the first detector array and the second detector array.

Description

LIDAR SENSOR ASSEMBLY WITH DETECTOR GAP
TECHNICAL FIELD
[0001] The technical field relates generally to lidar sensor assemblies and more specifically to a plurality of light sensitive detectors.
BACKGROUND
[0002] Lidar sensor assemblies often utilize a plurality of light sensitive detectors. These detectors may be arranged in a generally rectangular array representing a "field of view" of the sensor. Such a detector array may be directly connected to an integrated circuit using a plurality of metallic bonds.
[0003] Unfortunately, the thermal expansion rates of the detector array and the integrated circuit may be different from one another. With a relatively large detector array, excessive strain may occur between the detector array and the integrated circuit due to the difference in thermal expansion rates, resulting in failure of all or part of the sensor.
[0004] As such, it is desirable to present a lidar sensor assembly that does not exhibit excessive strain. In addition, other desirable features and characteristics will become apparent from the subsequent summary and detailed description, and the appended claims, taken in conjunction with the accompanying drawings and this background.
BRIEF SUMMARY
[0005] In one exemplary embodiment, a lidar sensor assembly includes a first detector array having a plurality of light sensitive detectors each configured to receive light reflected from an object and produce an electrical signal in response to receiving the light. The lidar sensor assembly also includes a second detector array having a plurality of detectors configured to receive light reflected from an object and produce an electrical signal in response to receiving the light. A readout integrated circuit ("ROIC") is bonded to the first detector array and the second detector array. The first detector array is disposed adjacent the second detector array and forms a gap therebetween.
[0006] In one exemplary embodiment, a lidar sensor assembly includes a light source configured to produce an output of pulsed light. The lidar sensor assembly also includes a diffusion optic for diffusing the pulsed light into a field of view. A first detector array includes a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light. A second detector array includes a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light. The lidar sensor assembly further includes a readout integrated circuit ("ROIC") bonded to the first detector array and the second detector array. The first detector array is disposed adjacent the second detector array and forms a gap therebetween.
[0007] In one exemplary embodiment, a vehicle includes a lidar sensor assembly. The lidar sensor assembly includes a light source configured to produce an output of pulsed light. The lidar sensor assembly also includes a diffusion optic for diffusing the pulsed light into a field of view. A first detector array includes a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light. A second detector array includes a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light. The lidar sensor assembly further includes a readout integrated circuit ("ROIC") bonded to the first detector array and the second detector array. The first detector array is disposed adjacent the second detector array and forms a gap therebetween. The vehicle further includes at least one of a propulsion system, a steering system, and a braking system. A controller is in communication with the lidar sensor assembly and at least one of the propulsion system, the steering system, and the braking system. The controller is configured to at least partially control at least one of the propulsion system, the steering system, and the braking system in response to data received from the lidar sensor assembly.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Other advantages of the disclosed subject matter will be readily appreciated, as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings wherein: [0009] Figure 1 is a block diagram of a lidar sensor assembly according to one exemplary embodiment;
[0010] Figure 2 is a top view of a plurality of detector arrays of the lidar sensor assembly according to one exemplary embodiment;
[0011] Figure 3 is a cross-sectional view of the plurality of detector arrays and a readout integrated circuit along line 3-3 in Figure 2 according to one exemplary embodiment; and
[0012] Figure 4 is an exploded view of the plurality of detector arrays and the readout integrated circuit according to one exemplary embodiment;
[0013] Figure 5 is an exploded view of the plurality of detector arrays and the readout integrated circuit according to another exemplary embodiment;
[0014] Figure 6 is a block diagram of a vehicle incorporating the lidar sensor assembly according to one exemplary embodiment; and
[0015] Figure 7 is a detailed block diagram of the lidar sensor assembly according to one exemplary embodiment.
DETAILED DESCRIPTION
[0016] Referring to the Figures, wherein like numerals indicate like parts throughout the several views, a lidar sensor assembly 100 is shown and described herein.
[0017] Referring to Figure 1, the lidar sensor assembly 100 of the exemplary embodiment includes a light source 102. In the exemplary embodiment, the light source 102 includes a laser transmitter (not separately shown) configured to produce a pulsed laser light output. The laser transmitter may be a solid-state laser, monoblock laser, semiconductor laser, fiber laser, and/or an array of semiconductor lasers. It may also employ more than one individual laser. The pulsed laser light output, in the exemplary embodiment, has a wavelength in the infrared range. More particularly, the pulsed laser light output has a wavelength of about 1064 nanometers (nm). However, it should be appreciated that other wavelengths of light may be produced instead of and/or in addition to the 1064 nm light.
[0018] The lidar sensor assembly 100 may also include a diffusion optic 104 to diffuse the pulsed laser light output produced by the light source 102. The diffused, pulsed laser light output of the exemplary embodiment allows for the lidar sensor assembly 100 to operate without moving, e.g., rotating, the light source 102, as is often typical in prior art lidar sensors.
[0019] The lidar sensor assembly 100 may also include a controller 105 in communication with the light source 102. The controller 105 may include a microprocessor and/or other circuitry capable of performing calculations, manipulating data, and/or executing instructions (i.e., running a program). The controller 105 in the exemplary embodiment controls operation of the light source 102 to produce the pulsed laser light output.
[0020] The lidar sensor assembly 100 of the exemplary embodiment also includes a receiving optic 106, e.g., a lens (not separately numbered). Light produced by the light source 102 may reflect off one or more objects 107 and is received by the receiving optic 106. The receiving optic 106 focuses the received light into a focal plane. The focal plane is coincident with a plurality of light sensitive detectors 108. Each light sensitive detector 108 is each associated with a pixel (not shown) of an image (not shown). In the exemplary embodiment, each pixel measures about 135 μηι x 135 μιτι, giving each pixel a net pixel area of about 18.2 nm2
[0021] The light sensitive detectors 108 are arranged into at least two detector arrays 200, 202, 204, as shown in Figure 2. In the exemplary embodiment, the lidar sensor assembly 100 includes three detector arrays 200, 202, 204: a first detector array 200, a second detector array 202, and a third detector array 204. However, it should be appreciated that in other embodiments, other number of detector arrays 200, 202, 204 may be implemented.
[0022] The light sensitive detectors 108 of each detector array 200, 202, 204 may be arranged into a plurality of rows (not numbered) and columns (not numbered). In the exemplary embodiment, a number of rows and columns of the first detector array 200 is the same as a number of rows and columns of the second detector array 202 and the third detector array 204. More particularly, in the exemplary embodiment described herein, each detector array 200, 202, 204 includes 4096 light sensitive detectors 108 arranged in a 64 x 64 array. That is, the light sensitive detectors 108 are arranged as 64 rows and 64 columns in a generally square shape. As such, each detector array 200, 202, 204 are generally identical to one another. However, it should be appreciated that the detector arrays 200, 202, 204 may include any number of light sensitive detectors 108 and be arranged in other shapes and configurations. It should also be appreciated that the various detector arrays 200, 202, 204 may be asymmetrical from one another and/or non-identical in other ways. In the exemplary embodiment, the pitch of the rows and columns is about 140 μηι.
[0023] Each light sensitive detector 108 is configured to receive light produced by the light source 102 and reflected from at least one of the objects 107, as shown in Figure 1. Each light sensitive detector 108 is also configured to produce an electrical signal in response to receiving the reflected light. The detectors 108 of the detector arrays 200, 202, 204 may be formed in a thin film of indium gallium arsenide ("InGaAs") (not shown) deposited epitaxially atop an indium phosphide ("InP") semiconducting substrate (not separately numbered).
[0024] At least one readout integrated circuit ("ROIC") 116 is bonded to the detector arrays 200, 202, 204, as shown in Figure 1. More particularly, in the exemplary embodiment, as shown in Figure 3, a plurality of indium bumps 300 electrically and mechanically connect the detector arrays 200, 202, 204 to the ROIC 116.
[0025] The ROIC 116 is formed with a silicon substrate (not separately numbered) and includes a plurality of unit cell electronic circuits (hereafter "unit cells" or "unit cell") 302. In the exemplary embodiment, each unit cell 302 is associated with one of the light sensitive detectors 108 and receives the electrical signal generated by the associated light sensitive detector 108. Each unit cell 302 is configured to amplify the signal received from the associated light sensitive detector 102 and sample the amplified output. The unit cell 302 may also be configured to detect the presence of an electrical pulse in the amplified output associated with a light pulse reflected from the object 107. Of course, each unit cell 302 may be configured to perform functions other than those described above or herein. The unit cells 302 of the exemplary embodiment are arranged into a plurality of rows (not numbered) and columns (not numbered).
[0026] As stated above, in the exemplary embodiment, the detector arrays 200, 202, 204 have a substrate comprising indium phosphide while the ROIC 116 includes a substrate comprising silicon. As such, a coefficient of thermal expansion of the detector arrays 200, 202, 204 may be different from a coefficient of thermal expansion of the ROIC 116. Therefore, the detector arrays 200, 202, 204 may expand or contract based on changes in temperature and/or pressure at a different rate than the ROIC 116. More particularly, in the exemplary embodiment, the coefficient of thermal expansion ("CTE") of Indium Phosphide is 4.6 μΐη/ΐη-ο0 while the CTE of silicon is 3.0 μπι/ηι- .
[0027] Referring to Figures 2 and 3, the first detector array 200 is disposed adjacent the second detector array 202 and forms a first gap 206 therebetween. In the exemplary embodiment, the third detector array 204 is disposed adjacent the second detector array 202 and forms a second gap 208 therebetween.
[0028] By utilizing gaps 206, 208, that is, spacing, between the detector arrays 200, 202, 204, the detector arrays 200, 202, 204 may expand and/or contract with differences in temperature and pressure. As such, strain on the detector arrays 200, 202, 204 and the bonds, e.g., the indium bumps 300, is reduced in comparison to a single detector array (not shown) where no gaps are used. More particularly, strain is reduced 3: 1 over the prior art where one detector array is utilized. The reduction in strain yields a reduction in failure of all or a portion of the lidar sensor assembly 100, when compared to use of a larger, single detector array. Furthermore, assembly time of the lidar sensor assembly 100 may be reduced by using three 64 x 64 arrays 200, 202, 204, instead of one larger 192 x 64 array.
[0029] In one exemplary embodiment, as shown in Figures 3 and 4, the ROIC 116 is arranged into a first section 304, a second section 306, and a third section 308. A first space 310 is formed between the first section 304 and the second section 306 and a second space 312 is formed between the second section 306 and the third section 308. In the exemplary embodiment, each space 310, 312 has a width of about 35 μηι. As such, two dark lines (not shown) having a width of about 35 μηι will be present in the resulting image.
[0030] Another exemplary embodiment of the ROIC 116 is shown in Figure 5. In this embodiment, the sections 304, 306, 308 are continuous; i.e., there is no spacing between the sections 304, 306, 308. In this embodiment, the area of the pixels corresponding to the edge columns of detectors 108, i.e., the detectors 108 adjacent the gaps 206, 208, will be reduced. Specifically, in this exemplary embodiment, these edge column pixels have dimensions of about 135 μηι x 105 μηι. This provides a net pixel area that is 78% of the net pixel area of detectors 108 which are not adjacent to the gaps 206, 208. [0031] Referring now to Figure 6, a vehicle 600, such as an automobile (not separately numbered) may incorporate at least one lidar sensor assembly 100, as described herein. The vehicle 600 of the exemplary embodiment includes a propulsion system 601, a steering system 602, and a braking system 603. The propulsion system 602 may include, but is certainly not limited to, an engine (not shown), a motor (not shown), and a transmission (not shown), for propelling the vehicle 600. The braking system 603 may include one or more brakes to slow one or more wheels of the vehicle 600. The steering system 602 controls the direction of travel of the vehicle 600 by, e.g., turning one or more wheels of the vehicle 600.
[0032] The vehicle 600 may also include a controller 604. The controller 604 is in communication with the at least one lidar sensor assembly 100. The controller 604 is also in communication with at least one of the propulsion system 601, the steering system 602, and the braking system 603. As such, the controller 604 may utilize data received from the at least one lidar sensor assembly 100 to control operation of the vehicle 600 via the propulsion system 601, the steering system 602, and/or the braking system 603.
[0033] For instance, one of the lidar sensor assemblies 100 may detect that an object 107, i.e., an obstruction such as another vehicle, a pedestrian, etc., lies in the forward driving path of the vehicle 600. The controller 604 may instruct the braking system 603 to apply the brakes to avoid a collision with the object 107. Alternatively and/or additionally, the controller 604 may instruct the steering system 602 to maneuver the vehicle 600 around the object 107.
[0034] Figure 7 shows a more detailed block diagram of the lidar sensor assembly 100 according to one exemplary embodiment. This embodiment is detailed in U. S. Patent No. 9,420,264, which is hereby incorporated by reference.
[0035] The present invention has been described herein in an illustrative manner, and it is to be understood that the terminology which has been used is intended to be in the nature of words of description rather than of limitation. Obviously, many modifications and variations of the invention are possible in light of the above teachings. The invention may be practiced otherwise than as specifically described within the scope of the appended claims.

Claims

CLAIMS What is claimed is:
1. A lidar sensor assembly comprising:
a first detector array having a plurality of light sensitive detectors each configured to receive light reflected from an object and produce an electrical signal in response to receiving the light;
a second detector array having a plurality of detectors configured to receive light reflected from an object and produce an electrical signal in response to receiving the light; and
a readout integrated circuit ("ROIC") bonded to said first detector array and said second detector array;
said first detector array disposed adjacent said second detector array forming a gap therebetween.
2. The lidar sensor assembly as set forth in claim 1, wherein a coefficient of thermal expansion of said first detector array and said second detector array is different from a coefficient of thermal expansion of said ROIC.
3. The lidar sensor assembly as set forth in claim 2, wherein said first detector array and said second detector array each have a substrate comprising indium phosphide.
4. The lidar sensor assembly as set forth in claim 3, wherein said semiconductor has a substrate comprising silicon.
5. The lidar sensor assembly as set forth in claim 1 , wherein said light sensitive detectors of said first detector array are arranged into a plurality of rows and columns and said light sensitive detectors of said second detector array are arranged into a plurality of rows and columns.
6. The lidar sensor assembly as set forth in claim 5 wherein a number of rows and columns of said first detector array is the same as a number of rows and columns of said second detector array.
7. The lidar sensor assembly as set forth in claim 1, wherein said ROIC includes a plurality of unit cells arranged into a plurality of rows and columns with each unit cell corresponding to one of the light sensitive detectors.
8. The lidar sensor assembly as set forth in claim 7, wherein said plurality of unit cells of said ROIC are arranged into a first section and a second section with a space formed therebetween.
9. The lidar sensor assembly as set forth in claim 1, further comprising: a third detector array having a plurality of light sensitive detectors configured to receive light reflected from an object and produce an electrical signal in response to receiving the light;
said ROIC bonded to said third detector array; and
said third detector array disposed adjacent second detector array forming a second gap therebetween.
10. The lidar sensor assembly as set forth in claim 9, wherein said light sensitive detectors of said first detector array, said second detector array, and said third detector array are each arranged into a plurality of rows and columns.
11. The lidar sensor assembly as set forth in claim 10, wherein a number of rows and columns of each detector array is the same.
12. A lidar sensor assembly comprising:
a light source configured to produce an output of pulsed light;
a diffusion optic for diffusing the pulsed light into a field of view;
a first detector array having a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light;
a second detector array having a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light; and
a readout integrated circuit ("ROIC") bonded to said first detector array and said second detector array;
said first detector array disposed adjacent said second detector array forming a gap therebetween.
13. The lidar sensor assembly as set forth in claim 12, wherein a coefficient of thermal expansion of said first detector array and said second detector array is different from a coefficient of thermal expansion of said ROIC.
14. The lidar sensor assembly as set forth in claim 13, wherein said first detector array and said second detector array each have a substrate comprising indium phosphide.
15. The lidar sensor assembly as set forth in claim 14, wherein said semiconductor has a substrate comprising silicon.
16. The lidar sensor assembly as set forth in claim 12, wherein said ROIC includes a plurality of unit cells arranged into a plurality of rows and columns with each unit cell corresponding to one of the light sensitive detectors.
17. The lidar sensor assembly as set forth in claim 16 wherein said plurality of unit cells of said ROIC are arranged into a first section and a second section with a space formed therebetween.
18. A vehicle, comprising:
a lidar sensor assembly, including
a light source configured to produce an output of pulsed light, a diffusion optic for diffusing the pulsed light into a field of view, a first detector array having a plurality of light sensitive detectors each configured to receive the pulsed light reflected from an object in the field of view and produce an electrical signal in response to receiving the pulsed light,
a second detector array having a plurality of detectors configured to receive the pulsed light reflected from an object and produce an electrical signal in response to receiving the pulsed light, and
a readout integrated circuit ("ROIC") bonded to said first detector array and said second detector array,
said first detector array disposed adjacent said second detector array forming a gap therebetween;
at least one of a propulsion system, a steering system, and a braking system; and a controller in communication with said lidar sensor assembly and at least one of said propulsion system, said steering system, and said braking system and configured to at least partially control at least one of said propulsion system, said steering system, and said braking system in response to data received from said lidar sensor assembly.
19. The vehicle as set forth in claim 18, wherein a coefficient of thermal expansion of said first detector array and said second detector array is different from a coefficient of thermal expansion of said ROIC.
20. The vehicle as set forth in claim 18, wherein
said ROIC includes a plurality of unit cells arranged into a plurality of rows and columns with each unit cell corresponding to one of the light sensitive detectors; and said plurality of unit cells of said ROIC are arranged into a first section and a second section with a space formed therebetween.
PCT/US2018/057772 2017-10-26 2018-10-26 Lidar sensor assembly with detector gap Ceased WO2019084445A1 (en)

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US11507087B2 (en) * 2018-11-07 2022-11-22 Gm Cruise Holdings Llc Distributed integrated sensing and communication module
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