WO2019088974A1 - Circuit d'alimentation et procédé pour une source de lumière laser d'un capteur lidar à flash - Google Patents

Circuit d'alimentation et procédé pour une source de lumière laser d'un capteur lidar à flash Download PDF

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Publication number
WO2019088974A1
WO2019088974A1 PCT/US2017/059017 US2017059017W WO2019088974A1 WO 2019088974 A1 WO2019088974 A1 WO 2019088974A1 US 2017059017 W US2017059017 W US 2017059017W WO 2019088974 A1 WO2019088974 A1 WO 2019088974A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser light
light source
lidar sensor
sensor assembly
buck converter
Prior art date
Application number
PCT/US2017/059017
Other languages
English (en)
Inventor
Sebastian Heinz
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
Priority to PCT/US2017/059017 priority Critical patent/WO2019088974A1/fr
Publication of WO2019088974A1 publication Critical patent/WO2019088974A1/fr

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
    • 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
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H02M3/1584—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load with a plurality of power processing stages connected in parallel
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
    • H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
    • H05B45/30—Driver circuits
    • H05B45/37—Converter circuits
    • H05B45/3725—Switched mode power supply [SMPS]
    • H05B45/375—Switched mode power supply [SMPS] using buck topology
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
    • Y02B20/30—Semiconductor lamps, e.g. solid state lamps [SSL] light emitting diodes [LED] or organic LED [OLED]

Definitions

  • the technical field relates generally to electrical circuits for powering a flash lidar sensor assembly.
  • Flash lidar systems often employ laser light sources, e.g., laser diodes, which are configured to generate pulses of light.
  • the laser light sources In order to generate the light pulses, the laser light sources often require high operating currents, e.g., in the range of 150 A, with an average forward voltage of around 2 V.
  • a linear current source is utilized to supply the laser light source.
  • a linear current source utilizes a plurality of large bulk capacitors electrically connected in parallel with one another. These capacitors ensure the high peak currents demanded by the laser light source. The capacitors are charged during the pause time (i.e., the off time) of the laser pulse. Switching of the current is performed by a plurality of MOSFETs disposed in parallel with one another and in series with the laser light source and used in their linear mode.
  • ripple current is applied to the capacitors.
  • as many as 10 capacitors may be required in parallel, to keep ripple current in the range of 1.5 A.
  • a lidar sensor assembly includes a power input and a laser light source.
  • the lidar senor assembly also includes a synchronous buck converter electrically connected to the power input and the laser light source and configured to provide a pulsed power output to the laser light source.
  • a method of operating a lidar sensor assembly includes receiving electrical power at a power input.
  • the method also includes generating a pulsed power output with a synchronous buck converter.
  • the pulsed power output has a higher current and a lower voltage than the electrical power received at the power input.
  • the method further includes producing a light pulse with a laser light source from the pulsed power output generated by the synchronous buck converter.
  • a vehicle in one exemplary embodiment, includes a flash lidar sensor assembly.
  • the assembly includes a power input and a laser light source.
  • the assembly also includes a synchronous buck converter electrically connected to the power input and the laser light source and configured to provide a pulsed power output to the laser light source.
  • the vehicle further includes a propulsion system, a steering system, and/or a braking system.
  • a vehicle control system is in communication with the flash lidar sensor assembly and at least one of the propulsion system, the steering system, and/or the braking system.
  • the vehicle control system is also configured to at least partially control the propulsion system, the steering system, and/or the braking system in response to data received from the lidar sensor assembly.
  • Figure 1 is a block schematic diagram of a lidar sensor assembly according to one exemplary embodiment
  • Figure 2 is a graph showing desired pulses of electrical current supplied to a laser light source according to one exemplary embodiment
  • Figure 3 is an electrical schematic of a synchronous buck converter for supplying electrical current to the laser light source according to one exemplary embodiment
  • Figure 4 is a graph showing voltage and current consumption by the lidar sensor assembly during a pulse of laser light output according to one exemplary embodiment
  • Figure 5 is a graph showing power consumption by the lidar sensor assembly and the laser light source during the pulse of laser light output according to one exemplary embodiment
  • Figure 6 is a block diagram of a vehicle implementing the lidar sensor assembly according to one exemplary embodiment.
  • Figure 7 is a flowchart showing a method of operating 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 laser light source 102.
  • the laser light source 102 is configured to produce a pulsed laser light output, as described in greater detail below.
  • the laser light source may include 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 duration of the pulse of laser light is about 300 ⁇ 8 and the begins about every 33.33 ms.
  • the lidar sensor assembly 100 of the exemplary embodiment produces about 30 light pulses per second.
  • the lidar sensor assembly 100 may also include a diffusion optic 104 to diffuse the pulsed laser light output produced by the laser 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 laser 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 laser 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 laser 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 laser 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 (not shown).
  • 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).
  • At least one readout integrated circuit (“ROIC”) 110 is bonded to the light sensitive detectors 108.
  • the ROIC 110 is formed with a silicon substrate (not separately numbered) and includes a plurality of unit cell electronic circuits (hereafter “unit cells” or “unit cell”) (not shown).
  • each unit cell 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 is configured to amplify the signal received from the associated light sensitive detector and sample the amplified output.
  • the unit cell 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 may be configured to perform functions other than those described above or herein.
  • the light pulse has a duration of about 300 ⁇ 8.
  • a pulse 200 of electrical current lasting about 300 ⁇ 8, must be provided to the laser light source 102.
  • about 150 amperes of current are required, as shown in Figure 2.
  • the pulse 200 begins about every 33.33 ms and, as such, has a frequency of about 30 Hz.
  • different amounts of current, as well as different pulse 200 lengths and frequencies are also achievable.
  • the lidar sensor assembly 100 includes a power input 112 to receive electrical power from a power source (not shown).
  • the power source may be a battery, a direct current ("DC") power supply, etc.
  • the voltage at the power input 112 is about 14 V.
  • the lidar sensor assembly 100 also includes a power supply 113.
  • the power supply may be implemented with a buck-boost converter (not separately numbered) with a input voltage range of 8-16 V and a limited current output of 0.5A.
  • the power supply 113 limits inrush currents to the lidar sensor assembly 100.
  • the lidar sensor assembly 100 also includes a synchronous buck converter 114.
  • the synchronous buck converter 114 is electrically connected between the power supply 113 and the laser light source 102.
  • the synchronous buck converter 114 is configured to provide a pulsed power output to the laser light source 102, as described in greater detail below.
  • FIG. 3 shows an electrical schematic of the synchronous buck converter 114 according to one exemplary embodiment.
  • the synchronous buck converter 114 includes at least one phase 300.
  • the synchronous buck converter 114 includes a plurality of phases 300, particularly three phases 300.
  • the synchronous buck converter 114 may utilize only one phase 300.
  • Each phase 300 of the synchronous buck converter 114 includes an inductor 302.
  • each inductor has an inductance of about 300 nH.
  • Each phase 300 also includes a first MOSFET 304 and a second MOSFET 306 for controlling electrical current through the inductor 302. More particularly, the first MOSFET 304 is a high side MOSFET with a duty cycle that specifies the electrical current through the inductor 302. The second MOSFET 306 acts as an ideal flyback diode.
  • the lidar sensor assembly 100 includes a controller 308 in communication with the synchronous buck converter 114.
  • the controller 308 is configured to control the power output of the synchronous buck converter 114.
  • the controller 308 of the exemplary embodiment is electrically connected to the gates of the various MOSFETs 304, 306 to control actuation of the MOSFETs 304, 306.
  • the controller 308 is implemented with a 3 -phase synchronous step-down DC/DC controller, such as model No. LTC3829, manufactured by Linear Technology Corporation of Milpitas, California, U.S.A.
  • a 3 -phase synchronous step-down DC/DC controller such as model No. LTC3829, manufactured by Linear Technology Corporation of Milpitas, California, U.S.A.
  • LTC3829 manufactured by Linear Technology Corporation of Milpitas, California, U.S.A.
  • other suitable devices may be utilized to implement the controller 308.
  • the lidar sensor assembly 100 may also include a sense resistor 310 in series with the laser light source 102 for sensing the current flowing through the laser light source 102.
  • the controller is in communication with the sense resistor 310.
  • the controller 308 may utilize the sensed current flowing through the laser light source 102 in controlling the power output of the synchronous buck converter 114. More particularly, during the duration of the pulse, the various MOSFETS 304, 306 of the phases 300 are cycled on and off to maintain the necessary current flow to the laser light source 102.
  • the synchronous buck converter 114 further includes at least one input capacitor 312 and at least one output capacitor 314.
  • the at least one input capacitor 312 is disposed in parallel between the power input 110 and the at least one phase 300.
  • the at least one output capacitor 314 is disposed between the at least one phase 300 and the laser light source 102.
  • the at least one input capacitor 312 is implemented with four 470 ⁇ polymer electrolytic capacitors and three 22 ⁇ ceramic capacitors.
  • the at least one output capacitor 314 is implemented with three 10 ⁇ ceramic capacitors.
  • other materials and capacitances of the capacitors 312, 314 may be contemplated.
  • Figure 4 illustrates the voltage and current characteristics of the input capacitors 312 of the exemplary embodiment during a pulse duration.
  • line 400 representing the voltage across the capacitors 312 and shows a very small voltage decline (from 14 V to 10 V) during the pulse duration.
  • Line 402 shows the current flow from the capacitors 312 during the same pulse duration.
  • Figure 5 shows the near constant power consumption during the pulse duration.
  • line 500 shows the power consumption of the assembly 100 as a whole of about 400 watts during the pulse duration. This is in contrast to the linear current source of the prior art, which exhibits a power consumption of greater than 1.2 kW at the beginning of the pulse.
  • Line 502 shows the power consumption of just the laser light source 102.
  • the lidar sensor assembly 100 may be implemented in a vehicle 600, such as an automobile (not separately numbered). It should be appreciated that the lidar sensor assembly 100 may be implemented in other types of vehicles, including, but not limited to, motorcycles, aircraft, and watercraft.
  • the vehicle 600 of the exemplary embodiment includes a propulsion system 602, a steering system 604, and a braking system 606.
  • 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 steering system 604 controls the direction of travel of the vehicle 600 by, e.g., turning one or more wheels (not numbered) of the vehicle 600.
  • the braking system 606 may include one or more brakes (not specifically shown) to slow one or more of the wheels of the vehicle 600.
  • a vehicle control system 608 is in communication with the flash lidar sensor assembly 100 and at least one of the propulsion system 602, the steering system 604, and/or the braking system 606 and configured to at least partially control the propulsion system 602, the steering system 604, and/or the braking system 606 in response to data received from the lidar sensor assembly 100. Said another way, the vehicle control system 608 may be configured to control autonomous or semi- autonomous driving of the vehicle 600, utilizing data received from the flash lidar sensor assembly 100.
  • a method 700 of operating the lidar sensor assembly 100 is shown in Figure 7.
  • the method 700 includes, at 702, receiving electrical power at the power input 112.
  • the method 700 also includes, at 704, generating a pulsed power output with the synchronous buck converter 114.
  • the pulsed power output has a higher current and a lower voltage than the electrical power received at the power input 112.
  • the method 700 also includes generating a light pulse with the laser light source 102 receiving the pulsed power output from the synchronous buck converter.

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

Abstract

Un ensemble capteur lidar selon l'invention comprend une entrée de puissance et une source de lumière laser. L'ensemble capteur lidar comprend également un convertisseur abaisseur synchrone connecté électriquement à l'entrée de puissance et à la source de lumière laser et configuré pour fournir une sortie de puissance pulsée à la source de lumière laser.
PCT/US2017/059017 2017-10-30 2017-10-30 Circuit d'alimentation et procédé pour une source de lumière laser d'un capteur lidar à flash WO2019088974A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/US2017/059017 WO2019088974A1 (fr) 2017-10-30 2017-10-30 Circuit d'alimentation et procédé pour une source de lumière laser d'un capteur lidar à flash

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2017/059017 WO2019088974A1 (fr) 2017-10-30 2017-10-30 Circuit d'alimentation et procédé pour une source de lumière laser d'un capteur lidar à flash

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021108184A1 (fr) * 2019-11-26 2021-06-03 Waymo Llc Systèmes et procédés de polarisation de détecteurs de lumière

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2442134A1 (fr) * 2010-10-01 2012-04-18 Jay Young Wee Unité d'acquisition d'images, procédé d'acquisition et unité de commande correspondante
EP2622942A1 (fr) * 2011-07-14 2013-08-07 Softkinetic Sensors N.V. Circuit d'attaque pour del servant à calculer un temps de vol

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2442134A1 (fr) * 2010-10-01 2012-04-18 Jay Young Wee Unité d'acquisition d'images, procédé d'acquisition et unité de commande correspondante
EP2622942A1 (fr) * 2011-07-14 2013-08-07 Softkinetic Sensors N.V. Circuit d'attaque pour del servant à calculer un temps de vol

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021108184A1 (fr) * 2019-11-26 2021-06-03 Waymo Llc Systèmes et procédés de polarisation de détecteurs de lumière
US11378663B2 (en) 2019-11-26 2022-07-05 Waymo Llc Systems and methods for biasing light detectors
US11921237B2 (en) 2019-11-26 2024-03-05 Waymo Llc Systems and methods for biasing light detectors

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