WO2020246266A1 - Dispositif de mesure de distance et circuit de traitement de signal - Google Patents

Dispositif de mesure de distance et circuit de traitement de signal Download PDF

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Publication number
WO2020246266A1
WO2020246266A1 PCT/JP2020/020319 JP2020020319W WO2020246266A1 WO 2020246266 A1 WO2020246266 A1 WO 2020246266A1 JP 2020020319 W JP2020020319 W JP 2020020319W WO 2020246266 A1 WO2020246266 A1 WO 2020246266A1
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Prior art keywords
signal
counting
measuring device
unit
distance measuring
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PCT/JP2020/020319
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English (en)
Japanese (ja)
Inventor
一樹 芥川
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ソニーセミコンダクタソリューションズ株式会社
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Publication of WO2020246266A1 publication Critical patent/WO2020246266A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • 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

Definitions

  • This technology relates to a distance measuring device having a time-to-digital converter (TDC) and a signal processing circuit.
  • TDC time-to-digital converter
  • Patent Document 1 discloses a calibration technique for eliminating a gain mismatch between two TDC circuits having different particle sizes (time resolution) (paragraphs [0032] [0063] of the specification of Patent Document 1 and the like).
  • the purpose of the present technology is to provide a distance measuring device and a signal processing circuit capable of improving the accuracy of time-digital conversion.
  • the distance measuring device includes a clock unit, a counting generation unit, an output unit, and a calculation unit.
  • the clock unit outputs a clock signal based on the start signal.
  • the count generation unit can output each of the first count signal and the second count signal whose logic levels are inverted from each other as count signals based on the clock signal.
  • the output unit holds the logic level of the count signal output from the count generation unit in response to the input of the stop signal, and outputs the holding result information.
  • the calculation unit calculates the distance information based on the holding result information based on each of the first counting signal and the second counting signal.
  • each of the first counting signal and the second counting signal whose logic levels are inverted from each other is output as a counting signal based on the clock signal. Then, the logic levels of the first counting signal and the second counting signal are held, and the holding result information is output. The distance information is calculated based on the holding result information based on each of the output first counting signal and the second counting signal. This makes it possible to offset the error in the transition time of the counting signal due to the influence of the asymmetry between the rising edge of the counting signal to the high level and the falling edge of the counting signal. As a result, the accuracy of the time-digital conversion can be improved.
  • the ranging device may further include an emitting unit that emits light based on the start signal and a light receiving unit that outputs a light receiving signal by receiving the light.
  • the stop signal may be input to the output unit according to the output of the received light signal. This makes it possible to calculate the distance information with high accuracy based on the emission and reception of light.
  • the count generation unit may output each of the first count signal and the second count signal in a switchable manner.
  • the output unit includes a plurality of first holding result information based on the holding result of each logic level of the first counting signal output a plurality of times, and each of the second counting signal output a plurality of times.
  • a plurality of second holding result information based on the holding result of the logic level of may be output.
  • the calculation unit may calculate the distance information based on the plurality of first holding result information and the plurality of second holding result information. This makes it possible to improve the accuracy of the time-digital conversion.
  • the output unit may output the plurality of second holding result information based on the inverted result in which the holding result of each logic level of the plurality of second counting signals is inverted. This makes it possible to improve the accuracy of the time-digital conversion.
  • the calculation unit may calculate the distance information by executing statistical processing on the plurality of first holding result information and the plurality of second holding result information. This makes it possible to improve the accuracy of the time-digital conversion.
  • the calculation unit at least calculates an average value, a mode (mode), or a median (median) with respect to the first holding result information and the second holding result information.
  • the distance information may be calculated by executing one. This makes it possible to improve the accuracy of the time-digital conversion.
  • the change in the logic level may correspond to the state transition of the code encoded by the predetermined coding method. This makes it possible to improve the accuracy of the time-digital conversion.
  • the counting signal may include a plurality of bit signals.
  • the change in the combination of the logic levels of each of the plurality of bit signals may correspond to the state transition. This makes it possible to improve the accuracy of the time-digital conversion.
  • the output unit may hold the logic level of each of the plurality of bit signals and output the holding result information. This makes it possible to improve the accuracy of the time-digital conversion.
  • the count generation unit may include at least one of a Johnson counter and a Gray code counter. This makes it possible to easily realize the count generation unit.
  • the clock signal may include at least one of a plurality of phase-shifted pulse signals. This makes it possible to further improve the time resolution while realizing the time-digital conversion with high accuracy.
  • the clock signal may include at least one of a plurality of pulse signals whose phases are shifted by 90 °. This makes it possible to further improve the time resolution while realizing the time-digital conversion with high accuracy.
  • the count generation unit has a latch that outputs the count signal, and by controlling the initial value of the latch, the first count signal and the second count signal may be switched and output. This makes it possible to easily switch between the first counting signal and the second counting signal.
  • the signal processing circuit includes a count generation unit and an output unit.
  • the count generation unit can output each of the first count signal and the second count signal whose logic levels are inverted from each other as count signals based on the clock signal.
  • the output unit holds the logic level of the count signal output from the count generation unit in response to the input of the stop signal, and outputs the holding result information.
  • FIG. 5 is executed with respect to the counter configured by the Johnson counter of 4 bit output illustrated in FIG.
  • It is a schematic diagram which shows an example of the circuit structure of the intake part. It is a schematic diagram which shows the structural example of the inverting control circuit shown in FIG. 7. It is a schematic diagram for demonstrating the DNL deterioration of time-digital conversion. It is a schematic diagram for demonstrating the error from the ideal state of the time width which occurs when Trise and Tfall are different. It is a schematic diagram which shows the counting signal in a non-inverting operation and the counting signal in a inverting operation. It is a schematic diagram which shows the DNL improvement effect of time-digital conversion. An operation example for a signal detection event related to the present technology will be described.
  • FIG. 1 is a block diagram for explaining an outline of a distance measuring device according to the present technology.
  • the distance measuring device 100 includes a timekeeping control unit 10, a time-digital conversion unit 20, and a calculation unit 30.
  • the timekeeping control unit 10 outputs a clock signal based on the timekeeping start signal.
  • the clock signal includes any signal that can represent a predetermined time interval.
  • a clock signal a pulse signal having a constant pulse width and pulse interval is used.
  • a pulse signal in which only the rising edge of the pulse is set at a constant interval, a pulse signal in which only the falling edge of the pulse is set at a constant interval, or the like may be used as the clock signal.
  • a clock signal may be realized by a plurality of signals.
  • a plurality of pulse signals having the same frequency but different phases may be used as clock signals according to the present technology.
  • a plurality of pulse signals having phases different from each other by 90 ° may be output as clock signals.
  • an arbitrary signal whose logic level changes according to a predetermined time interval may be used as the clock signal.
  • the time-digital conversion unit 20 has a count generation unit 21 and an acquisition unit 22.
  • the count generation unit 21 outputs a count signal based on the clock signal output from the timekeeping control unit 10.
  • the counting signal may be generated by outputting the result of counting the clock signal from the timing control unit 10 by the counting generation unit 21.
  • a signal whose logic level changes based on the clock signal is output as a counting signal.
  • the change of the logic level includes both the change of the logic level from the low level to the high level (rising) and the change of the logic level from the high level to the low level (falling).
  • a counting signal is output so that the change in the logic level output from the counting generation unit 21 corresponds to the state transition of the code encoded by the predetermined coding method.
  • the count generation unit 21 can output each of the first count signal and the second count signal whose logic levels are inverted from each other as count signals.
  • the count generation unit 21 is configured to be able to switch between a non-inverting operation that does not invert the output and an inversion operation that inverts the output.
  • the counting signal in the non-inverting operation corresponds to the coefficient signal first
  • the counting signal in the inverting operation corresponds to the second counting signal.
  • the acquisition unit 22 takes in the count signal output from the count generation unit 21 based on the event detection signal, and outputs the timekeeping element information to the calculation unit 30. Specifically, the logic level of the count signal output from the count generation unit 21 in response to the input of the event detection signal is maintained. Then, the timekeeping information is generated based on the holding result and output to the calculation unit 30.
  • the first timekeeping information is generated and output to the calculation unit 30.
  • the second timekeeping information is generated and output to the calculation unit 30.
  • the second timekeeping information may be generated based on the reversing result in which the holding result of the second counting signal in the reversing operation is further reversed.
  • the calculation unit 30 generates timekeeping information based on the timekeeping information output from the time-digital conversion unit 20, and outputs it as a calculation result.
  • the calculation unit 30 generates timekeeping information based on the first timekeeping information and the second timekeeping information. Specifically, the timekeeping information is generated by executing statistical processing on the first timekeeping information and the second timekeeping information.
  • the timekeeping start signal corresponds to the start signal.
  • the event detection signal corresponds to a stop signal.
  • the timekeeping control unit 10 functions as a clock unit that outputs a clock signal based on the start signal.
  • the time-digital conversion unit 20 corresponds to a signal processing circuit.
  • the count generation unit 21 functions as a count generation unit capable of outputting each of the first count signal and the second count signal whose logic levels are inverted from each other as a count signal based on the clock signal.
  • the timekeeping information (first timekeeping information, second timekeeping information) output by the acquisition unit 22 corresponds to the holding result information (first holding result information, second holding result information).
  • the capture unit 22 holds the logic level of the count signal output from the count generation unit in response to the input of the stop signal, and functions as an output unit that outputs the holding result information.
  • the timekeeping information output by the calculation unit 30 as the calculation result corresponds to the distance information.
  • the calculation unit 30 functions as a calculation unit that calculates distance information based on the holding result information based on each of the first counting signal and the second counting signal.
  • the calculation unit 30 includes a plurality of first holding result information based on the holding result of each logic level of the first counting signal output a plurality of times, and a logic of each of the second counting signals output a plurality of times. It is possible to calculate the distance information based on the plurality of second holding result information based on the holding result of the level.
  • the time-digital conversion unit 20 executes the input of the clock signal based on the timekeeping start signal a plurality of times while switching between the non-inverting operation and the inverting operation. Then, the arithmetic unit 30 executes statistical processing on the plurality of first timekeeping information and the plurality of second timekeeping information output in response to the non-reversing operation and the reversing operation, so that the timekeeping information is obtained. Will be generated.
  • the distance measuring method according to the present technology will be described in detail by taking a ToF sensor (the same code is used as the TOF sensor 100) as an example of the distance measuring device 100 according to the present technology.
  • FIG. 2 is a schematic view showing a configuration example of the TOF sensor 100.
  • the TOF sensor 100 includes an imaging control unit 40, an emission unit 50, a pixel information generation unit 60, and an image generation unit. It has a part 70 and.
  • the imaging control unit 40 outputs a timekeeping start signal to the timekeeping control unit 10 and outputs a pixel selection signal to the pixel information generation unit 60 and the image generation unit 70 based on the distance image acquisition instruction.
  • the timekeeping control unit 10 has a reference frequency signal generation unit 11 and a clock generation unit 12.
  • the reference frequency signal generation unit 11 constantly outputs a reference frequency signal to the clock generation unit 12.
  • the clock generation unit 12 outputs a light emission control signal to the output unit 50 in a predetermined order and timing based on the timekeeping start signal and the reference frequency signal, and outputs the clock signal and the counting control signal to the time-digital conversion unit. Output to 20.
  • the emitting unit 50 has a light emitting means 51.
  • the light emitting means 51 emits the projected light for a predetermined time based on the light emitting control signal.
  • a semiconductor light emitting element such as a light emitting diode or a laser diode may be used.
  • infrared rays may be used as the projected light.
  • the emission unit 50 functions as an emission unit that emits light based on the start signal.
  • the pixel information generation unit 60 includes a pixel array 61 and a signal selection unit 63.
  • a pixel array 61 for example, a plurality of pixels 62 are arranged in an array of M rows ⁇ N columns.
  • M and N can be arbitrary natural numbers.
  • the pixel 62 includes a light receiving element, and when it receives light, it outputs a pixel signal to the signal selection unit 63 based on the action of the light receiving element.
  • the light receiving element for example, a PN junction, PD (photodiode), APD (avalanche photodiode), SPAD (single photon avalanche photodiode) may be used.
  • the pixel signal corresponds to a received signal.
  • the pixel 62 functions as a light receiving unit that outputs a light receiving signal by receiving light.
  • the signal selection unit 63 selects the pixel signal output from each pixel 62 based on the pixel selection signal given from the imaging control unit 40, and outputs it to the time-digital conversion unit 20 as a detection signal.
  • This detection signal corresponds to the event detection signal shown in FIG.
  • the time-digital conversion unit 20 has a count generation unit 21 and a number of capture units 22 corresponding to the detection signals output from the pixel information generation unit 60.
  • the count generation unit 21 generates a count signal in a predetermined sequence based on the clock signal and the count control signal output from the timekeeping control unit 10, and simultaneously outputs the count signal to a plurality of capture units 22.
  • the acquisition unit 22 captures the counting signal output from the counting generation unit 21 based on the signal detection event included in the detection signal output from the pixel information generation unit 60, and the counting control output from the timekeeping control unit 10. Processing based on the signal is executed, and the timekeeping element information is output to the calculation unit 30.
  • the calculation unit 30 is the timekeeping element information output from the time-digital conversion unit 20 over the execution of a plurality of distance measurement operations for each pixel 62 or for each group of pixel groups 62A, which is not specified. Statistical processing is executed for the series, and the calculation result is output to the image generation unit 70.
  • statistical processing for example, it is possible to perform calculations such as the mean value, mode (mode), and median (median) of the timekeeping information series. Furthermore, in consideration of the distance measurement environment and the characteristics peculiar to the system, operations such as removing infrequent timekeeping information in the histogram and correcting deviations from the normal distribution of the histogram may be added.
  • the image generation unit 70 generates and outputs a distance image by associating the calculation result with the coordinates on the image based on the pixel selection signal for each pixel selection signal that is sequentially switched. This distance image is also included in the distance information according to the present technology.
  • FIG. 3 shows a timekeeping control unit 10 included in the TOF sensor 100 shown in FIG. 2, a counting generation unit 21 included in the time-digital conversion unit 20, and a portion related to one of a plurality of acquisition units 22. It is a schematic diagram which showed in detail.
  • the reference frequency signal generation unit 11 constantly outputs one or more reference frequency signals to the clock generation unit 12.
  • a plurality of reference frequency signals are output, if the number is k, for example, one cycle of the reference frequency may be sequentially shifted by a unit phase corresponding to k equal division (k is a natural number).
  • the clock generation unit 12 appropriately processes the reference frequency signal based on the timekeeping start signal, and outputs the clock signal and the counting control signal to the time-digital conversion unit 20.
  • the clock generation unit 12 may use all of them or a part of them.
  • At least one of a plurality of phase-shifted pulse signals may be used as the clock signal.
  • at least one of a plurality of pulse signals whose phases are shifted by 90 ° may be used.
  • the count generation unit 21 can be configured by using a counter 210 that receives a clock signal as an input.
  • the counter 210 can have various configurations, and particularly for timekeeping, the counter circuit configuration can be such that the Hamming distance between adjacent output codes (combination of 1, 0) in time series is 1.
  • the Hamming distance of two chords is 1, for example, when the number of signals constituting the chord is b, the signal value of one b-1 signal is invariant between the two chords, and the rest. It means that the situation where the signal values 1 and 0 of one signal are exchanged is always established.
  • a Johnson counter or a Gray code counter can be used as a means for realizing such an output code.
  • the import unit 22 has a holding unit 221 and a data processing unit 222.
  • the holding unit 221 takes in the counting signal output from the counting generation unit 21 based on the signal detection event included in the detection signal output from the signal selection unit 63, and outputs the held data to the data processing unit 222 as a holding signal. To do.
  • the data processing unit 222 processes the holding signal output from the holding unit 221 based on the counting control signal, and outputs it to the calculation unit 30 as timekeeping information.
  • the timekeeping control signal may be used to initialize the counter 210. Specifically, it may be used to set the initial state of the counter 210 in the initialization operation. Further, for example, the counter 210 is set so that two initial states are associated with the values of the two counting control signals, and one of them is selected based on the value of the timing control signal. May be good.
  • the first initial state is associated with the operation of not inverting the output of the counter 210 (non-inverting), and the second initial state is the operation of inverting the output of the counter 210. It can also be set to be associated.
  • the operation of the data processing unit 222 based on the counting control signal may be related to the operation of the counting generation unit 21 based on the counting control signal. For example, it is assumed that the counter 210 takes the first initial state based on the value of the first counting control signal and operates so as not to invert the output of the counter 210. At this time, the data processing unit 222 outputs the output of the holding unit 221 as timekeeping information without inverting it.
  • the counter 210 takes the second initial state based on the value of the second counting control signal and operates to invert the output of the counter 210.
  • the data processing unit 222 further inverts the output of the holding unit 221 and outputs it as timekeeping information. In this way, it is possible to control the movement of the data processing unit 222.
  • the initial state of the counter 210 may be controlled to change in a predetermined sequence based on the counting control signal.
  • the counting control signal can take the value of the first counting control signal and the value of the second counting control signal, and the counter 210 is the first with respect to the value of the first counting control signal. It takes an initial state, and the counter 210 takes a second initial state with respect to the value of the second counting control signal.
  • the counting control signal alternately takes the value of the first counting control signal and the value of the second counting control signal for each distance measuring operation executed sequentially, so that the initial value of the counter 210 is the first.
  • the initial state and the second initial state are set alternately.
  • both the timekeeping information in the operation in which the output of the counter 210 is not inverted and the timekeeping information in the operation in which the output of the counter 210 is inverted are alternately input to the arithmetic unit 30 and executed by the arithmetic unit 30. Both are reflected in the statistical processing performed.
  • the counting signal in the operation in which the output of the counter 210 is not inverted corresponds to the first counting signal.
  • the counting signal in the operation in which the output of the counter 210 is inverted corresponds to the second counting signal.
  • the output of the holding unit 221 corresponds to the holding result of the logic level of the counting signal. Therefore, the timekeeping information output without inverting the output of the holding unit 221 corresponding to the operation in which the output of the counter 210 is not inverted is based on the holding result of the logic level of the first counting signal. Corresponds to the retention result information of 1.
  • the timekeeping information output by inverting the output of the holding unit 221 corresponding to the operation in which the output of the counter 210 is inverted is the second holding based on the holding result of the logic level of the second counting signal. Corresponds to result information. Furthermore, the holding result of the logic level of the second counting signal corresponds to the second holding result information based on the inverted result.
  • FIG. 4 is a schematic diagram showing an example of a case where the counter 210 included in the count generation unit 21 is composed of a 4-bit output Johnson counter.
  • the counter 210 is composed of two sets of state machines 210a and state machines 210b having the same structure.
  • Two clock signals (CK0) and clock signals (CK90) included in the clock signal are input to the inputs of the state machines 210a and 210b, respectively.
  • the set inputs Sa1, Sa2, Sb1, Sb2, and clear inputs Ca1, Ca2, Cb1, and Cb2 to the four D-latch Ratches 211a1, 211a2, 211b1, and 211b2 constituting the state machine 210a and the state machine 210b are included in the timekeeping control signal. , Used to initialize the counter 210.
  • the outputs Q1, Q3, Q2, and Q4 of the four D latch Ratches 211a1, 211a2, 211b1, and 211b2 are included in the counting signal and output to the acquisition unit 22.
  • the circuit configuration of the state machine 210a will be described below. Since the structure of the state machine 210b is the same, the description thereof will be omitted.
  • the state machine 210a includes S2D213a that performs a single-differential conversion operation with respect to the clock signal (CK0), and the differential output of S2D213a is input to the clock input terminals of Latch211a1 and Latch211a2.
  • the correspondence between the polarity of the clock input terminal of the Latch211a1 or the Latch211a2 and the polarity of the output of the S2D213a differs between the Latch211a1 and the Latch211a2.
  • the output Q1 of the Latch211a1 is input to the Latch211a2, and the output Q3 of the Latch211a2 is inverted by the NOT circuit 512a and input to the 511a1.
  • the Latch 211a1 further includes a set input Sa1 and a clear input Ca1, and the output Q1 is forcibly set to '1' or '0' by the transition of the set input Sa1 or the clear input Ca1.
  • the Latch 211a2 further includes a set input Sa2 and a clear input Ca2, and the output Q3 is forcibly set to '1' or '0' by the transition of the set input Sa2 or the clear input Ca2.
  • FIG. 5 shows a method of applying set inputs Sa1, Sa2, Sb1, Sb2, and clear inputs Ca1, Ca2, Cb1, and Cb2 for initializing a counter 210 composed of a 4-bit output Johnson counter described with reference to FIG. It is a figure which shows.
  • the set inputs Sa1, Sa2, Sb1, Sb2, and the clear inputs Ca1, Ca2, Cb1, and Cb2 are set to "0" in the normal operation. Then, when initializing, it is set to either the non-inverting output mode or the inverting output mode by setting the values shown in the table during the initial setting period.
  • FIG. 6 is a schematic diagram showing an operation waveform when the initial setting illustrated in FIG. 5 is executed for the counter 210 composed of the 4-bit output Johnson counter illustrated in FIG.
  • the clock signals (CK0, CK90, CK180, CK270) are assumed to have a predetermined logic level shown in FIG. Further, the clock signal (CK180) does not exist as a real signal, and instead, a signal equivalent to the clock signal (CK0) is generated by S2D213a. Similarly, the clock signal (CK270) does not exist as a real signal, and instead, S2D512b generates a signal equivalent to the clock signal (CK90).
  • the state of the counter 210 changes depending on the rising edge and the falling edge of the clock signal (CK0) and the clock signal (CK90).
  • the initial state takes two types, one for non-reversing operation and the other for reversing operation. Therefore, as the time series of the counting signals (Q1 to Q4), there are two types, a non-inverting operation and an inverting operation shown in FIG.
  • the time intervals P1 to P8 are defined by the pattern of the logical values of the counting signals (Q1 to Q4) generated by this operation.
  • the width LSB of the time interval determines the resolution of the time-digital converter 20.
  • the time section next to P8 becomes P1 again.
  • the Nj-bit Johnson counter can take 2Nj states and defines 2Nj time intervals.
  • the counting signals (Q1 to Q4) in the non-inverting operation shown in FIG. 6 correspond to the "first counting signal”.
  • the counting signals (Q1 to Q4) in the inverting operation correspond to the "second counting signal”.
  • the plurality of counting signals (Q1 to Q4) constituting the "first counting signal” correspond to a plurality of bit signals.
  • the plurality of counting signals (Q1 to Q4) constituting the "second counting signal” correspond to a plurality of bit signals.
  • the "first counting signal” and the “second counting signal” whose logic levels are inverted from each other are a plurality of bit signals included in the "first counting signal” and the corresponding “second counting signal”. A state in which a plurality of bit signals included in the "signal" are inverted with each other is included. Further, in both the “first counting signal” and the “second counting signal”, the combination of the logic levels of each of the plurality of bit signals corresponds to the state transition of the code.
  • the initialization of the counting signals (Q1 to Q4) in the initial setting period corresponds to the control of the initial values of the D latch Latch 211a1, 211a2, 211b1 and 211b2. Then, the initialized counting signals (Q1 to Q4) correspond to the initial values.
  • the initial value of the latch by controlling the initial value of the latch, it is possible to easily switch and output the first counting signal in the non-inverting output mode and the second counting signal in the inverting output mode.
  • FIG. 7 is a schematic diagram showing an example of the circuit configuration of the intake unit 22.
  • the counter 210 is used together with the 4-bit output Johnson counter illustrated in FIG.
  • the import unit 22 has a holding unit 221 and a data processing unit 222.
  • the holding portion 221 is composed of DFF221a1, DFF221b1, DFF221a2, and DFF221b2. Then, based on the transition of the detection signal, the counting signal (Q1), the counting signal (Q2), the counting signal (Q3), and the counting signal (Q4) are taken in, respectively, and the holding signal (Q1), the holding signal (Q2), and the holding signal are taken. (Q3) and a holding signal (Q4) are output to the data processing unit 222, respectively.
  • the data processing unit 222 is composed of four sets of inverting control circuits 222a1, 222b1, 222a2, and 222b2.
  • the inverting control circuits 222a1, 222b1, 222a2, 222b2 output the input signals as they are when the counting control signal is '0', and invert the inputs when the counting control signal is '1'.
  • a circuit having an Exclusive-OR logic may be used. For example, as shown in FIG. 8, it can be configured by using the NOT circuit 225 and the multiplexer 226.
  • the logic level of each of the plurality of bit signals (plurality of counting signals (Q1 to Q4)) included in each of the "first counting signal” and the "second counting signal” is set.
  • the timekeeping element information is output as the holding result information.
  • the imaging control unit 40 identifies a plurality of distance measurement target pixels by the pixel selection signal, and starts the timekeeping operation by the timekeeping start signal.
  • the clock generation unit 12 first sets the initial state of the count generation unit 21 and the logic of the acquisition unit 22 to either the non-inverting operation or the inverting operation by the counting control signal.
  • the light emitting control signal causes the light emitting means to emit light to emit light.
  • the output of the clock signal is started at substantially the same time as the light emission timing.
  • a pixel signal is output from the pixel 62 that receives the reflected light from the distance measuring target 110 based on the emitted light.
  • the pixel signal is output as a detection signal (event detection signal) associated with the pixel selection signal by the signal selection unit 63, and is collectively input to the clock terminals of a plurality of DFFs included in the holding unit 221 of the acquisition unit 22.
  • the event detection signal is output to the capturing unit 22 according to the output of the pixel signal.
  • the plurality of DFFs possessed by the holding unit 221 take in the logic level of the counting signal in synchronization with the signal detection event and output it as a holding signal to the data processing unit 222 (see the example of time T1 in FIG. 6).
  • the data processing unit 222 executes inversion or non-inversion processing on the holding signal in response to the counting control signal, and outputs the counting element information to the calculation unit 30.
  • the sequence from the start of the timekeeping operation described above to the output of the counting element information is performed a plurality of times while synchronously switching the initial state of the counting generation unit 21 and the logic of the capturing unit 22 to the non-reversing operation or the reversing operation. Will be executed.
  • the calculation unit 30 executes statistical processing on a series of a plurality of timekeeping information, and generates timekeeping information for the distance measurement target pixel specified by the pixel selection signal.
  • the timekeeping information is output to the image generation unit 70 as a calculation result.
  • the image generation unit 70 acquires a distance image based on the calculation result and the sequence of the pixel selection signals.
  • the timekeeping accuracy error of the time-digital conversion unit 20 is offset, and the distance measurement accuracy of the TOF sensor 100 is improved.
  • DNL differential nonlinearity
  • FIG. 9 is a schematic diagram for explaining the DNL deterioration of the time-digital conversion. Assume the 4-bit output Johnson counter shown in FIG. 9 is an input to the counter 210. In the counting signals (Q1 to Q4) in the ideal state shown in FIG. 9b, the width LSBs of the time intervals P1 to P8 are uniform.
  • the counting signals (Q1 to Q4) make transitions based on the clock signals (CK0, CK90, CK180, CK270), and the non-zero delay time from the edge of the clock signal to the transition of the counting signals (Q1 to Q4). have. Further, the rising delay time Trise and the falling delay time Tfall are always different.
  • the elements (transistors, etc.) involved in the signal line drive in the rising operation and the elements (same) involved in the signal line driving in the falling operation are different types, for example, a MOSFET transistor and an NMOS transistor, respectively. Because. Further, since the manufacturing variation of the drive characteristics of these elements typically has a range of about 50%, it is difficult to completely match the rise delay time Trise and the fall delay time Tfall by design.
  • the actual counting signals shown in FIG. 9 are counting signals (Q1 to Q4) in consideration of Trise and Tfall that do not match each other.
  • the rise delay time Trise always takes a constant value and the fall delay time Tfall always takes a constant value, but as described above, since the Trise and Tfall are different, the width of the actual time intervals P1 to P8.
  • the LSB becomes non-uniform.
  • P1, P2, and P3 all correspond to the time interval from the rising timing of a certain bit to the rising timing of an adjacent bit. Therefore, since they all have a delay time Trise, the time interval widths are the same.
  • P5, P6, and P7 all correspond to the time interval from the falling timing of a certain bit to the falling timing of an adjacent bit. Therefore, since they all have a delay time Tfall, the time interval widths are also the same.
  • FIG. 10 shows the error from the ideal state of the time widths P1 to P8 that occurs when Trise and Tfall are different as DNL.
  • the time widths P1 to P8 are arranged in the horizontal axis direction corresponding to the quantization interval numbers (i) to (viii), and the error of the time widths P1 to P8 is standardized by the ideal LSB and shown by the value in the vertical axis direction.
  • DNLx time width Px / ideal LSB-1 (x is a natural number from 1 to 8) Is defined as.
  • Tfall time width
  • P4 and P8 the signs of the DNLs of P4 and P8 are inverted.
  • the DNL of the time-digital conversion characteristic is deteriorated due to the asymmetry of the rise time Trise and the fall time Tfall of the counting signals (Q1 to Q4) which are the outputs of the counter 210.
  • This phenomenon is represented by Trise and Tfall, when the delay time of the circuit takes a non-negligible value compared to the time width of the LSB, especially when the time resolution of the time-digital conversion is high, such as in a ranging system. It becomes a problem when you have to do it.
  • FIG. 11 shows the counting signals (Q1 to Q4) in the non-inverting operation and the counting signals (Q1 to Q4) in the inverting operation.
  • the counting signals (Q1 to Q4) in the non-inverting operation have the same waveform as the actual counting signals shown in FIG.
  • P4 is smaller than the ideal LSB and P8 is larger than the ideal LSB because Trise> Tfall.
  • P4 is larger than the ideal LSB and P8 is smaller than the ideal LSB.
  • the error in the non-reversing operation of P4 is ⁇ P4n
  • the error in the reversing operation is ⁇ P4i
  • ⁇ P4n Tfall-Tface
  • ⁇ P4i Trise-Tfall
  • ⁇ P8n Trise-Tfall
  • the timekeeping information in the multiple non-reversing operations and the timekeeping information in the same number of inversion operations are averaged with the same weight. Then, ⁇ P4n and P4i having the same absolute value and the opposite sign cancel each other out, and similarly, ⁇ P8n and P8i having the same absolute value and the opposite sign cancel each other out, and both have a time-digital conversion error due to the asymmetry of Trise and Tfall. It will be countered.
  • FIG. 12 is a schematic diagram showing the DNL improvement effect of time-digital conversion. As shown in FIGS. 12A to 12C, the DNL generated in the quantization interval (iv) and (viii) in the non-inverting operation becomes an inverse sign in the inversion operation, is offset by statistical processing, and is time-digital conversion. It is shown that the DNL characteristics of are improved.
  • the conversion accuracy of time-digital conversion is further improved by appropriately processing the average value of Trise and Tfall as an offset amount. It becomes possible. Specifically, by subtracting the average value of Trise and Tfall from the timekeeping result obtained by statistical processing, the delay time from the clock input of the counter 210 can be removed and the absolute accuracy of timekeeping can be improved. ..
  • FIG. 13 describes an operation example for a signal detection event related to the present technology.
  • a case where a signal detection event occurs at times T2 and T3 will be described.
  • the time T2 is a specific time near the rising edge of Q1 in the non-reversing operation or the falling edge of Q1 in the reversing operation.
  • the time T3 is a specific time near the falling edge of Q1 in the non-reversing operation or the rising edge of Q1 in the reversing operation.
  • the counter 210 has a delay time characteristic that Trise> Tfall.
  • the time T2 is a specific time between the rising time of Q1 in the non-reversing operation and the falling time of Q1 in the reversing operation.
  • the time T3 is a specific time between the falling time of Q1 in the non-reversing operation and the rising time of Q1 in the reversing operation.
  • the time-digital converter 20 In response to the detection event generated at time T2, the time-digital converter 20 outputs timekeeping information corresponding to the quantization interval (viii) during the non-inverting operation, and corresponds to the quantization interval (i) during the inversion operation. Outputs timekeeping information.
  • the inversion operation and the non-inversion operation are executed the same number of times in a plurality of timekeeping operations, the number of timekeeping information corresponding to the quantization interval (viii) and the number of timekeeping information corresponding to the quantization interval (i) are obtained. Will be halved. Then, as a result of the statistical processing of the arithmetic unit 30, first, the average value of the timekeeping information corresponding to the quantization interval (viii) and the timekeeping information corresponding to the quantization interval (i) is obtained.
  • the time-digital converter 20 outputs the timekeeping information corresponding to the quantization interval (iV) during the non-inverting operation, and outputs the timekeeping information corresponding to the quantization interval (iV) during the non-inverting operation, and outputs the timing element information corresponding to the quantization interval (iV) during the inversion operation. Outputs the timekeeping information corresponding to.
  • the inversion operation and the non-inversion operation are executed the same number of times in a plurality of timekeeping operations, the number of timekeeping information corresponding to the quantization interval (iv) and the number of timekeeping information corresponding to the quantization interval (v) are obtained. Will be halved.
  • the average value of the timekeeping information corresponding to the quantization interval (iv) and the timekeeping information corresponding to the quantization interval (v) is obtained.
  • the calculation result having a resolution higher than 1LSB can be obtained by statistical processing, but for example, it is also possible to round and output 1LSB or less.
  • the DNL is improved even for the calculation result output by rounding 1 LSB or less. It is also possible to output without executing the rounding operation, and it is higher than 1LSB when the distance measurement result has a distribution due to noise generated by the element actually used or continuous position fluctuation of the distance measurement target. Accurate distance measurement is possible.
  • the DNL of time-digital conversion is improved and the time resolution can be improved. Therefore, it is also suitable as a technique for increasing the time resolution in a signal processing circuit used in a distance measuring system using an element capable of high-speed photoelectric conversion such as SPAD.
  • the TDC described in Patent Document 1 described above requires an additional circuit for calibration.
  • the conversion method, distance measurement method, distance image acquisition method, and the like are merely embodiments, and can be arbitrarily modified without departing from the spirit of the present technology. That is, other arbitrary configurations, algorithms, and the like for implementing the present technology may be adopted.
  • the imaging control unit 40, the clock generation unit 12, the calculation unit 30, and the image generation unit 70, which constitute the TOF sensor 100, can be arbitrarily divided into blocks as a digital circuit designed by a general method, and any hardware can be used. And software may be used.
  • a device such as a PLD (Programmable Logic Device) such as FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) may be used.
  • the reference frequency signal generation unit 11 may itself include an oscillator, or may process a signal generated outside the TOF sensor and output it as a reference frequency signal.
  • the reference frequency signal output from the reference frequency signal generation unit 11 may be used as it is as a clock signal, or in the clock generation unit 12, the pulse width, frequency, rising timing, falling timing, and high level voltage value. Etc. may be appropriately controlled to generate a clock signal.
  • Visible light and ultraviolet rays can be used as electromagnetic waves emitted from the light emitting means 51 included in the emitting unit 50, in addition to infrared rays.
  • the line width of the emission spectrum is arbitrary.
  • a light emitting element using electroluminescence or blackbody radiation may be used in addition to the semiconductor.
  • either one or both of M and N representing the number of arrangements may be 1.
  • the method of selecting the pixels 62 selected by the signal selection unit 63 and associated with the detection signal and the association with a plurality of possible detection signals are arbitrary.
  • the signal selection unit 63 includes a plurality of multiplexers, the outputs of different pixels 62 are connected to the inputs of the multiplexer, and any one input is related to the detection signal by the pixel selection signal. Can be.
  • the detection signal output from the multiplexer can be connected to one or more capture units 22 included in the time-digital conversion unit 20.
  • one pixel 62 is connected to the inputs of a plurality of different multiplexers to form a matrix circuit as a whole so that the pixel 62 and the capture unit 22 can be flexibly associated with each other to detect from different pixels 62. It is also possible to perform an operation to compensate for the spatial gradient of the output propagation delay. On the contrary, when the pixel 62 and the detection signal have a one-to-one correspondence, the signal selection unit 63 may be omitted.
  • the signal selection unit 63 and the time-digital conversion unit 20 may be integrated into a circuit that selects pixels for input of a plurality of pixel signals and measures the time until a signal detection event.
  • FIG. 14 is a schematic diagram showing another configuration example of the time-digital conversion unit 20.
  • the counter 210 constituting the count generation unit 21 can also be configured by combining a plurality of types of counters.
  • the count generation unit 21 includes a lower counter 210a and a higher counter 210b, and is configured to update the output of the upper counter 210b based on the carry signal Carry from the lower counter 210a.
  • the inverted operation or the inverted operation is performed over a plurality of timekeeping element information acquisition operations. It is also possible to continue one of the non-reversing operations a predetermined number of times, then switch to the other, and continue the other a predetermined number of times. Furthermore, it is also possible to randomly switch the number of continuations of the reversing operation or the non-reversing operation by using a random number generation means or the like. In that case, a random number generation means can be used in which the total number of inversion operations and the total number of non-inversion operations are equal.
  • a plurality of time-digital conversion units 20 may be configured and operated independently of each other. Typically, it has two time-digital converters 20, one time-digital converter 20 corresponds to a part of the detection signal, and the other time-digital converter 20 has the rest of the detection signal. The parts can be made to correspond. Then, each time-digital conversion unit 20 is configured so that the time-digital conversion range can be set independently, and it is also possible to enhance the distance measurement operation or the distance image acquisition operation.
  • time-digital conversion unit 20 has two time-digital conversion units 20, one time-digital conversion unit 20 is associated with a part of the detection signal, and the other time-digital conversion unit 20 is associated with the remaining part of the detection signal.
  • the reversing operation / non-reversing operation of one time-digital conversion unit 20 and the other time-digital conversion unit 20 can be complementarily executed.
  • one time-digital conversion unit 20 and the other time-digital conversion unit 20 are arranged in a nested structure, and the counting signal corresponding to the inverting operation and the counting signal corresponding to the non-inverting operation are differentially wired. It is also possible to lay out. As a result, switching noise caused by routing of counting signals can be reduced, and the conversion accuracy of the time-digital conversion unit 20 can be further improved.
  • a TOF sensor using light is given as an example.
  • the present technology is not limited to this, and can be applied to other distance measuring devices based on the principle of time measurement. For example, it can be applied to sonar using sound wave pulses and radar using radio waves. Further, the present technology can be applied not only to a distance measuring device but also to a signal processing circuit including a time-digital conversion means mounted on various other devices.
  • the concepts that define the state, size, positional relationship, etc. such as “uniform”, “equal”, “same”, and “symmetrical”, are “substantially uniform”, “substantially equal”, and “substantially the same”.
  • the concept includes “substantially symmetric” and the like. For example, a state included in a predetermined range (for example, a range of ⁇ 10%) based on "perfectly uniform”, “perfectly equal”, “perfectly the same”, “perfectly symmetric”, etc. is also included.
  • the technology according to the present disclosure can be applied to various products.
  • the technology according to the present disclosure includes any type of movement such as automobiles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility, airplanes, drones, ships, robots, construction machines, agricultural machines (tractors), and the like. It may be realized as a device mounted on the body.
  • FIG. 15 is a block diagram showing a schematic configuration example of a vehicle control system 7000, which is an example of a mobile control system to which the technique according to the present disclosure can be applied.
  • the vehicle control system 7000 includes a plurality of electronic control units connected via the communication network 7010.
  • the vehicle control system 7000 includes a drive system control unit 7100, a body system control unit 7200, a battery control unit 7300, an external information detection unit 7400, an in-vehicle information detection unit 7500, and an integrated control unit 7600. ..
  • the communication network 7010 connecting these plurality of control units conforms to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network) or FlexRay (registered trademark). It may be an in-vehicle communication network.
  • CAN Controller Area Network
  • LIN Local Interconnect Network
  • LAN Local Area Network
  • FlexRay registered trademark
  • Each control unit includes a microcomputer that performs arithmetic processing according to various programs, a storage unit that stores a program executed by the microcomputer or parameters used for various arithmetics, and a drive circuit that drives various control target devices. To be equipped.
  • Each control unit is provided with a network I / F for communicating with other control units via the communication network 7010, and is connected to devices or sensors inside or outside the vehicle by wired communication or wireless communication.
  • a communication I / F for performing communication is provided. In FIG.
  • the microcomputer 7610 general-purpose communication I / F 7620, dedicated communication I / F 7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I / F 7660, audio image output unit 7670,
  • the vehicle-mounted network I / F 7680 and the storage unit 7690 are shown.
  • Other control units also include a microcomputer, a communication I / F, a storage unit, and the like.
  • the drive system control unit 7100 controls the operation of the device related to the drive system of the vehicle according to various programs.
  • the drive system control unit 7100 provides a driving force generator for generating the driving force of the vehicle such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, and a steering angle of the vehicle. It functions as a control device such as a steering mechanism for adjusting and a braking device for generating braking force of the vehicle.
  • the drive system control unit 7100 may have a function as a control device such as ABS (Antilock Brake System) or ESC (Electronic Stability Control).
  • the vehicle condition detection unit 7110 is connected to the drive system control unit 7100.
  • the vehicle state detection unit 7110 may include, for example, a gyro sensor that detects the angular velocity of the axial rotation of the vehicle body, an acceleration sensor that detects the acceleration of the vehicle, an accelerator pedal operation amount, a brake pedal operation amount, or steering wheel steering. Includes at least one of the sensors for detecting angular velocity, engine speed, wheel speed, and the like.
  • the drive system control unit 7100 performs arithmetic processing using a signal input from the vehicle state detection unit 7110 to control an internal combustion engine, a drive motor, an electric power steering device, a brake device, and the like.
  • the body system control unit 7200 controls the operation of various devices mounted on the vehicle body according to various programs.
  • the body system control unit 7200 functions as a keyless entry system, a smart key system, a power window device, or a control device for various lamps such as headlamps, back lamps, brake lamps, blinkers or fog lamps.
  • the body system control unit 7200 may be input with radio waves transmitted from a portable device that substitutes for the key or signals of various switches.
  • the body system control unit 7200 receives inputs of these radio waves or signals and controls a vehicle door lock device, a power window device, a lamp, and the like.
  • the battery control unit 7300 controls the secondary battery 7310, which is the power supply source of the drive motor, according to various programs. For example, information such as the battery temperature, the battery output voltage, or the remaining capacity of the battery is input to the battery control unit 7300 from the battery device including the secondary battery 7310. The battery control unit 7300 performs arithmetic processing using these signals, and controls the temperature control of the secondary battery 7310 or the cooling device provided in the battery device.
  • the vehicle outside information detection unit 7400 detects information outside the vehicle equipped with the vehicle control system 7000.
  • the image pickup unit 7410 and the vehicle exterior information detection unit 7420 is connected to the vehicle exterior information detection unit 7400.
  • the imaging unit 7410 includes at least one of a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
  • the vehicle exterior information detection unit 7420 is used, for example, to detect the current weather or an environment sensor for detecting the weather, or to detect other vehicles, obstacles, pedestrians, etc. around the vehicle equipped with the vehicle control system 7000. At least one of the surrounding information detection sensors is included.
  • the environmental sensor may be, for example, at least one of a raindrop sensor that detects rainy weather, a fog sensor that detects fog, a sunshine sensor that detects the degree of sunshine, and a snow sensor that detects snowfall.
  • the ambient information detection sensor may be at least one of an ultrasonic sensor, a radar device, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) device.
  • the imaging unit 7410 and the vehicle exterior information detection unit 7420 may be provided as independent sensors or devices, or may be provided as a device in which a plurality of sensors or devices are integrated.
  • FIG. 16 shows an example of the installation positions of the image pickup unit 7410 and the vehicle exterior information detection unit 7420.
  • the imaging units 7910, 7912, 7914, 7916, 7918 are provided, for example, at at least one of the front nose, side mirrors, rear bumpers, back door, and upper part of the windshield of the vehicle interior of the vehicle 7900.
  • the image pickup unit 7910 provided on the front nose and the image pickup section 7918 provided on the upper part of the windshield in the vehicle interior mainly acquire an image in front of the vehicle 7900.
  • the imaging units 7912 and 7914 provided in the side mirrors mainly acquire images of the side of the vehicle 7900.
  • the imaging unit 7916 provided on the rear bumper or the back door mainly acquires an image of the rear of the vehicle 7900.
  • the image pickup unit 7918 provided on the upper part of the windshield in the vehicle interior is mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, a traffic light, a traffic sign, a lane, or the like.
  • FIG. 16 shows an example of the shooting range of each of the imaging units 7910, 7912, 7914, 7916.
  • the imaging range a indicates the imaging range of the imaging unit 7910 provided on the front nose
  • the imaging ranges b and c indicate the imaging ranges of the imaging units 7912 and 7914 provided on the side mirrors, respectively
  • the imaging range d indicates the imaging range d.
  • the imaging range of the imaging unit 7916 provided on the rear bumper or the back door is shown. For example, by superimposing the image data captured by the imaging units 7910, 7912, 7914, 7916, a bird's-eye view image of the vehicle 7900 as viewed from above can be obtained.
  • the vehicle exterior information detection units 7920, 7922, 7924, 7926, 7928, 7930 provided on the front, rear, side, corners of the vehicle 7900 and above the windshield in the vehicle interior may be, for example, an ultrasonic sensor or a radar device.
  • the vehicle exterior information detection units 7920, 7926, 7930 provided on the front nose, rear bumper, back door, and upper part of the windshield in the vehicle interior of the vehicle 7900 may be, for example, a lidar device.
  • These out-of-vehicle information detection units 7920 to 7930 are mainly used for detecting a preceding vehicle, a pedestrian, an obstacle, or the like.
  • the vehicle exterior information detection unit 7400 causes the image pickup unit 7410 to capture an image of the outside of the vehicle and receives the captured image data. Further, the vehicle exterior information detection unit 7400 receives the detection information from the connected vehicle exterior information detection unit 7420. When the vehicle exterior information detection unit 7420 is an ultrasonic sensor, a radar device, or a LIDAR device, the vehicle exterior information detection unit 7400 transmits ultrasonic waves, electromagnetic waves, or the like, and receives the received reflected wave information.
  • the vehicle outside information detection unit 7400 may perform object detection processing or distance detection processing such as a person, a vehicle, an obstacle, a sign, or a character on a road surface based on the received information.
  • the vehicle exterior information detection unit 7400 may perform an environment recognition process for recognizing rainfall, fog, road surface conditions, etc., based on the received information.
  • the vehicle exterior information detection unit 7400 may calculate the distance to an object outside the vehicle based on the received information.
  • the vehicle exterior information detection unit 7400 may perform image recognition processing or distance detection processing for recognizing a person, a vehicle, an obstacle, a sign, a character on the road surface, or the like based on the received image data.
  • the vehicle exterior information detection unit 7400 performs processing such as distortion correction or alignment on the received image data, and synthesizes the image data captured by different imaging units 7410 to generate a bird's-eye view image or a panoramic image. May be good.
  • the vehicle exterior information detection unit 7400 may perform the viewpoint conversion process using the image data captured by different imaging units 7410.
  • the in-vehicle information detection unit 7500 detects the in-vehicle information.
  • a driver state detection unit 7510 that detects the driver's state is connected to the in-vehicle information detection unit 7500.
  • the driver state detection unit 7510 may include a camera that captures the driver, a biosensor that detects the driver's biological information, a microphone that collects sound in the vehicle interior, and the like.
  • the biosensor is provided on, for example, the seat surface or the steering wheel, and detects the biometric information of the passenger sitting on the seat or the driver holding the steering wheel.
  • the in-vehicle information detection unit 7500 may calculate the degree of fatigue or concentration of the driver based on the detection information input from the driver state detection unit 7510, and may determine whether the driver is dozing or not. You may.
  • the in-vehicle information detection unit 7500 may perform processing such as noise canceling processing on the collected audio signal.
  • the integrated control unit 7600 controls the overall operation in the vehicle control system 7000 according to various programs.
  • An input unit 7800 is connected to the integrated control unit 7600.
  • the input unit 7800 is realized by a device such as a touch panel, a button, a microphone, a switch or a lever, which can be input-operated by a passenger. Data obtained by recognizing the voice input by the microphone may be input to the integrated control unit 7600.
  • the input unit 7800 may be, for example, a remote control device using infrared rays or other radio waves, or an externally connected device such as a mobile phone or a PDA (Personal Digital Assistant) that supports the operation of the vehicle control system 7000. You may.
  • the input unit 7800 may be, for example, a camera, in which case the passenger can input information by gesture. Alternatively, data obtained by detecting the movement of the wearable device worn by the passenger may be input. Further, the input unit 7800 may include, for example, an input control circuit that generates an input signal based on the information input by the passenger or the like using the input unit 7800 and outputs the input signal to the integrated control unit 7600. By operating the input unit 7800, the passenger or the like inputs various data to the vehicle control system 7000 and instructs the processing operation.
  • the storage unit 7690 may include a ROM (Read Only Memory) for storing various programs executed by the microcomputer, and a RAM (Random Access Memory) for storing various parameters, calculation results, sensor values, and the like. Further, the storage unit 7690 may be realized by a magnetic storage device such as an HDD (Hard Disc Drive), a semiconductor storage device, an optical storage device, an optical magnetic storage device, or the like.
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the general-purpose communication I / F 7620 is a general-purpose communication I / F that mediates communication with various devices existing in the external environment 7750.
  • General-purpose communication I / F7620 is a cellular communication protocol such as GSM (registered trademark) (Global System of Mobile communications), WiMAX (registered trademark), LTE (registered trademark) (Long Term Evolution) or LTE-A (LTE-Advanced).
  • GSM Global System of Mobile communications
  • WiMAX registered trademark
  • LTE registered trademark
  • LTE-A Long Term Evolution-Advanced
  • Bluetooth® may be implemented.
  • the general-purpose communication I / F7620 connects to a device (for example, an application server or a control server) existing on an external network (for example, the Internet, a cloud network, or a business-specific network) via a base station or an access point, for example. You may. Further, the general-purpose communication I / F7620 uses, for example, P2P (Peer To Peer) technology, and is a terminal existing in the vicinity of the vehicle (for example, a terminal of a driver, a pedestrian or a store, or an MTC (Machine Type Communication) terminal). You may connect with.
  • P2P Peer To Peer
  • MTC Machine Type Communication
  • the dedicated communication I / F 7630 is a communication I / F that supports a communication protocol formulated for use in a vehicle.
  • the dedicated communication I / F7630 uses a standard protocol such as WAVE (Wireless Access in Vehicle Environment), DSRC (Dedicated Short Range Communications), or a cellular communication protocol, which is a combination of the lower layer IEEE802.11p and the upper layer IEEE1609. May be implemented.
  • Dedicated communication I / F7630 typically includes vehicle-to-vehicle (Vehicle to Vehicle) communication, road-to-vehicle (Vehicle to Infrastructure) communication, vehicle-to-house (Vehicle to Home) communication, and pedestrian-to-pedestrian (Vehicle to Pedertian) communication. ) Perform V2X communication, which is a concept that includes one or more of communications.
  • the positioning unit 7640 receives, for example, a GNSS signal from a GNSS (Global Navigation Satellite System) satellite (for example, a GPS signal from a GPS (Global Positioning System) satellite), executes positioning, and executes positioning, and the latitude, longitude, and altitude of the vehicle. Generate location information including.
  • the positioning unit 7640 may specify the current position by exchanging signals with the wireless access point, or may acquire position information from a terminal such as a mobile phone, PHS, or smartphone having a positioning function.
  • the beacon receiving unit 7650 receives radio waves or electromagnetic waves transmitted from a radio station or the like installed on the road, and acquires information such as the current position, traffic congestion, road closure, or required time.
  • the function of the beacon receiving unit 7650 may be included in the above-mentioned dedicated communication I / F 7630.
  • the in-vehicle device I / F 7660 is a communication interface that mediates the connection between the microcomputer 7610 and various in-vehicle devices 7760 existing in the vehicle.
  • the in-vehicle device I / F7660 may establish a wireless connection using a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication) or WUSB (Wireless USB).
  • a wireless communication protocol such as wireless LAN, Bluetooth (registered trademark), NFC (Near Field Communication) or WUSB (Wireless USB).
  • the in-vehicle device I / F7660 is via a connection terminal (and a cable if necessary) (not shown), USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface, or MHL (Mobile High)).
  • a wired connection such as -definition Link may be established.
  • the in-vehicle device 7760 includes, for example, at least one of a mobile device or a wearable device owned by a passenger, or an information device carried in or attached to a vehicle.
  • the in-vehicle device 7760 may include a navigation device that searches for a route to an arbitrary destination.
  • the in-vehicle device I / F 7660 is a control signal to and from these in-vehicle devices 7760. Or exchange the data signal.
  • the in-vehicle network I / F7680 is an interface that mediates communication between the microcomputer 7610 and the communication network 7010.
  • the vehicle-mounted network I / F7680 transmits / receives signals and the like according to a predetermined protocol supported by the communication network 7010.
  • the microcomputer 7610 of the integrated control unit 7600 is via at least one of general-purpose communication I / F7620, dedicated communication I / F7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I / F7660, and in-vehicle network I / F7680.
  • the vehicle control system 7000 is controlled according to various programs based on the information acquired. For example, the microcomputer 7610 calculates the control target value of the driving force generator, the steering mechanism, or the braking device based on the acquired information inside and outside the vehicle, and outputs a control command to the drive system control unit 7100. May be good.
  • the microcomputer 7610 realizes ADAS (Advanced Driver Assistance System) functions including vehicle collision avoidance or impact mitigation, follow-up driving based on inter-vehicle distance, vehicle speed maintenance driving, vehicle collision warning, vehicle lane deviation warning, and the like. Cooperative control may be performed for the purpose of. Further, the microcomputer 7610 automatically travels autonomously without relying on the driver's operation by controlling the driving force generator, the steering mechanism, the braking device, etc. based on the acquired information on the surroundings of the vehicle. Coordinated control for the purpose of driving or the like may be performed.
  • ADAS Advanced Driver Assistance System
  • the microcomputer 7610 has information acquired via at least one of general-purpose communication I / F7620, dedicated communication I / F7630, positioning unit 7640, beacon receiving unit 7650, in-vehicle device I / F7660, and in-vehicle network I / F7680. Based on the above, three-dimensional distance information between the vehicle and an object such as a surrounding structure or a person may be generated, and local map information including the peripheral information of the current position of the vehicle may be created. Further, the microcomputer 7610 may predict a danger such as a vehicle collision, a pedestrian or the like approaching or entering a closed road based on the acquired information, and may generate a warning signal.
  • the warning signal may be, for example, a signal for generating a warning sound or turning on a warning lamp.
  • the audio image output unit 7670 transmits an output signal of at least one of audio and image to an output device capable of visually or audibly notifying information to the passenger or the outside of the vehicle.
  • an audio speaker 7710, a display unit 7720, and an instrument panel 7730 are exemplified as output devices.
  • the display unit 7720 may include, for example, at least one of an onboard display and a head-up display.
  • the display unit 7720 may have an AR (Augmented Reality) display function.
  • the output device may be other devices other than these devices, such as headphones, wearable devices such as eyeglass-type displays worn by passengers, and projectors or lamps.
  • the display device displays the results obtained by various processes performed by the microcomputer 7610 or the information received from other control units in various formats such as texts, images, tables, and graphs. Display visually.
  • the audio output device converts an audio signal composed of reproduced audio data or acoustic data into an analog signal and outputs the audio signal audibly.
  • At least two control units connected via the communication network 7010 may be integrated as one control unit.
  • each control unit may be composed of a plurality of control units.
  • the vehicle control system 7000 may include another control unit (not shown).
  • the other control unit may have a part or all of the functions carried out by any of the control units. That is, as long as information is transmitted and received via the communication network 7010, predetermined arithmetic processing may be performed by any control unit.
  • a sensor or device connected to any control unit may be connected to another control unit, and a plurality of control units may send and receive detection information to and from each other via the communication network 7010. .
  • a computer program for realizing each function of the distance measuring device according to the present embodiment described with reference to FIG. 2 and the like can be implemented in any of the control units and the like. It is also possible to provide a computer-readable recording medium in which such a computer program is stored.
  • the recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, or the like. Further, the above computer program may be distributed via a network, for example, without using a recording medium.
  • the distance measuring device can be applied to the integrated control unit 7600 of the application example shown in FIG.
  • the controller of the ranging device can be realized by the microcomputer 7610 of the integrated control unit 7600, the storage unit 7690, and the in-vehicle network I / F7680.
  • the distance measuring device described with reference to FIG. 2 and the like are included in the module for the integrated control unit 7600 shown in FIG. 15 (for example, an integrated circuit module composed of one die). It may be realized. Alternatively, the distance measuring device described with reference to FIG. 2 and the like may be realized by a plurality of control units of the vehicle control system 7000 shown in FIG.
  • this technology can also adopt the following configurations.
  • a clock section that outputs a clock signal based on the start signal,
  • a counting generator capable of outputting each of a first counting signal and a second counting signal whose logic levels are inverted from each other as a counting signal based on the clock signal.
  • An output unit that holds the logic level of the counting signal output from the counting generation unit and outputs holding result information in response to the input of the stop signal.
  • a distance measuring device including a calculation unit that calculates distance information based on the holding result information based on each of the first counting signal and the second counting signal.
  • the stop signal is a distance measuring device that is input to the output unit in response to the output of the received light signal.
  • the counting generation unit is a distance measuring device that outputs each of the first counting signal and the second counting signal in a switchable manner.
  • the output unit includes a plurality of first holding result information based on the holding result of each logic level of the first counting signal output a plurality of times, and each of the second counting signal output a plurality of times. Outputs multiple second retention result information based on the retention result of the logic level of
  • the calculation unit is a distance measuring device that calculates the distance information based on the plurality of first holding result information and the plurality of second holding result information.
  • the distance measuring device is a distance measuring device that outputs the plurality of second holding result information based on the inverted result in which the holding result of each logic level of the plurality of second counting signals is inverted.
  • the distance measuring device is a distance measuring device that calculates the distance information by executing statistical processing on the plurality of first holding result information and the plurality of second holding result information.
  • the calculation unit at least calculates the average value, the mode (mode), or the median (median) with respect to the first holding result information and the second holding result information.
  • a distance measuring device that calculates the distance information by executing one.
  • the distance measuring device according to any one of (1) to (7).
  • the counting signal is a distance measuring device in which a change in logic level corresponds to a state transition of a code encoded by a predetermined coding method.
  • the counting signal includes a plurality of bit signals.
  • the output unit is a distance measuring device that holds the logic level of each of the plurality of bit signals and outputs the holding result information.
  • the counting generator is a distance measuring device including at least one of a Johnson counter and a Gray code counter. (12) The distance measuring device according to any one of (1) to (11).
  • the clock signal is a distance measuring device including at least one of a plurality of phase-shifted pulse signals.
  • the clock signal is a distance measuring device including at least one of a plurality of pulse signals whose phases are shifted in units of 90 °.
  • the counting generation unit has a latch that outputs the counting signal, and by controlling the initial value of the latch, the distance measuring device that switches and outputs the first counting signal and the second counting signal.
  • a counting generator capable of outputting each of the first counting signal and the second counting signal whose logic levels are inverted from each other as a counting signal based on the clock signal.
  • a signal processing circuit including an output unit that holds the logic level of the count signal output from the count generation unit in response to an input of a stop signal and outputs holding result information.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Transforming Light Signals Into Electric Signals (AREA)
  • Measurement Of Unknown Time Intervals (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Dans un mode de réalisation, l'invention concerne un dispositif de mesure de distance comprenant une unité d'horloge, une unité de génération de comptage, une unité de sortie et une unité de calcul. L'unité d'horloge émet en sortie un signal d'horloge en fonction d'un signal de départ. L'unité de génération de comptage peut émettre en sortie un premier signal de comptage et un deuxième signal de comptage dont un niveau logique a été inversé par rapport à l'autre, chacun en tant que signal de comptage basé sur le signal d'horloge. L'unité de sortie conserve les niveaux logiques des signaux de comptage émis en sortie par l'unité de génération de comptage conformément à l'entrée d'un signal d'arrêt, et émet en sortie des informations de résultat retenues. L'unité de calcul calcule des informations de distance en fonction des informations de résultat retenues selon le premier et le deuxième signal de comptage.
PCT/JP2020/020319 2019-06-03 2020-05-22 Dispositif de mesure de distance et circuit de traitement de signal WO2020246266A1 (fr)

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JP2019103878A JP2020197457A (ja) 2019-06-03 2019-06-03 測距装置及び信号処理回路

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Cited By (1)

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WO2023218870A1 (fr) * 2022-05-10 2023-11-16 ソニーグループ株式会社 Dispositif de télémétrie, procédé de télémétrie et support d'enregistrement à programme enregistré sur celui-ci

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JP7224053B2 (ja) * 2020-11-27 2023-02-17 株式会社ニューギン 遊技機
JP7343907B2 (ja) * 2020-11-27 2023-09-13 株式会社ニューギン 遊技機

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JP2011259292A (ja) * 2010-06-10 2011-12-22 Fujitsu Ltd Ｔｄｃ回路
JP2013195307A (ja) * 2012-03-21 2013-09-30 Honda Motor Co Ltd 測距システム
EP3339985A1 (fr) * 2016-12-22 2018-06-27 ams AG Convertisseur temps-numérique et procédé de conversion

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2011259292A (ja) * 2010-06-10 2011-12-22 Fujitsu Ltd Ｔｄｃ回路
JP2013195307A (ja) * 2012-03-21 2013-09-30 Honda Motor Co Ltd 測距システム
EP3339985A1 (fr) * 2016-12-22 2018-06-27 ams AG Convertisseur temps-numérique et procédé de conversion

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023218870A1 (fr) * 2022-05-10 2023-11-16 ソニーグループ株式会社 Dispositif de télémétrie, procédé de télémétrie et support d'enregistrement à programme enregistré sur celui-ci

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