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WO2018181013A1 - Détecteur de lumière - Google Patents

Détecteur de lumière Download PDF

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Publication number
WO2018181013A1
WO2018181013A1 PCT/JP2018/011754 JP2018011754W WO2018181013A1 WO 2018181013 A1 WO2018181013 A1 WO 2018181013A1 JP 2018011754 W JP2018011754 W JP 2018011754W WO 2018181013 A1 WO2018181013 A1 WO 2018181013A1
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WO
WIPO (PCT)
Prior art keywords
unit
value
light
parameter setting
light receiving
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PCT/JP2018/011754
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English (en)
Japanese (ja)
Inventor
武廣 秦
尾崎　憲幸
木村　禎祐
謙太 東
柏田　真司
Original Assignee
株式会社デンソー
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.)
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Publication date
Priority claimed from JP2018011556A external-priority patent/JP6665873B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to CN201880022194.1A priority Critical patent/CN110462437B/zh
Publication of WO2018181013A1 publication Critical patent/WO2018181013A1/fr
Priority to US16/584,033 priority patent/US11668826B2/en

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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 disclosure relates to a technique for detecting incoming light.
  • SPAD Single Photon Avalanche Diode
  • SPAD is an avalanche photodiode that operates in Geiger mode and can detect the incidence of a single photon.
  • TOF flight time of light from irradiation to light reception
  • a photodetector that is an aspect of the present disclosure includes a light receiving array unit, a time measuring unit, a response acquisition unit, a memory, and a histogram generation unit.
  • the light receiving array unit has a plurality of light receiving units that output pulse signals in response to the incidence of photons, receives the reflected light that is irradiated from the irradiation unit and reflected by the object, and is output from each of the plurality of light receiving units. Output pulse signals in parallel.
  • the time measuring unit measures an elapsed time from when an irradiation timing signal indicating a timing at which the irradiation unit irradiates light is input.
  • the response acquisition unit acquires a response number that is the number of light receiving units that output a pulse signal among a plurality of light receiving units at a fixed cycle timing, and subtracts a preset bias value from the response number or Outputs the number of adjustment responses divided.
  • the memory is associated with a time value whose address is measured by the time measuring unit.
  • the histogram generation unit accumulates and stores the number of adjustment responses as data of the address at the memory address specified from the time measured value in the time measuring unit.
  • FIG. 5 is a circuit diagram showing a configuration of a light receiving unit in the first to third embodiments. It is a block diagram which shows the structure of the laser radar of 4th Embodiment. It is a circuit diagram which shows the structure of the light-receiving part in 4th Embodiment.
  • the laser radar 1 of this embodiment is mounted on a vehicle, detects various objects existing around the vehicle, and generates information related to the object.
  • the laser radar 1 includes an irradiation unit 2, a light detection unit 3, a parameter setting unit 4, a signal processing unit 5, and a memory 6.
  • the light detection unit 3, the signal processing unit 5, and the memory 6 correspond to a light detector.
  • the photodetector may include at least one of the irradiation unit 2 and the parameter setting unit 4.
  • the irradiation unit 2 repeatedly irradiates pulsed laser light at a preset interval, and inputs an irradiation timing signal indicating the irradiation timing to the light detection unit 3.
  • the cycle of irradiating laser light is referred to as a measurement cycle.
  • the light detection unit 3 receives the reflected light of the laser light emitted from the irradiation unit 2, time information Tp representing TOF, which is a flight time of light required from irradiation to light reception, and a light amount representing the light amount at the time of light reception.
  • Information Cp is generated.
  • TOF is an abbreviation for Time Of Flight.
  • the light detection unit 3 includes a light receiving array unit 31, a trigger unit 32, a timer unit 33, and a response acquisition unit 34.
  • the light receiving array unit 31 includes M light receiving units 80.
  • M is an integer of 2 or more.
  • Each light receiving unit 80 includes a SPAD.
  • SPAD is an abbreviation for Single Photon Avalanche Diode.
  • the SPAD is an avalanche photodiode that operates in a Geiger mode in which a voltage higher than the breakdown voltage is applied as a reverse bias voltage, and is a detection element that can detect the incidence of a single photon.
  • a total of M SPADs each having one M light receiving unit 80 are two-dimensionally arranged to form a light receiving surface.
  • each light receiving unit 80 includes a SPAD 81, a quench resistor 82, an inverting circuit 83, a D flip-flop circuit (hereinafter referred to as a DFF circuit) 84, and a delay circuit 85.
  • the SPAD 81 has an anode connected to a negative power source and a cathode connected to a positive power source via a quench resistor 82.
  • the quench resistor 82 applies a reverse bias voltage to the SPAD 81.
  • the quench resistor 82 stops the Geiger discharge of the SPAD 81 due to a voltage drop caused by the current flowing through the SPAD 81 when the photons enter the SPAD 81 and the SPAD 81 is broken down.
  • As the quench resistor 82 a resistance element having a predetermined resistance value, or a MOSFET whose on-resistance can be set by a gate voltage is used.
  • An inversion circuit 83 is connected to the cathode of SPAD81.
  • the input of the inverting circuit 83 is at a high level.
  • a current flows through the quench resistor 82, whereby the input of the inverting circuit 83 changes to a low level.
  • the DFF circuit 84 changes its output to a high level at a rising edge at which the output of the inverting circuit 83 changes from a low level to a high level.
  • the output of the DFF circuit 84 is connected to the reset terminal of the latch circuit 84 via the delay circuit 83.
  • the delay circuit 83 inverts the signal level of the output of the DFF circuit 84 and delays the signal level by a preset delay time ⁇ and inputs it to the reset terminal. As a result, when the delay time ⁇ elapses after the output of the DFF circuit 84 changes to the high level, the DFF circuit 84 is reset to change to the low level.
  • the light receiving unit 80 when the photon is incident on the SPAD 81, the light receiving unit 80 outputs a pulse signal P having a pulse width ⁇ in response to the photon.
  • the pulse width ⁇ is set to such a length that can be detected individually when photons are continuously input to the same SPAD 81.
  • each pulse signal output from the M light receiving units 80 is represented by P 1 to P M.
  • the pulse signals P 1 to P M are output in parallel.
  • Trigger unit 32 the number of pulse signals P 1 ⁇ P M from the light receiving array 31 are simultaneously output, i.e., the number of responses is the number of light receiving portion 80 that outputs a pulse signal in response to photons, A trigger signal TG representing the light reception timing is output at a timing exceeding the trigger threshold TH set by the threshold setting unit 4.
  • the timer unit 33 is a so-called TDC, and measures the time from when the irradiation timing signal is input from the irradiation unit 2 to the light reception timing indicated by the trigger signal TG, and outputs it as time information Tp.
  • TDC is an abbreviation for Time-> Digital-> Converter.
  • the response number Cx is the number of the pulse signals P 1 ⁇ P M from the light receiving array portion 31 are output at the same time, acquired at a timing in accordance with the trigger signal TG, the bias value from the response speed Cx
  • the number of adjustment responses which is the result of subtracting Cb, is output as light amount information Cp representing the luminance of the received optical signal. That is, the light amount information (that is, the number of adjustment responses) Cp is expressed by equation (1).
  • the timing according to the trigger signal TG may be a timing when the trigger signal TG is output, or may be a timing obtained by delaying the trigger signal TG by a predetermined delay amount.
  • the bias value Cb is a value set by the parameter setting unit 4.
  • the parameter setting unit 4 includes a mechanical switch that can set the trigger threshold TH and the bias value Cb, or a register that can electrically write the trigger threshold TH and the bias value Cb.
  • only the trigger threshold value TH is arbitrarily set. That is, the trigger threshold value TH corresponds to the target value.
  • the bias value Cb is set to a value obtained by subtracting 1 from the set trigger threshold value TH. That is, the bias value Cb is expressed by equation (2). Substituting equation (2) into equation (1) yields equation (3).
  • the trigger threshold TH may be a value larger than 0, and may be an integer or not an integer.
  • the parameter setting unit 4 may be configured such that only the bias value Cb is arbitrarily set, and the trigger threshold value TH is calculated from the set bias value Cb. In this case, the bias value Cb corresponds to the target value. Further, the trigger threshold value TH and the bias value Cb do not necessarily need to be set in conjunction so as to satisfy the relationship shown in the expression (2). In this case, both the trigger threshold value TH and the bias value Cb correspond to the target value.
  • the memory 6 is an arbitrarily readable / writable RAM. As shown in FIG. 2, the address of the memory 6 is associated with the time bin of the timer unit 33. The time bin is an individual time region divided by the time resolution of the time measuring unit 33.
  • the bit width of the data stored in the memory 6 is at least one of the expected value of the number of responses detected in one measurement and the number of times of integration X which is the number of times of integration when the signal processing unit 5 generates a histogram. It is set appropriately according to The cumulative number X may be 1 or more.
  • the signal processing unit 5 includes an information generation unit 51 and a histogram generation unit 52.
  • the histogram generation unit 52 operates for each measurement cycle, and updates the contents of the histogram stored in the memory 6 according to the time information Tp and the light amount information Cp output from the light detection unit 3. Specifically, data is read from the address of the memory 6 associated with the time information Tp, and the result of adding the light amount information Cp to the read data is written to the same address. Thereby, the integrated value of the light quantity information Cp is updated for the time bin indicated by the time information Tp.
  • the information generation unit 51 operates every X measurement cycles, that is, every time a histogram is generated, and generates information on an object that reflects light based on the histogram generated by the histogram generation unit 52. Specifically, the maximum value of the histogram is extracted as luminance, and for each extracted maximum value, a time bin corresponding to the address from which the maximum value is obtained is specified. Further, based on the combination of the extracted luminance and time bin (ie, TOF), an object including the distance to each object that caused the maximum value on the histogram and the reliability of the object. Generate information. The generated object information is provided to various in-vehicle devices that use the object information via an in-vehicle LAN (not shown).
  • the response acquisition unit 34 does not use the response number Cx as it is, but uses the adjustment response number obtained by subtracting the bias value Cb as the light amount information Cp output to the signal processing unit 5. For this reason, when generating a histogram, the magnitude of the light quantity information Cp integrated in each measurement cycle is suppressed, and consequently the final integrated value of the light quantity information Cp is suppressed.
  • the integrated value can be set by changing the set value as appropriate according to the environment used. Can be suppressed more effectively.
  • the trigger threshold value TH and the bias value Cb are manually set by the parameter setting unit 4a.
  • the second embodiment is different from the first embodiment in that it is automatically variably set.
  • the laser radar 1 a of the present embodiment includes a disturbance light monitor unit 7 added to the laser radar 1 of the first embodiment, and the parameter setting unit 4 a detects the result of the disturbance light monitor unit 7.
  • the trigger threshold value TH is set according to the ambient light information Cm
  • the bias value Cb is set according to the above equation (1).
  • the disturbance light monitoring unit 7 includes a light receiving unit 71 and a counter 72 as shown in FIG.
  • the light receiving unit 71 has the same configuration as the light receiving unit 80 constituting the light receiving array unit 31.
  • the SPAD of the light receiving unit 71 is disposed adjacent to the light receiving surface formed by the M SPADs 81 included in the light receiving array unit 31.
  • the counter 72 counts the pulse signal output from the light receiving unit 71 at a timing when measurement by the light detection unit 3 is not performed, and generates and outputs disturbance light information Cm according to the count result.
  • the parameter setting unit 4a variably sets the trigger threshold TH and the bias value Cb according to the disturbance light information Cm obtained from the disturbance light monitoring unit 7 before the irradiation unit 2 emits light for each measurement cycle. Specifically, the trigger threshold value TH and the bias value Cb are set to larger values as the amount of disturbance light indicated by the disturbance light information Cm increases.
  • the parameter setting unit 4a sets the trigger threshold value TH and the bias value Cb based on, for example, the average level of ambient light or the size obtained by adding a predetermined margin to the average level.
  • the disturbance light refers to light other than the reflected light that is irradiated from the irradiation unit 2, reflected by an object, and incident on the light detection unit 3.
  • the trigger threshold value TH when the disturbance light is weak, the trigger threshold value TH is also set to a small value as shown in the upper part of FIG. 6, and when the disturbance light is strong, the trigger threshold value TH is given as shown in the lower part of FIG. Is also set to a large value.
  • the part of the response number Cx that exceeds the trigger threshold TH set to the average level of disturbance light that is, the part obtained by subtracting the bias value Cb from the response number Cx is output as the light amount information Cp. . 3 and 6 exemplify the case where the adjustment response number Cp, which is the subtraction result, is clamped at zero, the present invention is not limited to this.
  • the laser radar 1a According to the laser radar 1a, it is possible to suppress the histogram overflow while maintaining the detection accuracy even when the disturbance light condition changes. That is, if the trigger threshold value TH and the bias value Cb are fixed to a large value in accordance with the situation where disturbance light is strongest, the detection accuracy of reflected light from an object with low reflection intensity or a distant object decreases. On the other hand, if the trigger threshold value TH and the bias value Cb are fixed to a small value in accordance with a situation where disturbance light is weak, the integrated value of the histogram increases, and it is necessary to increase the memory capacity or reduce the number of integrations. However, the laser radar 1a can suppress both of these disadvantages.
  • the trigger threshold value TH is set according to the disturbance light, and the light amount information (that is, the number of adjustment responses) Cp is calculated using the bias value Cb set in conjunction with the trigger threshold value TH. Therefore, the light amount information Cp is obtained by removing noise components based on disturbance light. Further, according to the radar radar 1a, since a histogram is generated using such light quantity information Cp, signal light having an excellent signal-to-noise ratio can be extracted.
  • the trigger threshold value TH and the bias value Cb are manually set by the parameter setting unit 4.
  • the third embodiment is different from the first embodiment in that the trigger threshold value TH and the bias value Cb are automatically variably set.
  • the second embodiment is different from the second embodiment in that the setting of the trigger threshold value TH and the bias value Cb is changed according to the luminance value integration state in the histogram.
  • the laser radar 1b of the present embodiment differs from the laser radar 1 of the first embodiment in the configuration of a response acquisition unit 34b, a parameter setting unit 4b, and a signal processing unit 5b.
  • the response acquisition unit 34 b includes a maximum value monitor unit 341 in addition to the configuration that realizes the function of the response acquisition unit 34.
  • the maximum value monitor unit 341 monitors the response number Cx output from the light receiving array unit 31 and extracts the maximum value as the predicted response number B.
  • the extraction of the predicted response number B may be performed by an external instruction, may be performed periodically, or may be performed when a change in the surrounding environment is detected by some on-vehicle sensor.
  • the signal processing unit 5 b includes a margin calculation unit 53 in addition to the information generation unit 51 and the histogram generation unit 52.
  • the margin calculation unit 53 obtains a margin value A that represents the margin of memory each time the histogram generation unit 52 updates the histogram.
  • the maximum value among the maximum values of the histogram is extracted and set as the value Pmax.
  • Dmax be the upper limit of integration, which is the upper limit of data that can be stored in accordance with the bit width of the data area constituting the memory.
  • the margin value A may be obtained by equation (3) or may be obtained by equation (4). Where ⁇ represents the remaining number of integrations until the histogram generation is completed.
  • a in FIG. 2 indicates the margin value A obtained by equation (3).
  • the parameter setting unit 4b compares the trigger threshold value TH set at that time with AB in accordance with the predicted response number B and the margin value A, and adopts the larger one as the trigger threshold value TH.
  • the parameter setting unit 4b executes the variable setting of the trigger threshold value TH using A and B only when the remaining number of times of integration ⁇ is less than or equal to a predetermined value or when the margin value A is less than or equal to a predetermined value. May be.
  • the trigger threshold value TH to be compared with AB may be a fixed value, or may be a variable value set according to the situation as shown in the second embodiment. Further, the parameter setting unit 4b sets the bias value Cb by the above-described method instead of the trigger threshold value TH, and sets the trigger threshold value TH from the set bias value Cb using the relationship of the expression (1). It may be configured.
  • the trigger signal TG is generated, and the histogram is updated using only the light amount information Cp obtained at the timing of the trigger signal TG.
  • the fourth embodiment is different from the first embodiment in that the light amount information Cp is repeatedly generated in synchronization with the clock and the histogram is updated using all the light amount information Cp.
  • the laser radar 1 c of this embodiment includes an irradiation unit 2, a light detection unit 3 c, a parameter setting unit 4 c, a signal processing unit 5 c, and a memory 6.
  • the light detection unit 3c includes a light receiving array unit 31c, a timer unit 33c, and a response acquisition unit 34c.
  • the light receiving array part 31c has M light receiving parts 80c.
  • Each of the M light receiving portions 80c has a SPAD, and is similar to the first embodiment in that a light receiving surface in which M SPADs are two-dimensionally arranged is formed.
  • Each light receiving unit 80c includes a SPAD 81, a quench resistor 82, an inverting circuit 83, and a DFF circuit 84, as shown in FIG. That is, the light receiving unit 80c is different from the light receiving unit 80 of the first embodiment in that the delay circuit 85 is omitted and the connection state of the DFF circuit 84 is different.
  • the DFF circuit 84 latches the output of the inverting circuit 83 at the timing of the rising edge of the clock CK and outputs this as a pulse signal P. Further, the output of the DFF circuit 84 is reset by the reset signal RS.
  • the light receiving unit 80c outputs the pulse signal P in response thereto.
  • the pulse width of the pulse signal Pr output from the inverting circuit 83 continues until the Geiger discharge of the SPAD 81 is stopped by the voltage drop generated by the current flowing through the quench resistor 82.
  • This pulse signal Pr is converted into a pulse signal P synchronized with the clock CK by the DFF circuit 84. That is, the pulse width of the pulse signal P output from the DFF circuit 84 includes a shift corresponding to the quantization error due to the clock CK.
  • the time measuring unit 33c has a synchronous counter that operates according to the clock CK.
  • the timing unit 33c starts counting by the irradiation timing signal input from the irradiation unit 2, continues the counting operation at least for the time required for the optical signal to reciprocate the maximum detection distance, and calculates the count value as time information. Output as Tp. That is, the time information Tp changes in synchronization with the clock CK.
  • Response obtaining unit 34c is a response number Cx is the number of the pulse signals P 1 ⁇ P M outputted simultaneously from the light-receiving array portion 31c, determined at all times by using an encoder or the like. Further, the response acquisition unit 34c repeatedly calculates an adjustment response number, which is a result of subtracting the bias value Cb from the response number Cx, for each timing of the clock CK, and the calculation result represents the light amount representing the luminance of the received optical signal. Output as information Cp. That is, the light amount information Cp changes in synchronization with the clock CK, similarly to the time information Tp.
  • the parameter setting unit 4c variably sets the bias value Cb according to the disturbance light information Cm output from the signal processing unit 5c before the irradiation unit 2 emits light for each measurement cycle. Specifically, like the parameter setting unit 4a of the second embodiment, the parameter setting unit 4c sets the bias value Cb to a larger value as the amount of disturbance light indicated by the disturbance light information Cm increases.
  • the signal processing unit 5 c includes an information generation unit 51, a histogram generation unit 52, and an ambient light monitor unit 54.
  • the histogram generation unit 52 operates in the same manner as in the first embodiment, but the time information Tp and the light amount information Cp change in synchronization with the clock CK. Therefore, every time the time information Tp changes, the histogram generation unit 52 corresponds to the time information.
  • the stored value of the address in the memory 6 is updated using the light amount information Cp.
  • the light amount information (that is, the adjustment response number) Cp is obtained by subtracting the bias value Cb from the response number Cx, but the present disclosure is not limited to this.
  • the light amount information Cp may be obtained by dividing the bias value Cb from the response number Cx.
  • the trigger threshold value TH itself may be used as the bias value Cb.
  • the trigger threshold value TH must be set to a value larger than 1 so that Cp ⁇ Cx / TH.
  • the trigger threshold value TH and the bias value Cb are set manually, based on the ambient light information Cm, the margin value A, and the predicted response number B.
  • the present disclosure is limited to this. is not.
  • the trigger threshold value TH and the bias value Cb may be set on the basis of the amount of disturbance light obtained from the obtained information and estimated from the obtained information.
  • the disturbance light monitor unit 7 that measures the physical quantity of light is used to generate the disturbance light information Cm.
  • the disturbance light here refers to a response other than the signal emitted by itself, and the disturbance light information Cm only needs to know the magnitude of the disturbance light. Therefore, instead of the disturbance light monitor unit 7 or in addition to the disturbance light monitor unit 7, for example, a reflection characteristic monitor unit may be used.
  • the reflection characteristic monitor unit detects at least one of the reflection characteristic of the object, specifically, reflectance, reflection intensity distribution, wavelength characteristic, and deflection characteristic, and generates disturbance light information Cm from the detection result.
  • the disturbance light monitor unit 7 is applied to the single light receiving array unit 31, but the present disclosure is not limited to this.
  • the light detection unit 3 that is, the light receiving array unit 31, the trigger unit 32, the time measuring unit 33, the response acquisition
  • the disturbance light monitoring unit 7 may measure the disturbance light for each pixel, and the threshold setting unit 4a may be configured to change the trigger threshold TH for each pixel.
  • a reflection characteristic monitor unit is used instead of the ambient light monitor unit 7.
  • the present disclosure is not limited to this.
  • the number M of the light receiving units 311 constituting the light detecting unit 3 may be used as the predicted response number B.
  • the trigger threshold TH and the predicted response number B may be set based on a past histogram, or may be set based on at least one history of the trigger threshold TH, the bias value Cb, and the response number Cx. Good.
  • the number of responses measured last time may be used, or any of the most recent average number of responses, the maximum number of responses, and the number of most frequent responses may be used.
  • the trigger threshold value TH, the bias value Cb, and the predicted response number B may be set based on data obtained by analyzing past data and removing abnormal values.
  • the bias value Cb is set by the parameter setting unit, but the bias value may be set by the response acquisition unit.
  • the response acquisition unit may acquire the bias threshold value TH and calculate the bias value Cb based on the acquired bias value TH.
  • the fourth embodiment differs from the first to third embodiments in the configuration of the light detection unit, but the disturbance light monitoring unit 54 in the fourth embodiment is changed to the first to third embodiments.
  • the disturbance light monitoring unit 7 in the second embodiment, the maximum value monitoring unit 341 and the margin calculation unit 53 in the third embodiment may be applied to the fourth embodiment.
  • a plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate
  • at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.
  • all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.
  • the present disclosure can be realized in various forms such as a system including the laser radar as a constituent element and a light amount information integration method.

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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)

Abstract

L'invention concerne une unité de réseau de réception de lumière (31) qui reçoit la lumière émise par une unité de rayonnement et réfléchie par un objet et émet en parallèle des signaux d'impulsion émis individuellement par une pluralité d'unités de réception de lumière (80c). Une unité de mesure temporelle (33c) mesure le temps écoulé depuis l'entrée d'un signal de temporisation de rayonnement représentant la temporisation du rayonnement lumineux par l'unité de rayonnement. Une unité d'obtention de réponse (34) obtient, à une temporisation à intervalle fixe, le nombre de réponses, constituant le nombre d'unités de réception de lumière, parmi la pluralité d'unités de réception de lumière, qui émettent des signaux d'impulsion et émet en sortie un nombre réglé de réponses obtenues par la soustraction d'une valeur de polarisation au nombre de réponses ou par la division du nombre de réponses par la valeur de polarisation. Une mémoire (6) possède des adresses associées à des valeurs temporelles mesurées par l'unité de mesure temporelle. Une unité de génération d'histogramme (52) accumule et mémorise le nombre réglé de réponses dans l'adresse de mémoire identifiée à partir de la valeur temporelle mesurée par l'unité de mesure temporelle en tant que données dans ladite adresse.
PCT/JP2018/011754 2017-03-29 2018-03-23 Détecteur de lumière WO2018181013A1 (fr)

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US16/584,033 US11668826B2 (en) 2017-03-29 2019-09-26 Photodetector

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JP2018011556A JP6665873B2 (ja) 2017-03-29 2018-01-26 光検出器

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CN110187356A (zh) * 2019-06-14 2019-08-30 中国科学技术大学 远距离超分辨单光子成像重构方法
CN110596724A (zh) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 动态直方图绘制飞行时间距离测量方法及测量系统
CN113093212A (zh) * 2021-03-30 2021-07-09 宁波飞芯电子科技有限公司 一种spad传感器与使用其的探测系统及电子设备
CN114325736A (zh) * 2020-09-28 2022-04-12 宁波飞芯电子科技有限公司 探测方法及探测系统
WO2023145261A1 (fr) * 2022-01-26 2023-08-03 ソニーセミコンダクタソリューションズ株式会社 Dispositif de mesure de distance et procédé de commande pour dispositif de mesure de distance
WO2024040912A1 (fr) * 2022-08-26 2024-02-29 上海禾赛科技有限公司 Procédé et appareil de traitement de signal d'écho de radar laser et système de détection de radar laser

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