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  • 专利说明
  • 权利要求
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    • 专利摘要:
    The present invention relates to a pixel feed use in a system for determining a distance to an object by range gating, the pixel comprising the following: a first charge storage well (221) and a second charge storage well (222) for collecting electrical charges representative of amounts of light falling on the pixel during respective sets of exposure intervals, wherein first charge storage well (221) has a charge capacity that is at least 50% greater than a charge capacity of the second charge storage well (222). The invention also relates to a range gating system comprising such a pixel.
    公开号:BE1025336B1
    申请号:E2018/5273
    申请日:2018-04-23
    公开日:2019-01-29
    发明作者:Dyck Dirk Van；Rik Paesen
    申请人:Xenomatix Nv；
    IPC主号:
    专利说明:

    BE2018 / 5273 Pixel setup
    FIELD OF THE INVENTION
    The present invention relates to the area of pixels, in particular pixels for use in imaging systems, for determining a distance of an object based on flight time information obtained by range definition.
    Background
    U.S. Patent No. 8,792,087 B2 to Andreas Spickerman et al. Discloses a device in which at least two different transfer ports that link a photoactive area with at least two different evaluation functions are controlled during different control intervals such that charge carriers generated during the control intervals are controlled by a radiation pulse reflected from the measurement object and / or by ambient radiation can be transported from the photoactive area to the evaluation functions that are coupled to the at least two transfer ports. Another transfer port is driven during a time outside the control intervals of the at least two transfer ports to connect the photoactive region to a reference potential terminal that behaves as a charge carrier drain during the time outside the control intervals of the at least two transfer ports.
    It is a disadvantage of the system that is known from US 8,702,087 B2 that the pixels become saturated by reflections of objects at short distances from the sensor.
    U.S. Patent Application Publication No. US 2007/158770 A1 of Shoji Kawahito discloses a distance imaging sensor based on measurement of reflection time of light with reduced fabrication methods compared to standard CMOS fabrication processes. An oxide layer is formed on a silicone substrate, and are two photoport electrodes for charge transfer
    2018/5273
    -2BE2018 / 5273 provided on the oxide layer. Floating diffusion layers are used to convert charges to electronic potential, with a mechanism traditionally taken from the legacy technology of Charged Coupled Devices ("Charged Coupled Devices", CCD). Additional transducers are provided for resetting and a diffusion layer is provided to provide a given reset voltage.
    It is a disadvantage of the pixel disclosed in US 2007/158770 A1 that it uses non-standard technology and that the pixel design does not allow the addition of additional wells without sacrificing active surface area of the pixel. This is sub-optimal for use in sensor systems with ultra low power lasers that require a large working range. The method used is not often available in standard CMOS methods, which reduces the application possibilities of this concept and reduces the possibility of being produced for an affordable price in large volumes.
    The range of a sensor based on such a design is also limited at the nearest end due to saturation of the pixels due to strong reflections of projected light.
    The saturation of pixels when short-range reflections, or high-reflecting objects are observed such as traffic signs, license plates, etc., is especially problematic when the pixels are used in sensors for automotive applications, such as the intention of the pixel according to the present invention, because Advanced Driver Support Systems ("Advanced Driver Assistance Systems", ADAS) and self-driving cars require high accuracy at short distances. In addition, in this application domain, accuracy at longer distances, the ability to work in bright ambient light conditions, and the requirement for compactness (which requires the use of solid-state semiconductor components) should not be sacrificed for the requirement of short-range accuracy.
    It is therefore an object of embodiments of the present invention to
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    -3 BE2018 / 5273 overcome the short-distance saturation problem for pixels used in range gating-based imaging systems by proposing a different pixel architecture.
    The unpublished European patent application with number EP15191288.8, dated October 23, 2015, in the name of the present applicant, describes a system for determining a distance to an object comprising the following: a solid-state light source that is arranged for projecting a pattern of points of laser light toward the object in a series of pulses; a detector comprising a plurality of image elements, the detector being configured to detect light representing the pattern of light points as reflected by the object in synchronization with the series of pulses; and a processing means configured to calculate the distance to the object as a function of exposure values generated by the image elements in response to the detected light; wherein the imaging elements are configured to generate the exposure values by collecting, for each pulse of the series, a first amount of electrical charge representative of a first amount of light reflected from the object during a first predetermined time window and a collect a second electrical charge representative of a second amount of light reflected by the object during a second predetermined time window, the second predetermined time window being placed after the first predetermined time window. Each of the plurality of display elements may comprise at least two charge storage wells, and the detection of the first amount of light and the detection of the second amount of light takes place at one of the at least two charge storage wells, respectively. EP15191288.8 does not describe a solution for the short-distance saturation problem.
    In a similar system, the unpublished European patent application May number EP16192105.1, dated October 3, 2016, in the name of the present applicant, describes that for a given total pixel space the saturation problem can be avoided by using a
    2018/5273
    -4BE2018 / 5273 asymmetric well arrangement, wherein the photon capacity represented by the first well is increased, and the photon capacity represented by the second well is decreased. If the increase and decrease are balanced, an increase in the dynamic range can be obtained without additional pixel surface use, while maintaining the same resolution. EP16192105.1 does not disclose specific ratios between the photon capacity represented by the first well and the photon capacity represented by the second well.
    Summary of the invention
    According to an aspect of the present invention, a pixel is provided for use in a range-determining distance-to-object system, wherein the pixel comprises a first charge storage well and a second charge storage well for collecting electrical charges representative of amounts of light falling on the pixel during respective sets of exposure intervals, wherein the first charge storage well has a charge capacity that is at least 50% greater than a charge capacity of the second charge storage well.
    The invention is based on the inventors' understanding that in certain systems, such as the range gating-based imaging system described in more detail below, it is advantageous to have a double-well pixel (the presence of additional wells is not excluded) wherein one of the charge storage wells has a substantially greater charge capacity than the other charge storage well. The term "put" may indicate a single capacitance (electron capacitance) produced in a semiconductor circuit by suitable techniques, or a number of connected capacities that behave together as a single storage unit, arranged for example in a cascade circuit to be. A pixel of this type is particularly useful when the physics of the situation in which the pixel is applied leads to predictable asymmetry in the amount of charge to be stored in the various wells, as is the case in a flight time-based system that has high accuracy and
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    -5 BE2018 / 5273 requires a large distance range, which leads to a large photon span.
    To the extent that the pixel of the present invention solves the short-distance saturation problem, it removes the need for other alternatives that extend the working range at the short end. For example, in systems that rely on multiple consecutive measurements for multiple sub-ranges of the desired range (multi-frame systems, where the pulse width varies as a function of the distance range to be covered by each frame), the pixel of the present invention allows a reduction of the number of measurements (individual frames required to cover the full intended working range), thereby improving the time resolution of the sensor.
    The pixel according to the present invention preferably comprises a photosensitive element that is compatible with standard solid state (semiconductor) circuit production methods.
    In one embodiment, the pixel further comprises a switching system that allows the pixel to switch between a charging mode, wherein light falling on the pixel causes the first charge storage well or the second charge storage well to increase a stored amount of charge, and a discharge mode, wherein light falling on the pixel causes the first charge storage well or the second charge storage well to lower a stored amount of charge.
    This embodiment is based on the inventors' understanding that in a pulsed system the "pulse on" intervals are characterized by the presence of projected light and background light, while the part of the "pulse off" intervals that occur after the arrival of the pulse reflection is characterized by the presence of background light only. The inventors have developed a method in which, by switching the pixel to a "discharge" mode after each exposure corresponding to a "pulse on" interval, for a period equal to the exposure period, the
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    -6BE2018 / 5273 remaining charge in each storage well will be equal to the recorded reflection of the projected light without the background light component.
    It is an advantage of this embodiment of the pixel according to the present invention that it can be used in a method for subtracting background light from pixels in a pixel matrix, for example as used in a range gating sensor. In particular, it enables a method of subtracting background light from an exposure value of a first pixel in an image matrix, the first pixel receiving a reflection from a point of a landscape illuminated by a periodically pulsed pattern of points, wherein the periodically pulsed pattern alternately comprising an exposed phase and an unexposed phase, the method comprising the following: collecting a charge in the first pixel in proportion to a first amount of incoming light received in the first pixel while detecting the point during a predetermined amount of time; and reducing the charge in proportion to a second amount of incoming light received during the predetermined amount of time in the presence of the point.
    In one embodiment, the pixel further comprises a switching system that allows photo charges, which are generated when an active one of the first charge storage well and the second charge storage well is filled to full capacity, to be deflected to a charge discharge without entering a storage well from an adjacent pixel.
    It is an advantage of this embodiment that flowering can be prevented such that high spatial accuracy of point detection in a matrix of pixels can be maintained even when individual pixels become saturated, by avoiding flooding effects to neighboring pixels that can still be used for background measurements and for obtaining a regular 2D image.
    In one embodiment, the pixel of the present invention further comprises
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    -7 BE2018 / 5273 a third cargo storage well.
    A third well can be provided to perform a variety of functions, provided that it is used according to a timing schedule that includes the timing of the operation of the other wells. In a remote detection system in which the first well and the second well performs the base range gating, as described in more detail later, the functions of the third well may include receiving the additional landings generated in response to photons arriving from large-distance high-reflecting objects (such as a traffic sign or a number plate, outside the time slots in which the first well and the second well are active), may include producing a regular 2-dimensional image of the location (outside the time slots in which the reflections of the projected light arriving, optionally in synchronization with a wide angle flash light for illuminating the location, which may consist of a VCSEL matrix with a diffuser), or may include performing background light subtraction (by subtracting the charge levels collected in the first well and the second well of an amount of charge collected in the third well the time slot in which the reflections of the projected light arrive).
    The third charge storage well can have a substantially smaller charge storage capacity than the first charge storage well and the second charge storage well, if it is only used for recording background light, because the background light arriving at the pixel matrix is typically greatly attenuated by the ambient light reduction filters that are preferably provided in a remote detection system. If the third charge storage well is intended to be used for obtaining 2D images with additional exposure of the location (for example by means of a flash light) or for recording reflections of highly reflecting objects out of range, it can be dimensioned to a storage capacity comparable to the first or second cargo storage well.
    In one embodiment, the pixel of the present invention further comprises
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    -8BE2018 / 5273 a fourth charge storage well.
    According to an aspect of the present invention there is provided an image matrix comprising a plurality of pixels as described above.
    According to an aspect of the present invention, there is provided a system for determining a distance to an object, the system comprising the following: a solid-state light source adapted to project a pattern of light points, preferably discrete points, towards the object in a series of pulses, preferably a periodically repeated series of pulses; a detector comprising an imaging matrix as described above, wherein the detector is configured to detect light representing the pattern of light points as reflected by the object in synchronization with the sequence of pulses; and a processing means configured to calculate the distance to the object as a function of exposure values generated by the pixels in response to the detected light; wherein the pixels of the imaging matrix are configured to generate the exposure values by collecting, for all pulses of the series, a first amount of electric charge representing a first amount of light reflected from the object during a first predetermined time window and a second amount of electric charge representing a second amount of light reflected from the object during a second predetermined time window, the second predetermined time window taking place after the first predetermined time window, wherein detecting the first amount of light and detecting the second amount of light takes place at the first charge storage well and at the second charge storage well respectively.
    The solid state light source is preferably a semiconductor light source. The projected discrete points are preferably laser light points.
    The system according to the present invention is based on the same physical principles as direct flight time based distance measurement systems, namely the
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    -9BE2018 / 5273 fact that light always takes a certain time to cover a given distance. However, the present invention uses range gating to determine the distance traveled by a light pulse that has been emitted and then reflected by a target object. The present invention is based, inter alia, on the inventors' understanding that by combining range gating, and at least partially simultaneous point pattern projection (based on a new illumination scheme) and a low power semiconductor light source, a substantially reduced fully solid-state, energy-efficient wide range distance detection method can be achieved. The term "pattern" as used herein refers to a spatial distribution of simultaneously projected, preferably separate (non-overlapping) points. To determine the position of the detected point reflection in a three-dimensional space, it is necessary to combine the distance information obtained from the distance measurement step with angle information to record the remaining two spatial coordinates. A camera comprises a pixel matrix and suitably arranged optics can be used to provide the additional angle information, by identifying the pixel in which the reflection is detected.
    Embodiments of the present invention are based on the further insight of the inventors that to use dot patterns generated by solid-state semiconductor light sources in a LIDAR system at the desired distances, a way is required to bypass the optical power limitations. The inventors have found that by extending the pulse duration and by integrating the reflected energy from multiple VCSEL-generated light pulses within at least two semiconductor sensor wells or within at least two pixels, followed by a single readout of the integrated charge, a solid-state state-LIDAR system can be obtained with a substantially larger working range than is currently possible with solid-state implementations. Additionally, multiple sets of light pulses, using a different pulse duration in each set, can be combined to cover a larger range of distances than would be possible with a single set. After this, the term "storage" will be used to indicate the well or the pixel in which
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    10BE2018 / 5273 charge is collected in response to the detection of photons.
    It is an advantage of the system of the present invention that the solid state light source and the solid state sensor (such as a CMOS sensor, a CCD sensor or a similar one) can be integrated on the same semiconductor substrate. The solid-state light source may comprise a VCSEL matrix or a laser with a grid arranged to form the desired pattern.
    In addition, by evaluating the reflected light energy detected in two consecutive time windows, and normalizing the total collected charge in the two consecutive windows, the influence of varying the reflectivity of the object under study and the contribution of ambient light can be sufficiently justified in the distance calculation algorithm.
    Finally, by using the pixels as described above, the system of the present invention is less susceptible to saturation of the charge storage pits due to intense reflections received from objects at short distances.
    In one embodiment, the system is configured to perform projecting and detecting at least two consecutive sequences of pulses, each of the sequences being used with a different duration of the first predetermined time window and the second predetermined time window.
    This embodiment is further based on the inventors' understanding that the range of the system can be improved by splitting the detection of the full range over multiple frames (i.e., multiple sets of pulses), each calculation allowing the distance for a different range by working with different timing parameters (the first predetermined time window and the second predetermined time window).
    A wise choice of operating parameters can guarantee that in every frame it
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    - BE2018 / 5273 number of reflected photons expected to be detected for the maximum distance of the desired range corresponds to an amount of charge that can be reliably read from the charge storage well. On the other hand, the closest place where accurate measurements can be taken is determined by the number of photons that will saturate the capacity of the pixels. The ratio between the minimum detectable number of photons and the maximum number of photons that can be received without saturation determines the distance range that can be span in a single frame.
    In an embodiment according to the present invention, the image matrix is further adapted to perform 2D video image acquisition.
    The 2D video image acquisition can be performed in the same frames in which the range gating takes place, by using a third charge storage well and / or a fourth charge storage well or by using pixels of the pixel matrix that are not illuminated by reflections from the projected light points. Additionally or otherwise, the 2D video image acquisition can be performed in frames other than the frames in which the range gating takes place, optionally in synchronization with a global exposure of the location.
    Brief description of the figures
    These and other aspects and advantages of the present invention will now be described in more detail with respect to the accompanying drawings, wherein:
    Figure 1 represents a flow chart of the range gating method used by an embodiment of the system of the present invention in which the pixel of the present invention can be used;
    Figure 2 schematically represents an embodiment of the system according to the invention
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    12BE2018 / 5273 the present invention, wherein the pixel of the present invention can be used;
    Figures 3a - c show timing diagrams of the range gating method used by an embodiment of the system according to the present invention, to illustrate the operation of the two wells involved in range gating;
    Figure 4 schematically represents an embodiment of the pixel according to the present invention;
    Figure 5 schematically represents an embodiment of the pixel according to the present invention, showing a first way to achieve the asymmetry of the pits;
    Figure 6 schematically represents an embodiment of the pixel according to the present invention, showing a second way to achieve the asymmetry of the pits; and
    Figures 7a - 4g represent timing diagrams for light projection and detection in embodiments of the present invention, to illustrate the operation of additional wells.
    Similar figures are used in the figures to indicate similar elements.
    Detailed description of embodiments
    The inventors have found that the pixel matrix according to the present invention can be used advantageously in a new type of distance measurement system which aims to achieve the same power / performance characteristics with a compact semiconductor-based and flight-time based system. One aspect of the
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    BE2018 / 5273 the present invention is a distance measurement system comprising a plurality of pixels as described below, arranged in a pixel matrix.
    In this aspect of the invention, the limitations of the existing LIDAR-based systems are overcome by changing the way the flight time-based system works. The total amount of light energy emitted for each flight time measurement (and thus the number of photons available for detection at the detector for each flight time measurement) can be increased by increasing the duration of individual pulses and by producing a virtual "composite" pulse ”, which consists of a series of a large number of individual pulses. This bundling of extended pulses allows the inventors to obtain the required amount of light energy (photons) for the desired operating range with low power solid state lasers, such as VCSELs.
    Where an individual pulse from pre-existing LIDAR systems can have a duration of ns, the systems currently described benefit from a considerably longer pulse duration to partially compensate for the relatively low power level of semiconductor lasers such as VCSELs; in embodiments of the present invention, individual pulses within an array may have an exemplary duration of 1 ps (this is one possible value, chosen here to keep the description clear and simple; in general, the pulse duration in embodiments of the present invention may, for example, be 500 ns or more, preferably 750 ns or more, most preferably 900 ns or more). In an exemplary system according to the present invention, a sequence may consist of 1000 pulse cycles, which thus sum up to a duration of 1 ms. Given that light requires approximately 0.66 ps to travel to a target at a distance of 100 m and back to the detector, it is possible to use composite pulses of this duration for the distance measurement at a distance of this order of magnitude; the skilled person will be able to adjust the number of pulse cycles as a function of the selected pulse width and the desired range. The detection of the series preferably comprises the detection of the individual pulses in synchronization with the light source based on VCSEL, and the collection of the charges which
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    14BE2018 / 5273 are generated in response to the incoming photons at the pixel well level for the entire sequence prior to reading. The term "exposure value" is hereinafter used to indicate the value that is representative of the charge (and thus of the amount of light received on the pixel) that is integrated over the series. The series broadcast and detection can be repeated periodically.
    The distance measurement system of the present invention operates through range gating. Range gating imagers integrate the detected power of reflection from the transmitted pulse for the duration of the pulse. The amount of time overlap between the pulse emitting window and the arrival of the reflected pulse depends on the return time of the light pulse, and thus on the distance traveled by the pulse. The integrated power is therefore correlated with the distance traveled by the pulse. The present invention uses the principle of range gating as applied to the series of pulses described above. In the following description, the integration of individual pulses from a series at the level of an imaging element to obtain a measurement of the entire series is implicitly understood.
    Figure 1 represents a flow chart of an applicable distance measurement method. Without loss of generality, the distance measurement method is described with respect to a range gating algorithm. In a first time window 10, the method includes projecting 110 a pattern of laser light points (e.g., a regular or irregular spatial pattern of points) of a light source comprising a solid-state light source 210 onto any object in the target area of the location. The spatial pattern is repeatedly projected in a series of pulses.
    As indicated above, the solid-state light source may comprise a VCSEL matrix or a laser with a grid adapted to produce the desired pattern. For the system to function optimally, even at large distances and with high levels of ambient light (e.g. with daylight), a VCSEL for use in embodiments of the present invention is preferably
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    -15BE2018 / 5273 arranged to transmit a maximum optical power per point per area unit. Therefore, lasers with a good beam quality (low M2 factor) are preferred. More preferably, the lasers must have a minimum wavelength spread; a particularly small wavelength spread can be achieved with mono-mode lasers. Thus, essentially identical pulses can be repeatedly generated with the required spatial and temporary accuracy.
    During the same time window in which a pulse is emitted, or in a substantially overlapping time window, a first amount of light representing the pattern of points as reflected by the object of interest is detected 120 at a detector, which is preferably as close as possible to the light source is furnished. The synchronicity or near-synchronicity between the projection 110 of the dot pattern and the first detection 120 of its reflection is illustrated in the flow chart by means of the adjacent arrangement of these steps. In a consecutive second predetermined time window 20, a second amount of light representing the reflected light point is detected 130 on the detector. During this second window 20, the solid state light source is inactive. The distance to the object can then be calculated as a function of the first amount of reflected light and the second amount of reflected light.
    The first predetermined time window 10 and the second predetermined time window 20 are preferably consecutive windows of substantially the same duration, to facilitate noise and ambient light cancellation by subtracting one of the detected amounts from the other. An exemplary timing schedule will be described in more detail below in combination with Figure 3.
    The detector comprises a pixel matrix as described above with adequate optics adapted to project an image of the location (which includes the exposed points) onto the imaging element.
    The term "imaging element" as used herein may indicate an individual photosensitive area or well of a pixel, or indicate an entire pixel
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    - 16BE2018 / 5273 (which can include multiple wells, see below). For each given projected point, detecting 120 the first amount of light and detecting 130 the second amount of light takes place at the same one or the same group of the plurality of imaging elements.
    Without loss of generality, each of the display elements can be a pixel comprising at least two charge storage pits 221, 222, so that detecting 120 the first amount of light and detecting 130 the second amount of light can take place at the respective charge storage pits 221, 222 of the same pixel or pixel group. A third well can be provided to perform a variety of functions, provided that it operates according to a timing schedule that takes into account the timing of the projector and / or the other wells.
    Figure 2 schematically represents an embodiment of the system according to the present invention with respect to an object 99 in the location of interest. The system 200 includes a solid-state light source 210 for projecting a pattern of a series of points that can be repeated periodically on the object 99. A detector 220 is arranged near the light source and is configured to detect light reflected is by the object.
    The light beam reflected from the object 99 is illustrated as a dotted line arrow moving from the light source 210 to the object 99 and back to the detector 220. It should be noted that this representation is only schematic, and is not intended to be indicative of actual relative distances or angles.
    A synchronizing means 230, which may include a conventional clock circuit or oscillator, is configured to operate the solid-state light source 210 to project the pattern of points onto the object during first predetermined time windows 10 and to operate the detector 220 to perform a first detect amount of light representing the light point (s) reflected by the object 99 at substantially the same time. It further operates the detector 220 around one
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    17BE2018 / 5273 detect a second amount of light representing the light points reflected by the object 99 during respective consecutive second predetermined time windows 20. A suitable processing means 240 is configured to calculate the distance to the object as a function of the first amount of reflected light and the second amount of reflected light.
    Figure 3 (consisting of Figures 3a, 3b, and 3c) represents a timing diagram for light projection and detection in embodiments of the present invention. For brightness reasons, only a single pulse from the pulse sequence that is periodically repeated is illustrated in Figure 3, which consists of a first time window 10 and a second time window 20.
    As can be seen in Figure 3a, during the first time window 10, the solid state light source 210 is in its "ΑΑΝ" position, emitting the pattern of light points at the location. During the second time window 20, the solid state light source 210 is in its "OFF" position.
    The arrival of the reflected light at the detector 220 is delayed with respect to the start of the projection by an amount of time that is proportional to the distance traveled (about 3.3 ns / m in free space). Due to this delay, only a portion of the reflected light will be detected at the first well 221 of the detector 220, which is only activated during the first time window 10. Thus, the charge that collects in the first well during its activation period (the first time window) 10) thus consists of a part representing only the noise and the ambient light falling on the pixel prior to the arrival of the reflected pulse, and a part representing the noise, the ambient light, and the leading edge of the reflected pulse.
    The later part of the reflected pulse will be detected at the second well 222 of the detector 220, which is only activated during the second time window 20, which preferably immediately follows the first time window 10. Thus, the charge that collects in the second well during its activation period (the second time window 20) consists of a part that contains the noise, the ambient light, and the trailing edge
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    -18BE2018 / 5273 of the reflected pulse, and a part that only the noise and the ambient light that falls on the pixel after the arrival of the reflected pulse.
    The greater the distance between the reflective object 99 and the system 200, the smaller the portion of the pulse that will be detected in the first well 221 and the greater the portion of the pulse that will be detected in the second well 222.
    When the leading edge of the reflected pulse arrives after the closing of the first well 221 (i.e., after the end of the first time window 10), the portion of the reflected pulse that can be detected in the second well 222 will decrease again with increasing flight time delay.
    The resulting amounts of charge A, B in each of the respective wells 221, 222 for varying distances from the object 99 are shown in Figure 3b. To simplify the representation, no account was taken of the effect of the weakening of light with distance, according to the reverse squares law. It is clear that for flight time delays up to the combined duration of the first time window 10 and the second time window 20, the flight time delay is in principle unambiguously derived from the values of A and B:
    - For flight time delays up to the duration of the first time window 10, B is proportional to the distance of the object 99. To easily arrive at a determination of the absolute distance, the normalized value B / (B + A) can be used, which is only removed influence of non-perfect reflectivity of the detected object and of the reverse squares law.
    - For flight time delays exceeding the duration of the first time window 10, A consists only of daylight and noise contributions (not illustrated), and CB is substantially proportional (after correcting for the reverse squares law) with the distance of the object 99, where C is a shift value.
    While Figures 3a and 3b illustrate the principle of the system according to the present invention with respect to a single pulse transmitted in the
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    - 19BE2018 / 5273 time window 10, it will be understood that the illustrated pulse is part of a series of pulses as defined above. Figure 3c schematically illustrates exemplary timing features of such a sequence. As illustrated, the exposure scheme 40 consists of a repeated transmission of a series 30 of individual pulses 10. The width of the individual pulses 10 is determined by the maximum operating range. The entire sequence can be repeated with a frequency of, for example, 60 Hz.
    The inventors have found that in systems such as those described herein, reflections of light by objects at short distances cause more likely pixel saturation, because the attenuation of such a reflection will be much less than that of a reflection originating from a farther away object (by the reverse squares law of light attenuation over a distance). Because certain applications, such as automotive applications, require precise system operation up to relatively far distances, a large photon span must be covered between the nearest working distances and the farthest working distances. With these limitations, pixel saturation at short distances is a real risk, especially at the first well (which receives most of the reflection at a short distance). The inventors have found that for a given total pixel space the saturation problem can be limited by the use of an asymmetric well arrangement in which the photon capacity represented by the first well increases and the photon capacity represented by the second well decreases. If the increase and decrease are balanced, an increase in the dynamic range can be achieved without the additional pixel area costing.
    The inventors have further found that in order to obtain a usable operating range (between the lowest detectable light level and the light level at which saturation occurs) the first charge storage should have a charge capacity that is at least 50% greater than the charge capacity of the second charge storage well. Preferably, the first charge storage must have a charge capacity that is at least 75% greater than the charge capacity of the second charge storage well, and most preferably, the first charge storage must have a charge capacity
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    -20BE2018 / 5273 which is at least 100% greater than the load capacity of the second load storage well.
    An asymmetrical exemplary double-well pixel according to the present invention, wherein the pixel comprises an anti-flower switch system, is schematically represented in Figure 4. The charge storage wells 221, 222 (SN A, SN B) are connected to a photoactive area (PH) through transfer gates (TG A , TG B), which are controlled to synchronize the active states of the two charge storage wells with the transmission of the projection pulses as previously described.
    Figure 5 schematically represents an embodiment of the pixel according to the present invention, showing a first way of obtaining the asymmetry of the pits. As shown in Figure 5, the first well 221 (the A signal side exhaustion zone) is made at least 50% larger than the second well 222 (the B signal side exhaustion zone) during the semiconductor fabrication process.
    Figure 6 schematically represents an embodiment of the pixel according to the present invention, which shows a second way of obtaining the asymmetry of the pits. In this case, both semiconductor wells 221, 222 are of an identical side, but an additional capacitor is provided on the Axis signal side to increase the effective capacity of the first well 221.
    Flowering is a phenomenon that occurs when the charge in a pixel exceeds the saturation level of that specific pixel. Thus the charge starts to overflow and causes nuisance in adjacent pixels. This creates inaccurate data in the adjacent pixels, or in other wells of the same pixel. Preferably, the pixels of the system of the present invention are provided with anti-bloom electronics to drain the excess charge before saturating the relevant well and engulfing the wells of adjacent pixels. In particular, when the information from the neighboring points is used for the removal of background light, it is of great importance
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    -21 BE2018 / 5273 important to have an accurate estimate of the background light that is obtained independently (and without pollution) from adjacent pixels.
    The pixel may further comprise a switching system that makes it possible for the pixel to switch between a charging mode and a discharge mode. In the charging mode, light incident on the pixel causes the first charge storage well or the second charge storage well (according to the present phase of the exposure scheme) to increase a stored amount of charge. In the discharge mode, which is preferably activated after the charging mode for an equal amount of time, light falling on the pixel causes the first charge storage well or the second charge storage well to lower the stored amount of charge. This circuit diagram allows an amount of charge corresponding to the background light to be removed from the charge storage wells.
    Embodiments of the present invention can utilize correlated double sampling to correct the samples for the thermal noise that relates to the capacity of the wells (also referred to as "kTC noise"). To this end, the electronics of the pixel may be designed to perform a differential measurement between the reset voltage (Vreset) and the signal voltage (Vsignai), for example by measuring Vreset at the beginning of the frame and by measuring Vsignai at the end of the frame. As an alternative to an electronic (inner pixel) application, correlated double sampling can also be applied by digitally subtracting the read signals (Vsignai - Vreset) in a processor.
    To increase the amount of light that reaches the photosensitive elements (especially diodes) in the pixel structure, embodiments of the present invention may use background exposure; in that case, the pixel switching system is behind the photosensitive layer, wherein the number of layers to be traversed by the incoming photons is reduced to read the photosensitive elements.
    In addition to being applicable to the system described above,
    2018/5273
    BE2018 / 5273, the pixel and the pixel matrix according to the present invention can also be integrated with a triangulation-based system according to WO 2015/004213 A1. When focusing on reduction, the triangulation-based system will have a relatively small distance between its projector and its detector, giving it a reduced operating range. However, it is precisely at short distances that the combination shows its advantage, because the triangulation-based system can cover the distances at which the flight time-based system cannot operate accurately enough.
    The total distance measurement method can be iteratively repeated, preferably periodically, to monitor the distance to the detected object or objects over time. The result of this method can thus be used in processes that require information about the distance to detected objects in a continuous manner, such as advanced driver support systems, active suspension vehicles, or autonomous vehicles.
    The total distance measurement method can be iteratively repeated to monitor the distance to the detected object or objects over time. The result of this method can thus be used in processes that require information about the distance to detected objects in an uninterrupted manner, such as detection and tracking of objects in the vicinity of a vehicle, advanced driver support systems, vehicles with active suspension, autonomous moving or autonomous vehicles. An iteratively repeated range gating sequence is schematically represented in the timing diagram of Figure 7a, in which each frame corresponds to a sequence of pulses from the projector (P) (the timing of the pulses is indicated by the lowercase 'p'), which is synchronized with activations of the imager (I) (the set of charges in the first well is indicated by the lowercase letter 'a', while the sets of charges in the second well is indicated by the lowercase letter 'b'). Without loss of generality, only two consecutive frames are illustrated.
    Figure 7b represents a modified timing scheme that includes two additional time slots for each projection pulse. These additional time slots are
    2018/5273
    -23 BE2018 / 5273 used to discharge the respective wells at a speed proportional to the intensity of the light incident on the pixel when no reflection of the projected light is received. Because the light received in the absence of a pulse represents the background light, with only a small time offset from the time point when the pulse reflection is received, this scheme effectively removes the background light component from the charge collected in the first well and the second well, for each projector pulse.
    To implement the previously discussed discharge phase, the pixel may comprise a capacitor for storing the charge, which is coupled to the photodiode through suitable transfer gates. The collection phase then comprises transferring charges from a first side of the capacitor, and reducing includes transferring charges to the second side of the capacitor.
    The following timing diagrams illustrate how additional wells (e.g., the previously discussed third charge storage well and the fourth charge storage well) can be used.
    Figure 7c represents a modified timing scheme that includes one additional time slot for each projection pulse. This additional time slot is used to collect photo charges in a third well (the collection of charges in the third well is indicated by the lowercase letter "c"). When the light received in the third well arrives in the absence of a pulse, the background light represents, with only a very small time shift from the time point at which the pulse reflection is received. The charge collected in the third well can therefore be subtracted from the charges in the first well and the second well to actually remove the background light component from the latter charges. The light received in the third well may also include reflections from projected points arriving from highly reflective objects outside the range covered by the action of the first well and the second well, and the collected charge can thus be appropriately used to detect such objects. The light received in the third well can also be used
    2018/5273
    -24BE2018 / 5273 to generate a 2D image of the location, which can optionally be combined with the distance measurement information obtained from the operation of the first well and the second well to generate a 3D image.
    Figure 7d represents a variant of the timing scheme of Figure 7c, wherein the third well is activated during a number of time slots after the completion of the same number of projector pulses. Because the light thus received arrives in the third well in the absence of a pulse, it represents the background light, with only a slightly larger time shift relative to the time points at which the pulse reflection is received. The charge collected in the third well can therefore be subtracted from the charges in the first well and the second well to actually remove the background light component from the latter charges. The charge collected in the third well in the separate time slots can also be used to generate a 2D image of the location, in which case the location can optionally be illuminated by a flash light.
    Figure 7e represents yet another variant of the timing scheme of Figure 7c, in which the first well is activated in a separate frame, after the completion of a range gating frame in which the projector and the first and second well are active. Because the light so received in the first well arrives in the absence of a pulse, it represents the background light, again with a slightly larger time shift relative to the time points at which the pulse reflection is received. The charge collected in the first well in the separate frame can therefore be subtracted from the charges previously collected in the first well and the second well to actually remove the backlight component from the latter charges. The charge collected in the first well in the separate frame can also be used to generate a 2D image of the location, in which case the landscape of choice can be illuminated by a flash light.
    The combination of the large desired operating range (of the order of 200 m) and the high desired accuracy (to correctly detect as few as 1000 photons at the farthest point) leads to an enormous span between the largest number of photons that can be received in one well in one frame (in the case of
    2018/5273
    -25BE2018 / 5273 reflections at a short distance), and the lowest number that can be received in one well in one frame.
    Figure 7f represents a modified timing schedule that differs from the schedule of Figure 7a in that the duration of a single time slot varies from one slot to the next. In this way, the detection threshold and the saturation point for different frames will occur at different distances, and the information obtained from a number of consecutive frames can be combined to obtain accurate distance measurements for both nearby objects and remote objects.
    Figure 7g schematically illustrates how the individual frames in the series of Figure 3c, which can fail to cover the entire range of distances [z m in, z max ] as a result of the constraints imposed by N max (maximum number of electrons that can be stored without saturating the pixel), and N ™™ (minimum number of pixels required for accurate read-out), can be divided into data sets having different timing parameters, each of which cover a portion of the targeted range [z m in (i), z max (i)] that can be covered more easily with the same limitations on the number of photons.
    With reference to the symbols previously introduced and used in Figure 7g, the corresponding electron amounts n m in (i) and n max (i) of the sub-ranges are defined by:
    - The maximum number of electrons allowed (using “FPC” for the full pixel capacity, which corresponds to full-well capacity in the case that there are no additional capacities):
    ^ max N m in * ~ FPC, with z (0) - Zmax
    - The minimum required accuracy level: τι ^ η = N min
    1)
    In addition, the pulse characteristics can be determined as follows:
    - the pulse width τ (ί) = Zma ^ 1 · *
    2018/5273
    -26BE2018 / 5273
    - the total "ON" time is reduced proportionally with t and
    N minus the limits imposed by the full pixel capacity and the accuracy level.
    The above principles can be further clarified by the following non-limiting numerical example.
    A Lambertian reflection surface with 10% reflectivity at a distance of
    150 m must provide 1000 photons to obtain an accuracy of
    1.6%. At the same distance, a 100% reflective surface will generate 10,000 electrons. With a full-well capacity of 200,000 electrons, the following multi-frame solution is proposed:
    Sub range Pulse width Total "ON" time Frame 1 150 m - 33 m 1 ps 1 ms Frame 2 7.4 m - 33 m 22 ns 50 ps Frame 3 1.65 m - 7.4 m 4.9 ns 2.5 ps Frame 4 0.37 m - 1.65 m 1.1 ns 0.125 ps
    It should be noted that for robustness reasons, it may be advantageous to provide an overlap in the sub-ranges.
    To ensure the same 3D resolution, it may be advantageous to use a faster camera: for example, a camera that operates at 180 Hz with 3-frame insertion provides the same data rate as 60 Hz with single-frame operation.
    The duty cycle will vary depending on the mode in which the system of the present invention is used (as illustrated in Figures 7a - 7g). It can easily be seen that when some frames are used to capture out-of-range reflections or to obtain a 2D image, a smaller fraction of time is available for the actual distance measurement. It is an advantage of using a three-well or four-well pixel according to the present invention that multiple functions can be performed simultaneously.
    2018/5273
    -27BE2018 / 5273
    Flowering is a phenomenon that occurs when the charge in a pixel exceeds the saturation level of that specific pixel (as is the case with short-range reflections or reflections from highly reflective surfaces such as traffic signs or license plates). Thus the charge begins to overflow and causes nuisance in adjacent pixels. This creates inaccurate data in the adjacent pixels. Preferably, the pixels of the system of the present invention are provided with anti-flower electronics, which may in particular include a fourth well, to drain the excess charge before saturating the relevant well and engulfing the wells of adjacent pixels. In particular, when the information from the neighboring points is used for background light removal, it is very important to have an accurate estimate of the background light obtained independently (and without contamination) from adjacent pixels. Also, when the pixels that do not receive dot reflections are used to simultaneously generate a regular 2D image, it is highly desirable that pixels adjacent to pixels that receive a dot reflection are not affected by charge flooding of the latter pixels.
    In order for all elements of the system as described to function optimally, the system must be thermally stable. Thermal stability prevents, among other things, unwanted wavelength shifts of the optical elements (thermal shift), which would otherwise reduce the correct operation of the optical filters and other elements of the optical chain. Embodiments of the system according to the present invention achieve thermal stability through their design or through active control by means of a temperature control loop with a PID type control.
    WO 2015/004213 A1 describes several techniques for limiting the amount of ambient light reaching the pixels during the detection intervals, thus improving the accuracy of the detection of the laser dot patterns. Although these techniques have not been described in the context of a LIDAR system, the inventors of the present invention have found that several
    2018/5273
    BE2018 / 5273 of such techniques provide excellent results when combined with embodiments of the present invention. This is particularly true for the use of narrow band pass filters at the detector, and the use of adequate optical devices to ensure nearly perpendicular incidence of the reflected light on the filters. The details of these devices as they appear in WO 2015/004213 A1 are hereby incorporated by reference. Further features and details are provided below.
    European patent application publications with numbers EP 3045935 B1 and EP 3045936 B1, both in the name of the present applicant, describe optical devices that can be used in combination with the system described in the present application for the amount of backlight reaching the pixels during the further minimize detection intervals. The details of the devices as they appear in EP 3045935 BI and EP 3045936 BI are hereby incorporated by reference. Thus, a pixel according to the present invention can be provided with a micro lens to direct the incident light, after optional filtering, to the photosensitive area.
    Although these various techniques can be applied to embodiments of the present invention to minimize the amount of ambient light reaching the pixels during the detection intervals, a certain amount of ambient light cannot be avoided. In a multipixel system, only some of the pixels will be illuminated by reflected points, while others will only be exposed by residual ambient light. The signal levels of the latter group of pixels can be used to estimate the contribution of the ambient light to the signals in the pixels of interest, and thus to subtract that contribution.
    In some embodiments, the detector may be a high-dynamic range detector, i.e., a detector that has a dynamic range of at least 90 dB, preferably at least 120 dB. The presence of a high dynamic range sensor, that is, a sensor that is capable of
    2018/5273
    -29BE2018 / 5273 size quantity of photons obtainable without saturation while maintaining sufficient discrimination of intensity levels in the darkest part of the location, is an advantage of using such a sensor; it enables a sensor that has a very wide range and is still capable of detecting objects at a short distance (where the reflected light is relatively intense) without undergoing saturation. The inventors have found that the use of a high-dynamic range sensor that is not based on tin imaging has a greater advantage of using a sensor that uses tin imaging. In tin mapping, the linear sensor range is compressed towards the higher resolution. Various compression methods have been documented in the literature, such as logarithmic compression or multilinear compression. However, this non-linear compression requires re-linearization of the signals prior to performing logarithmic or arithmetic operations at the specified location to extract the relief information. The solution according to the invention therefore increases detection accuracy without increasing the computational requirements. It is a further advantage of some embodiments to use a fully linear high dynamic range sensor. A pixel architecture and an optical detector capable of providing the desired dynamic range features are described in U.S. Patent Application Publication No. Publication No. US 2014/353472 A1, in particular paragraphs 65-73 and 88, the contents of which are incorporated by reference for the purpose of to enable the skilled person to apply this aspect of the present invention.
    Embodiments of the present invention use a high dynamic range pixel. This can be achieved by a large full-well capacity of the charge reservoirs or by designs that limit the electronic noise per pixel or by the use of CCD ports that do not add noise during charge transfer, or by a design with a large detection quantum efficiency ("detection quantum efficiency"). (DQE) (for example in the range of 50% for front exposure or 90% in the case of rear exposure, also known as back dilution), or by a special design, or by a combination of the listed improvements. It is also possible
    2018/5273
    -30BE2018 / 5273 dynamic range can be further increased by adding a flooding capacity to the pixel as a cover at its front (this application requires back dilution). Preferably, the pixel design employs an anti-bloom mechanism.
    A system according to the present invention may comprise an application of steps of the methods previously described in specialized hardware (e.g. ASIC), configurable hardware (e.g. FPGA), programmable components (e.g. a DSP or a generally usable processor with suitable software), or a combination thereof. The same (same) component (s) may also include other functions. The present invention also relates to a computer program product comprising a code means which implements the steps of the methods described above, which product can be provided on a computer-readable medium such as an optical, magnetic, or solid-state carrier.
    The present invention also relates to a vehicle comprising the system described above.
    Embodiments of the present invention can also be advantageously used in a wide variety of applications, including, without limitation, automotive applications, industrial applications, game applications, and the like, both indoors and outdoors, at short or long distances. In some applications, different sensors according to the embodiments of the present invention may be combined (e.g. in a chain) to produce panoramic coverage, preferably over a full circle (360 ° field of view).
    It should be noted that the method, the pixel, and the pixel matrix of the present invention can also be used in triangulation-based systems such as the system of WO 2015/004213 A1, and in existing LIDAR systems, to improve quality of the measurements in the presence of ambient light.
    2018/5273
    -31 BE2018 / 5273
    Although the invention described above with reference to separate embodiments, this has only been done for clarity reasons. The skilled person will understand that features described in connection with one embodiment can also be applied to other embodiments, with the same technical effects and advantages. Furthermore, the scope of the invention is not limited to these embodiments, but is defined by the accompanying claims.
    权利要求:
    Claims (9)
    [1]
    BE2018 / 5273 Conclusions
    A pixel for use in a system for determining a distance to an object by means of range gating, the pixel comprising the following:
    a first charge storage well (221) and a second charge storage well (222) for collecting electric charges representative of amounts of light incident on the pixel during respective sets of exposure intervals, the first charge storage well (221) having a charge capacity of at least 50% is greater than a charge capacity of the second charge storage well (222).
    [2]
    The pixel of claim 1, further comprising a switching system that allows the pixel to switch between:
    a charging mode in which light falling on the pixel causes the first charge storage well (221) or the second charge storage well (222) to increase a stored amount of charge, and a discharge mode in which light falling on the pixel causes the first charge storage well ( 221) or the second charge storage well (222) lowers a stored amount of charge.
    [3]
    The pixel of any preceding claim, further comprising a switching system that allows photo charges generated when an active one of the first charge storage well (221) and the second charge storage well (222) is filled to full capacity, deflected to a charge drain without entering a storage well of an adjacent pixel.
    [4]
    The pixel of any one of the preceding claims, further comprising a third charge storage well (223).
    [5]
    The pixel of any one of the preceding claims, further comprising a fourth charge storage well (224).
    [6]
    An image matrix comprising a plurality of pixels according to any one of the preceding claims.
    2018/5273
    -33 BE2018 / 5273
    [7]
    A system for determining a distance to an object, the system comprising the following:
    a solid-state light source adapted to project a pattern of light points, preferably discrete light points, towards the object in a series of pulses, preferably a periodically repeated series of pulses;
    a detector comprising an imaging matrix according to claim 6, wherein the detector is configured to detect light representing the pattern of light points as reflected by the object in synchronization with the series of pulses; and a processing means configured to calculate the distance to the object as a function of exposure values generated by the pixels in response to the detected light;
    wherein the pixels of the imaging matrix are configured to generate the exposure values by collecting, for all pulses of the series, a first amount of electrical charge representative of a first amount of light reflected from the object during a first predetermined time window and a second electrical charge representative of a second amount of light reflected from the object during a second predetermined time window, the second predetermined time window taking place after the first predetermined time window, and wherein detecting the first amount of light and detecting the second amount of light takes place at the first charge storage well (221) and at the second charge storage well (222), respectively.
    [8]
    The system of claim 7, further configured to perform projecting and detecting for at least two consecutive pulse sequences, wherein each of the sequences is used with a different duration of the first predetermined time window and the second predetermined time window certain time window.
    [9]
    The system of claim 7 or 8, wherein the image matrix is further adapted to perform 2D video image acquisition.
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    同族专利:
    公开号 | 公开日
    EP3392674A1|2018-10-24|
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    CN110546530A|2019-12-06|
    WO2018197441A1|2018-11-01|
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