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Abstract
We have developed a direct time-of-flight (TOF) 250 m ranging Complementary Metal Oxide Semiconductor (CMOS) image sensor (CIS) based on a 688 × 384 pixels array of vertical avalanche photodiodes (VAPD). Each pixel of the CIS comprises VAPD with a standard four transistor pixel circuit equipped with an analogue capacitor to accumulate or count avalanche pulses. High power near infrared (NIR) short (<50 ns) and repetitive (6 kHz) laser pulses are illuminated through a diffusing optics. By globally gating the VAPD, each pulse is counted in the in-pixel counter enabling extraction of sub-photon level signal. Depth map imaging with a 10 cm lateral resolution is realized from 1 m to 250 m range by synthesizing subranges images of photon counts. Advantages and limitation of an in-pixel circuit are described. The developed CIS is expected to supersede insufficient resolution of the conventional light detection and ranging (LiDAR) systems and the short range of indirect CIS TOF.
Highlights
IntroductionEvolution of the autonomous vehicle system from the advanced driver assistance system (ADAS)
Evolution of the autonomous vehicle system from the advanced driver assistance system (ADAS)to a fully automated one is a definitive direction of technological development [1]
At a time t = tTR (Figure 15b), an exposure period is completed and we assume that signal charge, QS, due to one photon detection and multiplication in vertical avalanche photodiodes (VAPD) is stored in CFD
Summary
Evolution of the autonomous vehicle system from the advanced driver assistance system (ADAS). The size of the objects is as small as 10 cm corresponding to human body (arm) and to road debris such as tires and squared timbers, most commonly found on highways but very difficult to be detected To this end, it is vital to develop a new sensing device that complements short ranging capability of forward sensing cameras and low lateral resolution of light detection and ranging (LiDAR) [2,3,4] or of radio detection and ranging (RADAR). Each reflected pulse pulse from an object is gated by a predetermined delay period which specifies a subrange. Dependence of the pulse number on the subrange number, i.e., “l -dependence”
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