Increased dynamic range for time-of-flight (ToF) lidar systems
This document describes techniques and systems to increase the dynamic range of time-of-flight (ToF) lidar systems. The described lidar system adjusts, based on the energy of a first return pulse, the bias voltage of a photodetector for other return pulses of the object pixel. The bias voltage can be adjusted down for highly-reflective or close-range objects. Similarly, the bias voltage can be increased for low-reflectivity or long-range objects. The ability of the described lidar system to adjust the bias voltage of the photodetector for each object pixel increases the dynamic range of the lidar system without additional hardware or a complex readout. The increased dynamic range allows the described lidar system to maintain a long-range capability, while accurately measuring return-pulse intensity for detecting close-range or highly-reflective objects.
1. A transceiver of a lidar system configured to:
transmit at least two pulses for an object pixel within a field-of-view of the lidar system by emitting a first pulse from the at least two pulses with less energy than other pulses of the at least two pulses;
receive, using a photodetector configured to sense reflections of the at least two pulses, a first return pulse for the object pixel as a reflection of the first pulse, the first return pulse being reflected by an object within the field-of-view of the lidar system;
adjust, based on an amount of energy of the first return pulse, a bias voltage of the photodetector before receiving one or more other return pulses for the object pixel as reflections of the other pulses by the object; and
output, to a processor of the lidar system, at least two return pulses including the first return pulse for the object pixel and the one or more other return pulses for the object pixel.
2. The transceiver of claim 1 , wherein the transceiver is configured to adjust the bias voltage of the photodetector by:
increasing the bias voltage of the photodetector when the amount of energy of the first return pulse is less than a lower threshold value; or
decreasing the bias voltage of the photodetector when the amount of energy of the first return pulse is greater than an upper threshold value.
3. The transceiver of claim 2 , wherein the lower threshold value comprises a minimum incident-energy capacity of the photodetector and the upper threshold value comprises less than a maximum incident-energy capacity of the photodetector.
4. The transceiver of claim 2 , wherein the bias voltage is increased or decreased by a set amount, the set amount comprises half the bias voltage of the photodetector before receiving one or more other return pulses for the object pixel.
5. The transceiver of claim 2 , wherein the transceiver is further configured to adjust the bias voltage of the photodetector by:
in increasing the bias voltage of the photodetector, increase the bias voltage by a first amount, the first amount based on a ratio of the amount of energy of the first return pulse to the upper threshold value; and
in decreasing the bias voltage of the photodetector, decrease the bias voltage by a second amount, the second amount based on a ratio of the amount of energy of the first return pulse to the lower threshold value.
6. The transceiver of claim 1 , wherein the transceiver is further configured to adjust the bias voltage of the photodetector by adjusting the bias voltage of the photodetector proportional to a ratio between the amount of energy of the first return pulse and a threshold value.
7. The transceiver of claim 6 , wherein the threshold value comprises less than half of a maximum incident-energy capacity of the photodetector.
8. The transceiver of claim 1 , further configured to: output the at least two return pulses as a consolidated return signal for the object pixel.
9. The transceiver of claim 1 , wherein the photodetector comprises a silicon photomultiplier, an avalanche photodiode, a single-photon avalanche diode, a photomultiplier tube, or a PIN diode.
10. The transceiver of claim 1 , wherein the at least two pulses for the object pixel include at least four pulses for the object pixel.
11. The transceiver of claim 1 , wherein the amount of energy of the first pulse is approximately half of an amount of energy of each of the other pulses.
12. A method comprising:
transmitting, by a transceiver of a lidar system, at least two pulses for an object pixel within a field-of-view of the lidar system by emitting a first pulse from the at least two pulses with less energy than other pulses of the at least two pulses;
receiving, using a photodetector of the transceiver, a first return pulse for the object pixel as a reflection of the first pulse, the first return pulse being reflected by an object within the field-of-view of the lidar system;
adjusting, based on an amount of energy of the first return pulse, a bias voltage of the photodetector before receiving one or more other return pulses for the object pixel as reflections of the other pulses by the object; and
outputting, to a processor of the lidar system, at least two return pulses including the first return pulse for the object pixel and the one or more other return pulses for the object pixel.
13. The method of claim 12 , wherein the adjusting of the bias voltage of the photodetector before receiving one or more other return pulses for the object pixel as reflections of the other pulses comprises:
increasing the bias voltage of the photodetector when the amount of energy of the first return pulse is less than a lower threshold value; or
decreasing the bias voltage of the photodetector when the amount of energy of the first return pulse is greater than an upper threshold value.
14. The method of claim 13 , wherein the lower threshold value comprises a minimum incident-energy capacity of the photodetector and the upper threshold value comprises less than a maximum incident-energy capacity of the photodetector.
15. The method of claim 13 , wherein the bias voltage is increased or decreased by a set amount, the set amount comprises half the bias voltage of the photodetector before receiving one or more other return pulses for the object pixel.
16. The method of claim 13 , further comprising:
in increasing the bias voltage of the photodetector, increasing the bias voltage by a first amount, the first amount based on a ratio of the amount of energy of the first return pulse to the lower threshold value; and
in decreasing the bias voltage of the photodetector, decreasing the bias voltage by a second amount, the second amount based on a ratio of the amount of energy of the first return pulse to the upper threshold value.
17. The method of claim 12 , wherein the adjusting of the bias voltage of the photodetector before receiving one or more other return pulses for the object pixel comprises adjusting the bias voltage of the photodetector proportional to a ratio between the amount of energy of the first return pulse and a threshold value, the threshold value comprises less than half of a maximum incident-energy capacity of the photodetector.
18. The method of claim 12 further comprising: outputting the at least two return pulses as a consolidated return signal for the object pixel.
19. The method of claim 12 , wherein the at least two pulses for the object pixel include at least four pulses for the object pixel.
20. A lidar system comprising:
means for transmitting at least two pulses for an object pixel within a field-of-view of the lidar system by emitting a first pulse from the at least two pulses with less energy than other pulses of the at least two pulses;
means for receiving a first return pulse for the object pixel as a reflection of the first pulse, the first return pulse being reflected by an object within the field-of-view of the lidar system;
means for adjusting, based on an amount of energy of the first return pulse, a bias voltage of the means for receiving before receiving one or more other return pulses for the object pixel as reflections of the other pulses by the object; and
means for outputting at least two return pulses including the first return pulse for the object pixel and the one or more other return pulses for the object pixel.