ISO 26262-compliant mechanical lidar-free system

Abstract

The present invention relates to a laser module for a non-mechanical lidar system. The laser module includes a plurality of laser sub-modules each having a corresponding plurality of lasers. Each laser sub-module has a driver IC. Each driver IC controls a number of lasers. In the example of the abstract drawing, one photodetector monitors one of the lasers. The driver IC of the laser module can use the received signal of the photodetector to equalize and readjust the true emission amplitude of the laser pulses of all the lasers of the laser module, and adjust the emission time points of the corresponding true laser pulses to a synchronization signal. The driver IC can detect a fault of the laser through the photodetector belonging to the laser and output an error signal.

Description

Technical Field

[0001] The present invention relates to an optical device for a laser module compliant with ISO 26262 and a lidar system without mechanical components based on the laser module. Background Art

[0002] Light Detection and Ranging (abbreviated as Lidar), also known as Radar (Light Detection and Ranging), is a radar-related method for optical distance and speed measurement and for remote measurement of atmospheric parameters. Such lidar systems use laser beams instead of radio waves as in radar. The prior art preferably uses mechanical mirrors to steer the laser beam in different directions. Since these lidar systems are typically used in the fields of autonomous driving and / or medical technology, lidar systems are preferably subject to safety requirements. An important standard for ensuring functional safety (or simply FuSa) in automotive applications is ISO 26262.

[0003] Prior Art

[0004] A driver circuit for an LED is known from DE 10 2009 060 873 A1. The technical teaching of DE10 2009 060 873A1 also does not show how to assemble components so as to minimize parasitic inductance and capacitance in an optimal manner.

[0005] A driver circuit for a light-emitting optoelectronic component is known from DE 10 2016 116 368 A1 (see Figure 1 of DE 10 2016 116 368 A1), wherein a charging circuit (reference numerals 2, 3, 4, 5, 9, 10, 11, 12, 13, 14 in DE 102016 116 368A1) charges a capacitor (reference numerals 18 to 21 in DE 10 2016 116 368 A1) via a series resistor (reference numeral 3 in DE 10 2016 116 368 A1). The light-emitting optoelectronic components (reference numerals 22 to 25 in DE10 2016 116 368A1) are connected together at their cathodes to form a first star point. When one or more of the light-emitting optoelectronic components are to emit light, a control switch (reference numeral 26 in DE 10 2016 116 368 A1) connects this star point to a reference potential (reference numeral GND in DE10 2016 116 368 A1). A buffer capacitor (reference numeral 9 in DE 10 2016116 368A1) is used to quickly charge the actual energy storage (reference numerals 18 to 21 in DE 10 2016 116368A1).

[0006] A disadvantage of DE 10 2016 116 368 A1 is that the series resistors result in a poor energy balance. The technical teaching of DE 10 2016 116 368 A1 also does not show how to assemble the components so as to minimize parasitic inductance and capacitance in an optimal way.

[0007] A driver circuit is known from US10 193 304 B2, in which a capacitor is charged such that the current remains below the laser response threshold. The technical teaching of US10 193 304 B2 also does not show how to assemble the components so as to minimize parasitic inductance and capacitance in an optimal way.

[0008] A compact complex structure with four layers (2 circuit boards, a capacitor, a laser, and a switching IC) is known from EP 2 002 519 A2 (of EP 2 002 519 A2 Figure 2 ), however, this structure is too complex and too slow for the solution sought here.

[0009] A control circuit for a single LED is known from EP 3 301 473 A1, which is suitable for emitting short pulses. It does not disclose how the low inductance required in EP 3 301 473 A1 can be achieved.

[0010] An LED driver circuit is known from DE 10 2016 116 369 A1, in which each LED has its own control switch, which increases the complexity and detracts from the compactness of the device.

[0011] A laser control circuit is known from DE 10 2008 021 588 A1, in which a plurality of control switches are connected in parallel such that they can generate pulses with a time offset relative to each other and can cool between pulses when other control switches can generate additional pulses.

[0012] DE 10 2017 121 713 A1 teaches a control switch that consists of sub-units, where each sub-unit has its own capacitor for providing switching energy.

[0013] Controllers for gas lasers are known from DE 19 914 362 A1 and DE 19 514 062 A1.

[0014] A circuit for reducing the turn-off time of a laser diode is known from US 9,185,762 B2 (DE 10 2014 105 482 A1).

[0015] A circuit for quickly turning on and off a single laser diode is known from DE 10 2017 100 879 A1. Setup examples are also provided here. A good solution for multiple laser diodes is not specified.

[0016] A direct connection between the laser die of a single laser and the die of an integrated control switch is known from DE 10 2018 106 860 A1. The control switch is connected between the supply voltage and the anode of the laser diode, which, as will be explained below, prevents a particularly compact solution for a laser array.

[0017] A driver circuit (e.g., FIG. 12 of DE 10 2016 116 875A1) with a common control switch (reference numeral S3 of DE 10 2016 116 875A1) for multiple lasers (reference numerals D1, D7 of DE 102016 116 875A1) is known from DE 10 2016 116 875 A1, where the common control switch (reference numeral S3 of DE 10 2016 116 875 A1) is connected to the cathodes of the lasers and can connect them to the reference potential. The energy of the laser pulses is obtained from a common storage capacitor (reference numeral C of DE 10 2016 116 875 A1). The lasers are selected via individual switches (reference numeral S2 of DE 10 2016 116 875 A1). The disadvantage of this circuit is the parasitic voltage drop across these switches (reference numeral S2 of DE 10 2016 116 875 A1).

[0018] A laser driver circuit is known from DE 10 2006 036 167 B4, where the resonance of parasitic inductances and capacitances is tuned such that they support the specified characteristics of the optical pulses to be generated.

[0019] A laser driver is known from US 6,697,402 B2, which performs laser current detection via a shunt resistor between the cathode terminal and the reference potential.

[0020] A single driver circuit is known from US 9,368,936B1. A coil is used as an energy storage.

[0021] A circuit for supplying energy to an LED chain is known from US 9,155,146 B2.

[0022] The control of a laser diode with an H-bridge is known from DE 10 2018 106 861 A1.

[0023] A drive circuit is known from DE 19 546 563 C2, in which when the control transistor starts light emission, the charging circuit is disconnected from the laser diode via an inductor during the short duration of the light pulse emission.

[0024] Laser modules for lidar systems without moving parts are known from German patent applications DE10 2020 114782.1, DE 10 2020 124 564.5 and DE 10 2020 111 075.8, which were not published at the priority application date of this specification, and from international patent application PCT / EP2021 / 050199 or the specification derived from this application. The lidar system includes a plurality of laser sub-modules that can be arranged adjacent to each other in rows, and each laser sub-module has a plurality of lasers. The technical teachings of German patent applications DE 10 2020 114 782.1, DE 10 2020 124 564.5 and DE 102020 111 075.8 and international patent application PCT / EP2021 / 050199 do not disclose any consideration of safety-critical requirements and do not have technical teachings for meeting these safety-critical requirements. Figures 1 to 6 is based on the technical teachings of unpublished German patent applications DE102020114 782.1, DE 10 2020 124 564.5 and DE 10 2020 111 075.8 and unpublished international patent application PCT / EP2021 / 050199. The proposed solution presented here adds the necessary new elements.

[0025] Devices for readjusting the emission time of the illumination laser of a TOF camera (TOF: time of flight) are known from unpublished DE 10 2019 131 460.7.

[0026] A laser module with a plurality of VCSELs is known from US2020 / 0,278,426A1. The technical teaching of US2020 / 0,278,426A1 discloses a monitoring module (reference numeral PD in Figure 16 of US2020 / 0,278,426A1) for readjusting the control of VCSEL diodes.

[0027] However, the technical teaching of US2020 / 0,278,426A1 is not applicable to the configuration proposed here.

[0028] The technical teaching for a suitable control circuit is known from DE 10 2008 062 544 A1. However, the presented specification specifically refers to that of US2020 / 0,278,426A1 Figure 4 。

[0029] A laser module is also known from JP S62-232 987A1.

[0030] A device for optical TOF measurement is known from DE 10 2018 222 049 A1. Summary of the Invention

[0031] Problem

[0032] Therefore, the task of the proposal is to create a solution that does not have the above-mentioned disadvantages of the prior art and has further advantages.

[0033] This task is solved by the device of the present invention.

[0034] Solving the Problem

[0035] The element of the proposal presented here is a laser module that consists of m laser sub-modules, which allows for the emission of laser pulses with a particularly rapid increase. By way of example, it is assumed that the laser module includes n lasers linearly arranged adjacent to each other. The lasers are preferably semiconductor lasers, and the semiconductor lasers preferably have a common cathode contact.

[0036] The proposed laser sub-module has a linear laser array of n lasers D1 to Dn, where n represents a positive integer greater than or equal to 1, preferably greater than or equal to 2, preferably greater than or equal to 4, preferably greater than or equal to 8, preferably greater than or equal to 16. The number of lasers n is preferably a power of 2. Thus, the laser module includes m*n lasers.

[0037] The n lasers D1 to Dn of the laser sub-module of the laser module are preferably arranged along a first line, with a preferably equal first pitch between each of the lasers of the laser sub-module. The n lasers D1 to Dn of the laser sub-module of the laser module are preferably designed in the same way. The n lasers D1 to Dn of the laser sub-module of the laser module are preferably manufactured with a common crystal.

[0038] In this case, the n*m lasers of the laser module are preferably also arranged integrally along the first line, which is preferably common to the laser sub-modules of the laser module, with a preferably equal and common first pitch between the lasers of the laser module. The n*m lasers D1 to Dn of the laser module are preferably designed in the same way.

[0039] Each of the n lasers D1 to Dn of the laser module is preferably associated with exactly one of the n capacitors as the respective energy source for its laser pulses. Whether a laser emits a laser pulse in the case of the next pulse signal is preferably determined based on whether the capacitor associated with the laser was previously charged via a charging circuit before the pulse signal arrives. These n capacitors are now preferably arranged along a second line. This second line of arrangement of the capacitors is preferably parallel to the first line of arrangement of the lasers. The second pitch from one capacitor arranged along this second line to the next capacitor is preferably equal to the first pitch from one laser within and preferably within the laser module to the next laser, the lasers being arranged along the first line at this distance. Thus, a linear capacitor array of n capacitors within the laser sub-module and a linear capacitor array of n*m capacitors within the laser module are obtained.

[0040] Furthermore, the laser sub-module of the proposed laser module has a control switch specific to the laser sub-module, which is used to activate the lasers of the relevant laser sub-module with the charged capacitors associated with these lasers of the laser sub-module.

[0041] In order for the lasers of the laser sub-module to emit pulse information when the pulse signal arrives, the charging circuit of the laser sub-module associated with the laser sub-module capacitor must first charge the laser sub-module capacitor associated with the laser. Thus, the laser sub-module preferably includes n charging circuits of the laser sub-module, where one of the n charging circuits of the laser sub-module selectively charges the corresponding laser sub-module capacitor (hereinafter referred to as the laser sub-module capacitor associated with this charging circuit of the laser sub-module) of the n capacitors of the laser sub-module via the charging lead inductance belonging to it. The magnitude of this charging lead inductance has a positive effect on the discharge rate of the corresponding laser sub-module capacitor and thus on the pulse edge slope, since this inductance separates the charging circuit of the laser sub-module from the capacitors of the high-frequency laser sub-module. This means that in the case of a steep laser edge with a high charging lead inductance, the output inductance of the charging circuit of the laser sub-module no longer has any effect. Thus, the laser pulse may potentially be steeper due to the blocked charging lead inductance.

[0042] Thus, in each case where a laser in the laser sub-module is associated with a laser sub-module capacitor, each laser sub-module capacitor among the n capacitors of the laser sub-module is preferably associated with one laser of the n lasers of the laser sub-module. When a pulse signal arrives at the laser sub-module control circuit, the laser sub-module control switch closes. In this case, the laser sub-module control switch is preferably a transistor of an integrated circuit. By closing the laser sub-module control switch, the control switch causes the charged laser sub-module capacitors among the n capacitors of the laser sub-module to discharge via the laser of the laser sub-module associated with the capacitor and the discharge line inductor, which preferably connects the capacitor to the anode of the laser of the laser sub-module. Of course, the associated laser of the laser sub-module may emit a laser pulse only when a pulse signal arrives, and if the charging circuit of the laser sub-module has previously charged the laser sub-module capacitor associated with this laser of the laser sub-module, the laser sub-module control switch then closes. By closing the control switch when the pulse signal arrives, the laser sub-module control switch typically connects the cathode of the laser of the laser sub-module to the reference potential of the laser sub-module. The reference potential of the laser sub-module is preferably equal to the reference potential of the laser module. Obviously, functionally equivalent circuits can also be conceived, imagined, and / or exist, where the anode and cathode of the laser are interchanged.

[0043] Therefore, the value of the charging lead inductance of the capacitor used to power the laser of the laser sub-module should be as high as possible. Conversely, the discharge line inductance of this capacitor operating on the associated laser of the laser sub-module should be as small as possible. The lead inductance from the anode of the laser, used here as an example of the laser sub-module, to the capacitor belonging to it and from the capacitor of the laser of the laser sub-module to the reference potential of the laser sub-module contributes to the discharge line inductance. In this case, the total discharge line inductance should be as low as possible in this case. For this electrical connection, it is generally advantageous to use multiple thin bonding wires for these connections rather than one thick bonding wire with a high current-carrying capacity. The reason is that the total inductance of multiple bonding wires connected in parallel is lower than that of the thick bonding wire. Although a transformer coupling effect will occur between the bonding wires placed in parallel, the advantage of the low total inductance and thus the fast switching time is much more important than this.

[0044] The charging lead inductance used to charge the laser of the laser sub-module preferably has a maximized inductance value. The length of the bonding wire used to connect the first terminal of the associated laser sub-module capacitor to the charging circuit of the associated laser sub-module and the associated laser of the laser sub-module therefore preferably has the minimum possible inductance value. Such a maximized bonding wire length maximizes the charging lead inductance as much as possible. This results in the maximum separation between the parasitic output inductance of the charging circuit and the anode of the associated laser of the laser sub-module.

[0045] Therefore, the value of the charging lead inductance is preferably greater than the value of the discharging lead inductance.

[0046] The laser sub-module preferably includes an integrated circuit, wherein the cathodes of the n lasers of the linear laser array of n lasers are interconnected to form a star point without bonding wires. For this purpose, the laser sub-module has a common back contact, which in the example shown represents the shared cathode of the n lasers of the laser sub-module that is directly connected to the contacts of the laser sub-module control switch, such that the laser sub-module control switch is connected to the cathodes of the n lasers of the laser sub-module at one terminal and has virtually no inductance. In this case, the laser sub-module integrated circuit crystal conducts the waste heat from the n lasers of the laser sub-module. Thus, the rear of the laser sub-module linear laser array is thermally and conductively connected to the contacts of the laser sub-module control switch, which is preferably monolithically integrated in the crystal of the laser sub-module integrated circuit preferably used. The connection can be accomplished, for example, by bonding or soldering or another suitable conductive and thermally conductive connection technique (such as, for example, thermocompression of bonding balls) or another flip-chip assembly technique. The stacking of the laser sub-module linear laser array crystal and the laser sub-module integrated circuit crystal with the control switch and preferably with the charging circuit of the laser sub-module is preferably thermally and also conductively mounted on the back of the laser sub-module integrated circuit on the heat sink, for example, by means of a thermally conductive and preferably conductive bond or solder.

[0047] As described above, the laser sub-module control switch and the n charging circuits of the n capacitors preferably used for the laser sub-module capacitors are part of the laser sub-module integrated circuit. The laser sub-module control switch is preferably electrically connected to the first star point of the laser sub-module, which connects the cathodes of the n lasers of the laser sub-module to each other without bonding wires.

[0048] In the laser sub-module integrated circuit crystal, as described above, the laser sub-module control circuit and the n charging circuits of the laser sub-module are preferably integrated in the active surface of the laser sub-module integrated circuit crystal opposite to the back. Thus, the n charging circuits of the laser sub-module are part of the active surface of the laser sub-module integrated circuit. That is, relative to the thickness of the crystal, they are placed substantially directly below the surface of the laser sub-module integrated circuit crystal or on its surface, as is customary for integrated circuits. The linear laser sub-module capacitor array composed of the n capacitors of the laser sub-module is now also attached in parallel on the active surface of the monolithic laser sub-module integrated circuit crystal to the laser sub-module linear laser array composed of the n lasers of the laser sub-module.

[0049] This parallelism involves not only temporal parallelism but also spatial parallelism. The n lasers of the laser array of the laser sub-module are preferably arranged along a first straight line. The n capacitors of the capacitor array of the laser sub-module are preferably arranged along a second straight line. This straight line of the arrangement of the n capacitors of the capacitor array of the laser sub-module is typically an imaginary line parallel to the second line. This imaginary line is typically located at the bottom of the capacitor array of the laser sub-module. Similarly, the first line can be another imaginary line at the bottom of the laser array of the laser sub-module. These imaginary lines then define a plane which is preferably parallel to the active surface of the crystal of the integrated circuit of the laser sub-module, or at least substantially parallel to this surface and slightly spaced apart by fastening means such as an adhesive or solder, such that in this case they can be considered to be substantially the same. Thus, the laser array of the laser sub-module is preferably connected to the surface of the driver IC by an adhesive or solder. The cathodes of the lasers of the laser sub-module are preferably electrically connected to a common star point DISC, which is directly electrically connected to the driver IC by an adhesive or solder (see Figure 4 and 5 for the corresponding electrical contacts DISC), resulting in a so-called stacked die structure, in which the crystals of the laser array and the driver IC are stacked directly one above the other and are only spaced apart from each other by the metallization and wiring stack of the integrated circuit of the driver IC and a conductive adhesive or conductive solder, which preferably electrically connects the two crystals to each other.

[0050] Each of the n capacitors in the laser sub-module capacitor array has a first terminal and a second terminal. The first terminals of the capacitors in the linear laser sub-module capacitor array are connected to the anodes of the lasers in the linear laser array of the n lasers of the laser sub-module associated with the capacitor by a plurality of bonding wires having a first bonding wire length to reduce inductance. The second terminals of the n capacitors of the laser sub-module capacitor array are interconnected to form a second star point of the laser sub-module. This second star point of the laser sub-module is connected to the reference potential contact of the laser sub-module on the active surface of the crystal of the integrated circuit of the laser sub-module by a plurality of bonding wires having a second bonding wire length to further reduce inductance. This design has significant advantages. If, for example, the charging circuit of the laser sub-module charges only one of the n capacitors in the laser sub-module capacitor array and thus all the other capacitors in the laser sub-module capacitor array are not charged, these uncharged capacitors are essentially charged to a voltage close to zero. When a pulse signal arrives, the laser sub-module control switch now connects the first star point of the laser sub-module to the reference potential of the laser sub-module. Thus, the laser of the laser sub-module associated with the charged capacitor initially discharges the associated previously charged laser sub-module capacitor. However, subsequently, the laser sub-module control switch also connects the first terminals of all the other capacitors of the laser sub-module to the reference potential via their lasers. Since the capacitors belonging to these lasers are not charged, these remaining capacitors similarly force the potential of the second terminals of these laser sub-module capacitors that form the second star point of the laser sub-module to be close to the reference potential of the laser sub-module. The first terminals of the capacitors of the laser sub-module linear capacitor array are preferably connected to the charging circuit associated with the corresponding capacitor among the n capacitors of the laser sub-module capacitor array in the n charging circuits of the laser sub-module by a bonding wire having a third bonding wire length that spans the second star point of the laser sub-module. Here, the third bonding wire length is preferably longer than the second bonding wire length. Here, the second bonding wire is preferably longer than the first bonding wire length.

[0051] The laser sub-module thus defined can be used in the laser module of a lidar system. We propose to use the following basic structure of the lidar system:

[0052] For example, during emission, the control circuit now causes a laser to emit a laser pulse by closing a control switch associated with exactly one of, for example, n lasers or exactly one of m laser sub-modules of a laser module of a lidar system. An associated laser sub-module charging circuit and an associated laser sub-module capacitor are associated with the laser of the laser sub-module. Thus, before emitting the laser pulse, the control circuit causes the charging circuit among the n charging circuits of the laser sub-modules of the above-mentioned laser module to charge, for example, the capacitor associated therewith among the n capacitors of the laser sub-module. All other laser sub-module capacitors should be uncharged. All other laser sub-module capacitors remain uncharged during the duration of the light pulse emission process by the laser of the laser sub-module.

[0053] For example, the laser sub-module control circuit may include a timer. The start of the charging process of the charging circuit starts the timer. The laser sub-module control circuit preferably has a plurality of timers. When using timers, the timers are preferably associated with each of the n lasers of the laser sub-module. In this case, therefore, the control circuit preferably includes n timers. The timer of the charging circuit of the laser among the n lasers of the laser sub-module whose capacitor charges the charging circuit can be an analog or digital counter. In the case of a digital counter, the counter preferably increments its count by one increment in each cycle of the counting period. Preferably, all the laser sub-modules use the same counting period. It is conceivable that each of the m laser sub-modules uses its own counting period, however, a synchronization signal or synchronization period synchronizes these modules with each other. All the timers of the laser sub-modules of the laser module are preferably designed identically. Each timer generates a time value that strictly monotonically increases over time, which can be analog or digital depending on the type of timer. The comparison component preferably compares the current time value of the timer of the charging circuit associated with the laser of the laser sub-module among the m laser sub-modules of the laser module with the default charging time value of the charging circuit associated with the laser of the laser sub-module among the m laser sub-modules of the laser module. When the time value of the timer reaches or exceeds the default charging time value, the comparison component preferably generates a stop signal for the relevant charging circuit of the relevant laser of the relevant laser sub-module. The charging circuit then terminates the further charging of the relevant capacitor after receiving the stop signal. Thus, the amount of energy stored in the capacitor is derived from the capacitance value of the capacitor, the preferably constant charging current of the charging circuit, and the charging time. The default charging time value is preferably predefined or adjustable or calculable. According to this proposal, therefore, the default charging time value is preferably associated with each laser. Thus, for example, for its n lasers, the laser sub-module may have n default charging time values. Therefore, for the n*m lasers of its m laser sub-modules, the laser module should preferably have n*m default charging time values. For the technical teaching presented here, contrary to the foregoing prior art, it is now important that the default charging time value among the n default charging time values of the laser sub-module depends on one or more parameters of the laser pulses actually emitted by the associated laser among the n lasers of the laser sub-module via a control loop.

[0054] Instead of time control, when the capacitor target voltage is reached or exceeded, the control circuit can also terminate the charging process by means of a charging circuit. In the case of a constant charging current, the combination of a constant charging current source and a capacitor then forms a timer. In this case, the capacitor voltage will correspond to a time value. A comparison component can then detect the capacitor voltage and compare it with a default value. The comparison component can be a comparator that compares the capacitor voltage with a reference voltage. This default value or reference voltage then corresponds to the charging time default value. Thus, the comparator can, for example, compare the capacitor voltage with the capacitor target voltage as the charging time default value and generate a charging stop signal that causes the control circuit to terminate the charging process by means of the associated charging circuit. The charging circuit preferably charges the capacitor with a constant current from a charging current source, the current of which has a charging current source current value.

[0055] After completion of the charging process, for example, a high-impedance switching of the output of the switch and / or the charging circuit can disconnect the charging circuit from the capacitor to be charged. After preferably one combination of the lasers and capacitors in the n pairs of lasers and associated capacitors of the laser sub-module has been equipped by charging the associated capacitor in this way, the capacitor can now be discharged suddenly by closing the laser sub-module control switch via the associated laser and the laser sub-module control switch. Thus, the laser sub-module control circuit, preferably as part of the laser sub-module control circuit, preferably generates a pulse signal that preferably closes the control switch of the above-mentioned laser sub-module and thus, for example, connects the cathode of the associated laser of the laser sub-module to the reference potential of the laser sub-module. The appropriately charged capacitor is preferably connected with its second terminal to this reference potential of its laser sub-module and preferably with its first terminal to the anode of the laser of the laser sub-module associated with this capacitor. Thus, the previously charged capacitor discharges suddenly via the laser associated with it. A current flows through the laser of the laser sub-module associated with the now-discharging capacitor. Due to this current flow, the corresponding laser emits a light pulse. In this example, the other lasers in the n lasers of the laser sub-module typically do not emit light pulses because here, according to the requirements of this example, the associated charging circuits of the other lasers do not charge the capacitors of the laser sub-module associated with the other lasers. In theory, more than one charging circuit of the laser sub-module or the laser module can charge the corresponding capacitor associated with it. In other words, after all charging processes have terminated, it is possible to charge more than one laser sub-module capacitor or laser module. In this case, it is conceivable to charge several capacitors of the laser module rather than other capacitors. When the lasers are started, the lasers in the laser module then illuminate according to a pattern. The lidar system can then gradually use different patterns. In the simple but theoretical case of a single charged laser module capacitor, the lidar system can then recalculate the measurement results.

[0056] The lidar system preferably includes one or more photodetectors. It is known from the above prior art to use photodetectors to measure the distance to an object outside the lidar system. Here, particular reference is made to the technical teachings of German patent applications DE10 2020 114 782.1, DE 10 2020124 564.5 and DE 10 2020 111 075.8 and international patent application PCT / EP2021 / 050199, which are incorporated herein by reference without further explanation.

[0057] The technical teaching of the specification presented herein now proposes that a lidar system includes at least one photodetector, which is optically coupled to one or more lasers of the lidar system in a manner known per se. Each laser module preferably has at least one photodetector, which is optically coupled to one or more of the n*m lasers of the laser module in a manner known per se. Even more preferably, each laser sub-module has at least one photodetector, which is optically coupled to one or more of the n lasers of the laser sub-module in a manner known per se. Even more preferably, each laser sub-module has at least n photodetectors, each of which is optically coupled to exactly one or more of the n lasers of the laser sub-module in a manner known per se, such that preferably exactly one of the n photodetectors of the laser sub-module is associated with each of the n lasers of the laser sub-module.

[0058] In the first extreme case, the laser module thus has n*m such photodetectors. This is the case of maximum spatial multiplexing. In the second extreme case, the laser module has only one such photodetector. This is the case of maximum time-division multiplexing. Intermediate forms are possible, as explained above. For simplicity, the description will be limited to the two extreme cases. However, when the present invention covers the two extreme cases, other intermediate possibilities are expressly claimed.

[0059] Starting with the first extreme case:

[0060] For the sake of simplicity, for example, it is assumed that exactly one charging circuit of exactly one laser sub-module of a laser module charges exactly one capacitor associated therewith. All other laser module capacitors remain uncharged. From the start, when the laser sub-module control circuit receives a start signal, the laser sub-module control circuit preferably generates a start signal for each of the n lasers of the laser sub-module but at least for the lasers of the laser sub-module whose capacitors are charged, the start signal being delayed by a preferably adjustable delay time and preferably being specific to that laser and thus specific to that laser of the laser sub-module. One or more of the delay times can also be 0 s. For the relevant laser, the delayed start signal at the delay start time specific to that laser signals to the control circuit that the control switch of exactly one laser sub-module of the laser module should be closed at that start time. If the capacitors of several lasers are charged, this no longer works properly if the laser-specific delay times of the lasers with charged capacitors are different from each other. The laser sub-module control circuit can then use, for example, the mean value of the delay times of the lasers of the laser sub-module whose capacitors are charged as the delay time. Thus, preferably only one capacitor of the lasers of the laser sub-module is charged in order to associate the delay time with exactly one laser of the laser sub-module. By closing the laser sub-module control switch, exactly one previously charged laser sub-module capacitor discharges via, for example, exactly one laser of the laser sub-module connected to, for example, exactly one capacitor. The capacitor then feeds the discharge current into the laser associated therewith of the laser sub-module. For example, due to the discharge current, exactly that specific laser of the laser sub-module emits a laser pulse. The scattering optical device guides a preferably minimal but sufficient for technical purposes part of the laser pulse to, for example, exactly one photodetector preferably associated with that laser of the laser sub-module. The photodetector of the laser sub-module receives the light pulse part and generates a received signal of exactly that one photodetector, the time-dependent value curve of which depends on the time-dependent value curve of the received light pulse part.

[0061] Evaluation means, preferably forming part of the laser sub-module control circuit, of the laser sub-module detect key parameters of the time-dependent value curve of the received signal of the photodetector, which is associated here, for example, with exactly one laser of the laser sub-module.

[0062] One of these parameters detected by the evaluation device of the laser sub-module can be, for example, the time shift between the leading edge of the start signal and the corresponding edge of the value curve of the received signal over time. Another of these parameters detected by the evaluation device of the laser sub-module can be, for example, the maximum amplitude of the value curve of the received signal over time, typically within a specified period of time after the start signal. Another possible parameter of these parameters detected by the evaluation device of the laser sub-module can be, for example, the time integral or functionally equivalent value of the value curve of the received signal over time, typically within a specified period of time after the start signal. A possible parameter of these parameters detected by the evaluation device of the laser sub-module can also be, for example, the sampled value of the value curve of the received signal over time at a specified time point after the start signal.

[0063] Based on these parameters, the laser sub-module control circuit can readjust the shape and position of the laser pulse.

[0064] The laser sub-module control circuit can initially change the delay time associated with the laser of the laser sub-module according to the parameters of the value curve of the received signal over time. For example, more specifically, the laser sub-module control circuit can change the delay time associated with the laser of the laser sub-module according to the detected value of the time shift between the leading edge of the start signal and the corresponding edge of the value curve of the received signal over time. This feedback preferably occurs via a filter. The filter preferably has an integrating characteristic. The resulting regulator is preferably a PI or PID regulator. The laser sub-module control circuit preferably adjusts the delay time to have a target delay time value.

[0065] First, the target delay time value can be specified numerically. In this case, the control circuit adjusts the delay time such that the detected value of the time shift between the leading edge of the start signal and the corresponding edge of the value curve of the received signal over time corresponds to the target delay time value.

[0066] The target delay time value can also be specified, for example, by a synchronization signal that signals the synchronization time to the control circuit. The control circuit can include, for example, a phase detector that increases or decreases the delay time of the laser of the laser sub-module according to whether the edge of the value curve of the received signal corresponding to the leading edge of the start signal arrives at the laser sub-module control circuit before or after the arrival of the synchronization signal.

[0067] In other words, the start signal then no longer determines the time position of the laser pulse, but rather the time position signaled by the synchronization signal for the synchronization time. The synchronization signal can implement this signaling, for example, by means of the rising edge or falling edge of a synchronization pulse.

[0068] If a number of laser sub - modules each want to activate the lasers of the relevant laser sub - modules among the m laser sub - modules of a laser module, the lidar system can thus ensure that, for example, after adjusting the various delay times of the relevant lasers of the various laser sub - modules of the laser module, the lasers of the laser sub - modules each emit laser pulses simultaneously at the same synchronization time. This increases the edge slope of the overall laser pulse of the overlapping laser pulses of the lasers activated in the m laser sub - modules of the laser module. This increases the range of such an overall laser pulse and thus of the lidar system.

[0069] The detection of the amplitude - dependent value of the curve of the received signal of a photodetector associated with one of the n lasers of a laser sub - module among the m laser sub - modules of a laser module enables the amplitude to be readjusted to an amplitude default value. For this purpose, the control circuit compares the relevant amplitude - dependent value of the curve of the received signal of the photodetector over time with the amplitude default value.

[0070] If the relevant amplitude - dependent value of the curve of the received signal of the photodetector over time is less than the amplitude default value, the control circuit increases the amount of energy provided by the charging circuit of the capacitor of that laser among the n lasers of the laser sub - module in order to generate the next laser pulse by charging the capacitor of that laser.

[0071] In order to increase the amount of energy of the capacitor, the control device can first increase the charging current used by the charging circuit to charge the capacitor of the laser according to the deviation value between the amplitude - dependent value of the curve of the received signal of the photodetector over time and the amplitude default value.

[0072] Second, in order to increase the amount of energy of the capacitor in the case of time - controlled charging of the capacitor, the control circuit can, for example, increase the default charging time according to the deviation value between the amplitude - dependent value of the curve of the received signal of the photodetector over time and the amplitude default value.

[0073] Third, in order to increase the amount of energy of the capacitor in the case of capacitor - voltage - controlled charging of the capacitor, the control circuit can, for example, increase the target capacitor voltage according to the deviation value between the amplitude - dependent value of the curve of the received signal of the photodetector over time and the amplitude default value.

[0074] If the correlation amplitude-dependent value of the curve of the received signal of the photodetector over time is greater than the amplitude default value, the control circuit reduces the amount of energy supplied by the charging circuit of the capacitor of that laser among the n lasers of the laser sub-module to generate the next laser pulse by charging the capacitor of that laser. To reduce the amount of energy of the capacitor, the control device may first reduce the charging current used by the charging circuit to charge the capacitor of the laser according to the deviation value between the amplitude-dependent value of the curve of the received signal of the photodetector over time and the amplitude default value. Second, to reduce the amount of energy of the capacitor in the case of time-controlled charging of the capacitor, the control circuit may, for example, reduce the default charging time according to the deviation value between the amplitude-dependent value of the curve of the received signal of the photodetector over time and the amplitude default value. Third, to reduce the amount of energy in the capacitor in the case of capacitor voltage-controlled charging of the capacitor, the control circuit may, for example, reduce the capacitor target voltage according to the deviation value between the amplitude-dependent value of the curve of the received signal of the photodetector over time and the amplitude default value.

[0075] If the capacitor target voltage of the laser among the n lasers of the laser sub-module in the m laser sub-modules of the laser module fails to reach the specified or programmed lower capacitor target voltage threshold during control, the control circuit uses the capacitor target voltage insufficient signal to signal to an optionally higher-level unit that the capacitor target voltage fails to reach the lower capacitor target voltage threshold. Such a capacitor target voltage insufficient signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error case, the control circuit then preferably changes the flag in the register of the laser sub-module data interface from the first logical value to the second logical value. The first logical value is preferably the flag reset value. When reading the register via the data interface of the readout unit, the second logical value then signals that the capacitor target voltage fails to reach the lower capacitor target voltage threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module being controlled. This signal notification may be combined with, for example, using an interrupt line to signal to a higher-level computing unit the existence of an error without specifying the error in an additional signal notification.

[0076] If the capacitor target voltage of a laser in n lasers of a laser sub-module among m laser sub-modules of a laser module exceeds a specified or programmed upper capacitor target voltage threshold during control, the control circuit uses a capacitor target voltage excessive signal to signal to an optionally higher-level unit that the capacitor target voltage has exceeded the upper capacitor target voltage threshold. Such a capacitor target voltage excessive signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes a flag in a register of the laser sub-module data interface from a first logical value to a second logical value. The first logical value is preferably a flag reset value. When the register is read out via the data interface of the read-out unit, the second logical value then signals that the capacitor target voltage has exceeded the higher capacitor target voltage threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the existence of an error without specifying the error in an additional signal notification.

[0077] If the value of the charging current of a capacitor of a laser in n lasers of a laser sub-module among m laser sub-modules of a laser module fails to reach a specified or programmed lower charging current target threshold during control, the control circuit uses a charging current target insufficient signal to signal to an optionally higher-level unit that the value of the charging current fails to reach the lower charging current target threshold. Such a charging current target insufficient signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes a flag in a register of the laser sub-module data interface from a first logical value to a second logical value. The first logical value is preferably a flag reset value. When the register is read out via the data interface of the read-out unit, the second logical value then signals that the value of the charging current fails to reach the lower charging current target threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the existence of an error without specifying the error in an additional signal notification.

[0078] If the value of the charging current of the capacitors of the lasers among the n lasers of a laser sub-module in the m laser sub-modules of a laser module exceeds the specified or programmed upper limit charging current target threshold during control, the control circuit uses the charging current target excessive signal to signal to an optionally higher-level unit that the value of the charging current exceeds the upper limit charging current target threshold. Such a charging current target excessive signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes the flag in the register of the laser sub-module data interface from a first logical value to a second logical value. The first logical value is preferably the flag reset value. When the register is read out via the data interface of the readout unit, the second logical value then signals that the value of the charging current exceeds the upper limit charging current target threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the existence of an error without specifying the error with an additional signal notification.

[0079] If the default charging time value of the capacitors of the lasers among the n lasers of a laser sub-module in the m laser sub-modules of a laser module fails to reach the specified or programmed lower limit charging time target threshold during control, the control circuit uses the charging time target insufficient signal to signal to an optionally higher-level unit that the default charging time value fails to reach the lower limit charging time target threshold. Such a charging time target insufficient signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes the flag in the register of the laser sub-module data interface from a first logical value to a second logical value. The first logical value is preferably the flag reset value. When the register is read out via the data interface of the readout unit, the second logical value then signals that the default charging time value fails to reach the lower limit charging time target threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the existence of an error without specifying the error with an additional signal notification.

[0080] If the default charging time of the capacitors of the lasers in n lasers of a laser sub-module among the m laser sub-modules of a laser module exceeds the specified or programmed upper charging time target threshold during control, the control circuit uses a charging time target exceeded signal to signal to an optionally higher-level unit that the default charging time exceeds the upper charging time target threshold. Such a charging time target exceeded signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes the flag in the register of the laser sub-module data interface from a first logic value to a second logic value. The first logic value is preferably the flag reset value. When the register is read out via the data interface of the reading unit, the second logic value then signals that the default charging time exceeds the upper charging time target threshold when charging the relevant capacitor of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the presence of an error without specifying the error with an additional signal notification.

[0081] If the value of the delay time associated with the lasers in n lasers of a laser sub-module among the m laser sub-modules of a laser module does not reach the specified or programmed lower delay time threshold during control, the control circuit uses a delay time insufficient signal to signal to an optionally higher-level unit that the value of the relevant delay time does not reach the lower delay time threshold. Such a delay time insufficient signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes the flag in the register of the laser sub-module data interface from a first logic value to a second logic value. The first logic value is preferably the flag reset value. When the register is read out via the data interface of the reading unit, the second logic value then signals that the relevant delay time does not reach the lower delay time threshold when controlling the value of the relevant delay event of the relevant laser among the n lasers of the laser sub-module. This signal notification can be combined with, for example, using an interrupt line to signal to a higher-level computing unit the presence of an error without specifying the error with an additional signal notification.

[0082] If the value of the delay time associated with a laser in n lasers of a laser sub-module among m laser sub-modules of a laser module exceeds a specified or encoded upper delay time threshold during control, the control circuit uses an excessive delay time signal to signal to an optionally higher-level unit that the value of the associated delay time exceeds the upper delay time threshold. Such an excessive delay time signal must be provided for each of the n lasers of the laser sub-module. Generally, preferably, the laser sub-module control circuit has a laser sub-module data interface. In such an error situation, the control circuit then preferably changes a flag in a register of the laser sub-module data interface from a first logical value to a second logical value. The first logical value is preferably a flag reset value. When the register is read out via the data interface of the read-out unit, the second logical value then signals that the associated delay time exceeds the upper delay time threshold when controlling the value of the associated delay event of the associated laser among the n lasers of the laser sub-module. This signaling can be combined, for example, with an additional signaling of an error without specifying the error by signaling the presence of the error to a higher-level computing unit using an interrupt line.

[0083] If, contrary to expectation, the associated laser among the n lasers of the laser sub-module does not emit a laser pulse, the laser sub-module control circuit can detect the non-emission of the laser pulse, for example, by evaluating the amplitude-dependent value of the curve of the received signal of a photodetector over time and use the flag and / or signal line as described above to signal such a situation.

[0084] In the above error situation, a higher-level system can evaluate the one or more errors and limit or discard data in terms of availability. This ensures that, for example, the failure of an individual laser does not cause the higher-level system to erroneously conclude that there are no objects in the travel path of the vehicle.

[0085] It is particularly advantageous to use the above-described laser module in the previously described lidar system.

[0086] The proposal also includes a laser module having m laser sub-modules, where m is a positive integer. Each laser sub-module preferably includes a linear laser array of n lasers, where n is a positive integer. The n lasers of the laser sub-module are preferably assembled on the module support and / or the driver IC of the laser sub-module. Each laser beam of each laser has a laser beam axis SA1 to SAn. All the laser beam axes SA1 to SAn of the lasers of the laser sub-module and / or at least two laser beam axes SA1, SA2 preferably intersect at a point. Based on this, an assembly of m laser sub-modules can be defined, where m is a positive integer, and each laser sub-module has the linear laser array of n lasers, where n is a positive integer. The lasers of each laser sub-module can preferably be numbered in the same way. Each laser beam of each laser preferably has a laser beam axis. Preferably, all the corresponding laser beam axes SA1 to SAn of all the n lasers of all the m laser sub-modules of the laser module intersect at a point. At least the laser beam axes of at least two lasers among the n lasers of the m laser sub-modules of the laser module should intersect at a point. However, preferably, all the n*m laser beam axes of all the n*m lasers of all the m laser sub-modules of the laser module intersect at a point. Alternatively, at least two laser beam axes of at least two lasers among the n*m lasers of all the m laser sub-modules of the laser module can intersect at a point. The corresponding driver IC of the laser sub-module is preferably a corresponding integrated circuit. Such a driver IC preferably has a rectangular shape. The driver IC of the corresponding laser sub-module preferably has two short sides and two long sides as edges. The driver IC of the corresponding laser sub-module preferably has one or more contacts DISC on the first edge of the rectangle of its shape, and the first edge is a short side, and the contacts are purposeful and suitable for contacting one or more backside contacts of the lasers. The driver IC of the corresponding laser sub-module has contacts VDDA, GNDA, VDDD, GNDD, VDDP, GNDP, VDDH, GND on the second edge of the rectangle of its shape, and the second edge is a short side, and the contacts are used to supply power to the driver IC and / or the lasers D1 to Dn and / or the associated energy memories C1 to Cn. The first edge is preferably opposite to the second edge.

[0087] The driver IC of the corresponding laser sub-module preferably has at least one transfer contact for signals on the third edge of the driver IC, and the third edge is a long side, and the signal can be transmitted to other driver ICs of other laser sub-modules. On the fourth edge of the driver IC that is a long side, the driver IC has another transfer contact electrically connected to the transfer contact.

[0088] One of the transfer contacts is preferably a contact for a reset signal RST which places the driver IC of the respective laser sub-module in a defined state. The transfer contact is preferably a contact for a trigger signal TRIG which, if provided based on the system state, places the driver IC of the respective laser sub-module in a specified signal state to activate its lasers D1 to Dn.

[0089] One or more transfer contacts are preferably intended for contacting signals from a data bus. One edge of the driver IC of the respective laser sub-module, which edge is one or more transfer contacts on the long side, is preferably directly electrically connected to a corresponding transfer contact on the opposite edge of the driver IC of the respective laser sub-module, which opposite edge is one or more transfer contacts on the opposite long side. However, it is also conceivable that a linear data bus, for example a LIN bus, is interrupted at least temporarily by the driver IC of the respective laser sub-module acting as a bus node, and that internal device components of the driver IC of the respective laser sub-module can receive data on one side of the respective driver IC and optionally retransmit the data in a modified form on the other side of the driver IC. In this case, the signals of the one or more transfer contacts on one side (which side is the long side) of the respective driver IC of the respective laser sub-module are processed before being retransmitted to one or more corresponding transfer contacts on the opposite edge (which opposite edge is the opposite long side) of the driver IC in the sub-device of the driver IC, in particular the data bus interface.

[0090] Furthermore, this specification includes the disclosure of components for forming laser sub-modules of a laser module, in particular within a lidar system, the lidar system having a plurality but at least two laser sub-modules, a first laser sub-module and a second laser sub-module, wherein the laser sub-modules have a rectangular shape with two short sides and two long sides, and wherein the laser sub-modules are arranged such that their long sides are adjacent to each other.

[0091] The laser sub-modules each have driver ICs which can be arranged in rows, as described above.

[0092] The driver ICs of the laser sub-modules are generally identical in structure with respect to the transfer contacts for their driver ICs. In each case, one transfer contact of the driver IC of the first laser sub-module is preferably electrically connected to the corresponding transfer contact of the driver IC of the second laser sub-module by means of a single bonding wire for each such pair of transfer contacts. This has the advantage that only minor losses occur. This is particularly advantageous for the fast synchronous transmission of the trigger signal TRIG, since all lasers should be activated in a timely manner and thus emit their radiation packets.

[0093] The proposal also includes components for a laser sub-module and / or for forming a laser module of laser sub-modules and / or a special capacitor array for use with a driver IC, as described above. The capacitor array is rectangular and has a top and a bottom. The capacitor array has "contacts" K1' to Kn' arranged in rows along a first side of the rectangle on the surface of the capacitor array. The capacitor array has another contact KG' arranged in rows along a second side of the rectangle on the top of the capacitor array. The second side of the rectangle is opposite the first side of the rectangle. The extension of the another contact KG' along the third and fourth sides is shorter than the extension of the third edge of the rectangle of the nearest contact among the n contacts K1' to Kn' along the third edge of the rectangle. The extension of the another contact KG' along the third and fourth sides is shorter than the extension of the fourth edge of the rectangle of the nearest contact among the n contacts K1' to Kn' along the fourth edge of the rectangle. The capacitor array has a back contact KR covering the bottom of the capacitor array. Each of the n contacts K1' to Kn' forms a capacitance C1 to Cn with the back contact KR, the another contact KG' forms another capacitance CVDD with the back contact KR, and the capacitors C1 to Cn and CVDD preferably have a common dielectric that extends between the n contacts K1' to Kn', the another contact KG', and the back contact KR.

[0094] In a mobile device, the proposed device can be used as a lidar device or as part of such a lidar device. In this case, for example, the mobile device mentioned can in particular be a robot, a missile, a space vehicle, a hull, a ship, a vehicle, a railway vehicle, an aircraft, or a spacecraft.

[0095] In automation technology, the proposed device can be used as a lidar device or as part of such a lidar device. For example, they can be used in a device for detecting the shape of an object or a building, or in a device for an automated process, or in a device for three-dimensional detection of the shape of a three-dimensional object. The proposed device can also be used in a medical device or other devices for biological measurement of organs. However, the presented device can also be used in a general way as a 3D scanner.

[0096] Thus, the proposal is initially related to a laser sub-module. The laser sub-module preferably includes a linear laser array of n lasers D1 to Dn, n capacitors C1 to Cn, a control switch T dis , n charging circuits B1 to Bn, and a control circuit CTR.

[0097] Here, n should be a positive integer greater than 2. Each of the n capacitors C1 to Cn has a first terminal and a second terminal. Each of the n charging circuits B1 to Bn can selectively charge one of the n capacitors C1 to Cn. The following sections refer to this capacitor as the "associated capacitor" with the charging circuit. The control circuit CTR controls the charging circuits B1 to Bn. Thus, the interconnection preferably associates each of the n capacitors C1 to Cn with exactly one of the n lasers D1 to Dn as the "associated laser" with the capacitor. The control circuit CTR controls the control switch T dis for this purpose. In response to a signal from the control circuit CTR, the control switch T dis causes the charged capacitor among the n capacitors C1 to Cn to discharge via the laser associated with the capacitor. After the control switch T dis is closed by the control circuit CTR, the associated capacitor thus supplies the electrical energy previously stored in the coupled capacitor by the charging circuit associated with the capacitor to the laser. Only if the charging circuit associated with the capacitor previously charged the capacitor associated with the laser, the laser associated with the capacitor emits a laser pulse, and when emitting the laser pulse, the control switch T dis connects the laser to the reference potential and thus connects the capacitor to the reference potential via the laser, so that the discharge current of the associated capacitor can flow through the associated laser. The technical teaching of this specification now proposes that the laser sub-module has at least one photodetector PD1, in particular n photodetectors PD1 to PDn. The laser associated with the capacitor to be discharged is preferably directly optically coupled to at least one photodetector via the optical paths oP1 to oPn. Thus, preferably there is no scatterer or the like that deflects the beam path significantly in the beam path. The at least one photodetector now generates a received signal with a time-dependent value curve based on, for example, the time-dependent amplitude pattern generated by the laser pulse of the laser optically coupled to the photodetector via the optical path. The control circuit CTR determines the parameters of the time-dependent value curve of the received signal based on the time-dependent value curve of the received signal of the photodetector associated with the laser. The technical teaching of this specification proposes that the control circuit CTR controls the generation of the optical pulse of the laser associated with the capacitor based on this parameter, and preferably subsequently monitors the generation of the optical pulse by means of the associated photodetector and the associated received signal.

[0098] The parameter is preferably the value of the actual time delay between the arrival of the time characteristic of the trigger signal TRIG, which is the start signal for causing the associated laser to emit a laser pulse, at the control circuit CTR and the appearance of the time characteristic of the actual emission of the laser pulse in the time-dependent value curve of the received signal.

[0099] The technical teachings presented herein define the term delay time. The delay time starts with the arrival of the trigger signal TRIG, which is the start signal for causing the associated laser to emit a laser pulse, at the control circuit CTR as the start time. After the specified and / or calculated and / or adjustable and / or programmable delay time has elapsed, the control circuit CTR preferably causes the control switch T dis to connect the associated laser to the reference potential.

[0100] The control circuit CTR preferably adjusts the delay time according to a parameter.

[0101] Here, the control circuit CTR preferably adjusts the delay time to a nominal value, which is also referred to as the term delay target value in this specification.

[0102] The control circuit CTR preferably adjusts the delay time such that the time point at which the time characteristic of the actual emission of the laser pulse appears in the time-dependent value curve of the received signal is synchronized with an optionally fixed time offset with respect to the time characteristic in the time-dependent value curve of the synchronization signal. The time characteristic of the actual emission of the laser pulse in the time-dependent value curve of the received signal can be, for example, the rising edge or the falling edge in the time-dependent value curve of the received signal. The time characteristic of the actual emission of the laser pulse in the time-dependent value curve of the received signal can be, for example, the time point when the time-dependent value curve of the received signal exceeds a threshold. The time characteristic of the actual emission of the laser pulse in the time-dependent value curve of the received signal can be, for example, the time point when the maximum value appears in the time-dependent value curve of the received signal.

[0103] In another embodiment, the parameter can be a value that depends on the influence of the time-dependent amplitude pattern of the laser pulse on the time-dependent value curve of the received signal. This can be, for example, a threshold value that must be exceeded or not reached in the time-dependent value curve of the received signal.

[0104] At a time point before the control switch T dis closes, the control circuit CTR causes the charging circuit belonging to the laser to charge the capacitor belonging to the laser with a charging current. The control circuit CTR can preferably control the amount of energy that the charging circuit can use to charge the capacitor.

[0105] The control circuit CTR preferably adjusts the amount of energy that the charging circuit can use to charge the capacitor according to a parameter.

[0106] The technical teachings presented herein also describe a laser sub-module in which a suitable capacitor is charged in a charge time-controlled manner with an expected amount of energy.

[0107] When quantifying the amount of energy, the control circuit CTR preferably causes the charging circuit to charge the capacitor to the capacitor voltage with a charging current having a charging current value during the duration of the charging time. The duration of this charging time is typically limited by a charging time default value. The control circuit CTR adjusts the amount of energy used by the charging circuit to charge the capacitor during the charging time according to a parameter. Since when the amount of energy is time-controlled, the control circuit CTR changes the charging time default value according to the parameters of the subsequent charging of the capacitor after the laser emits a laser pulse, in order to prepare for the next laser pulse emission of the laser according to the parameter.

[0108] Preferably, when the amount of energy is time-controlled, the control circuit CTR adjusts the charging time default value such that the value of the parameter of the value curve of the received signal over time, which value depends on the amplitude of the laser pulse emitted by the laser, corresponds to a preferably adjustable or programmable parameter default value as the nominal value.

[0109] When the amount of energy is time-controlled, the control circuit CTR or another sub-device of the laser sub-module preferably compares the charging time default value with an expected value range of the charging time default value, and this expected value range may also optionally be given by a single threshold of the value of the charging time default value.

[0110] When the amount of energy is time-controlled, if the value of the charging time default value is outside the expected value range of the value of the charging time default value, the control circuit CTR generally signals an error or generates information about the error and / or stores this information.

[0111] The technical teaching presented here also describes a laser sub-module in which a capacitor is charged in a capacitor voltage-controlled manner with an expected amount of energy. The control circuit CTR causes the charging circuit to charge the capacitor to the capacitor voltage with a charging current having a charging current value during the duration of the charging time. The control circuit CTR detects the capacitor voltage during the duration of the charging time of the capacitor. When the value of the capacitor voltage reaches or exceeds the value of the capacitor target voltage, the control circuit CTR causes the charging circuit to stop charging the capacitor with the charging current. The control circuit CTR adjusts, according to a parameter, for example, the amount of energy used by the charging circuit to charge the capacitor during the duration of the charging time, such that the control circuit CTR changes the value of the capacitor target voltage according to the parameters of the subsequent charging of the capacitor after the laser emits a laser pulse, in order to prepare for the next laser pulse emission of the laser according to the parameter.

[0112] The control circuit CTR preferably adjusts the value of the capacitor target voltage such that the value of the parameter of the value curve of the received signal over time, which value depends on the amplitude of the laser pulse emitted by the laser, corresponds to a preferably adjustable or programmable parameter default value as the nominal value.

[0113] Another sub-device of the control circuit CTR or the laser sub-module compares the value of the capacitor target value with the expected value range of the capacitor target voltage. The expected value range of the capacitor target voltage may also optionally be given by a single threshold value of the value of the capacitor target voltage. In which case, the expected value range extends, for example, from the value 0V of the charging voltage to the value of the threshold, or from the value of the threshold to the value infinity. If the value of the capacitor target voltage is outside the expected value range of the capacitor target voltage value, the control circuit CTR preferably signals an error or generates and / or stores information about the error.

[0114] The control circuit CTR preferably causes the charging circuit to charge the capacitor to the capacitor voltage with a charging current having a charging current value during the duration of the charging time. The control circuit CTR preferably adjusts the amount of energy used by the charging circuit to charge the capacitor during the duration of the charging time according to a parameter, such that the control circuit CTR changes the charging current value after the laser emits a laser pulse according to the parameter for the next subsequent charging of the capacitor, in order to prepare for the next laser pulse emission of the laser according to the parameter.

[0115] The control circuit CTR preferably adjusts the charging current value such that the value of the parameter of the value curve of the received signal over time, which value depends on the amplitude of the laser pulse emitted by the laser, corresponds to a preferably adjustable or programmable parameter default value as the nominal value.

[0116] The control circuit CTR or another sub-device of the laser sub-module preferably compares the charging current value with the expected value range of the charging current value, which expected value range may also optionally be provided by a single threshold value of the value of the charging current value. If the charging current value is outside the expected value range of the charging current value, the control circuit CTR typically signals an error or generates and / or stores information about the error.

[0117] The technical teachings presented here also describe the laser sub-module as described above, wherein the control circuit CRT or another sub-device compares the value of the parameter of the value curve of the received signal over time with the expected value range, which expected value range may also optionally be given by a single threshold value of the parameter. If the value of the parameter of the value curve of the received signal over time is outside the expected value range of the value of the parameter of the value curve of the received signal over time, the control circuit CRT signals an error or generates and / or stores information about the error.

[0118] The technical teachings presented herein also describe a laser module, wherein the laser module has a plurality of laser sub-modules as described above. In this case, as described above, the laser module has at least one first laser sub-module as such a laser sub-module. In this case, the laser module has at least one second laser sub-module as such a laser sub-module, as described above. The control circuits CTR of the first laser sub-module and the second laser sub-module adjust the amplitude of the light pulses of the lasers of their respective laser sub-modules to substantially the same peak amplitude value and / or to substantially the same value of the time integral of the amplitude pattern of the laser pulses of the lasers of their respective sub-modules. Here, the term "same" means that the peak amplitude value and / or the value of the time integral of the amplitude pattern of the laser pulses of the laser of the first laser sub-module differs from the peak amplitude value and / or the value of the time integral of the amplitude pattern of the laser pulses of the laser of the second laser sub-module by no more than 10% and / or no more than 5% and / or no more than 2%.

[0119] The technical teachings presented herein also describe a laser module, wherein the laser module has a plurality of laser sub-modules as described above. In this case, as described above, the laser module has at least one first laser sub-module as such a laser sub-module. In this case, as described above, the laser module has at least one second laser sub-module as such a laser sub-module. The laser module preferably has a synchronization signal Sync and a trigger signal TRIG. The synchronization signal Sync and the trigger signal TRIG are preferably in a fixed time-phase relationship. The synchronization signal Sync is preferably delayed by a fixed phase shift time with respect to the trigger signal TRIG. The synchronization signal Sync and the trigger signal TRIG are generated by a special sub-device of the laser module or by one of the laser sub-modules. In the latter case, for preferably all laser sub-modules of the entire laser module, the control circuit CTR of the relevant laser sub-module preferably generates the synchronization signal Sync and the trigger signal TRIG. Hereinafter, the article refers to the laser sub-module that generates the synchronization signal Sync and the trigger signal TRIG as the master laser sub-module, and refers to the other laser sub-modules of the laser module as slave laser sub-modules. Thus, the proposal presented here discloses a laser module having a master laser sub-module and at least one slave laser sub-module, wherein the master laser sub-module generates the synchronization signal Sync and the trigger signal TRIG for the slave laser sub-modules of the laser module. Thus, the first laser sub-module is connected to the synchronization signal Sync and the trigger signal TRIG. The second laser sub-module is connected to the synchronization signal Sync and the trigger signal TRIG. The control circuit CTR of the first laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal TRIG and the emission of a laser pulse by the laser of the first laser sub-module, such that the time feature in the amplitude pattern of the laser pulse of the laser of the first laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal Sync. The control circuit CTR of the second laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal TRIG and the emission of a laser pulse by the laser of the second laser sub-module, such that the time feature in the amplitude pattern of the laser pulse of the laser of the second laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal Sync. Thus, the lasers of the two laser modules always emit in synchronization with the synchronization signal Sync, such that it is not possible to forge the measured value of the light travel time based on the laser pulses of different lasers from different laser sub-modules.

[0120] The technical teachings presented herein also describe a laser sub-module or a laser module, wherein the laser module includes at least one laser sub-module, where m = 1, and / or at least two laser sub-modules, where m = 2, and / or m laser sub-modules. In the following sections, they are simply referred to as laser modules. The laser module includes m*n lasers D1 to Dn and at least one photodetector PD1 to PDn. The laser module includes at least one control circuit CTR. The m*n lasers can each emit laser pulses. At least one of the m*n lasers D1 to Dn is preferably coupled to at least one of the photodetectors PD1 to PDn via optical paths oP1 to oPn. At least one of the photodetectors PD1 to PDn preferably generates received signals es1 to esn that exactly belong to the photodetector, where the received signal has a value curve over time of the received signal. The value curve over time of at least one of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn depends on the amplitude pattern over time of the laser pulses emitted by at least one of the m*n lasers D1 to Dn. The laser module preferably has components PD1 to PDn, es1 to esn for verifying the fact that light pulses are emitted by at least one laser using the value curve of at least one of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn. If the laser pulses that at least one of the m*n lasers D1 to Dn should emit do not cause a value curve over time of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn, and the value curve over time has a parameter value of the value curve over time of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn within a predetermined parameter value range, then the laser module generates an error message or error signal or stores it for retrieval by means of the control circuit CTR.

[0121] The technical teachings presented herein also describe a laser module, wherein the laser module includes at least two laser sub-modules, where m = 2, and / or m laser sub-modules, where m > 0. Each of the m laser sub-modules preferably has n j lasers D1 to Dn j , where 1 ≤ j ≤ m. The number n of lasers in a laser sub-module j can be different between the laser sub-modules. The laser module preferably has at least one photodetector per laser sub-module and / or multiple photodetectors PD1 to PDn j . Each laser sub-module preferably includes at least one control circuit CTR of the associated laser sub-module. The n jEach of the lasers can typically emit laser pulses. For each of the m laser sub-modules, hereinafter referred to as "the laser module", preferably n j of the lasers D1 to Dn j at least one of the lasers is coupled via the optical paths oP1 to oPn of the laser sub-module j to at least one of the photodetectors PD1 to PDn of the laser sub-module j The at least one photodetector of the laser sub-module PD1 to PDn preferably generates the received signals es1 to esn that exactly belong to the photodetector of the laser sub-module, where the received signal has the value curve of the received signal of the laser sub-module over time. The value curve over time of at least one of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn of the laser sub-module typically depends on the amplitude value curve over time of the laser pulses emitted by at least one of the n j lasers D1 to Dn of the laser sub-module. The laser sub-module preferably has components PD1 to PDn, es1 to esn for verifying the fact that light pulses are emitted by at least one of the lasers of the laser sub-module using the value curve over time of at least one of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn of the laser sub-module. If the laser pulses that at least one of the n j lasers D1 to Dn j should emit do not cause the value curve over time of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn of the laser sub-module, and the value curve over time has the value of the parameter of the value curve of the received signals es1 to esn of at least one of the photodetectors PD1 to PDn of the laser sub-module within a predetermined parameter value range, then the laser sub-module generates an error message or error signal or stores it for retrieval by means of the control circuit CTR of the laser sub-module.

[0122] The technical teachings presented herein also describe a laser module, where the laser module includes at least one laser sub-module, where m = 1, and / or two laser sub-modules, where m = 2, and / or m laser sub-modules, where m > 0. Each of the m laser sub-modules preferably has n j lasers D1 to Dn j , where 1 ≤ j ≤ m. Here, the total positive number n j of the lasers of the laser sub-module can vary between the laser sub-modules. The laser module preferably includes at least n j photodetectors PD1 to PDn per laser sub-module j. Each laser sub-module preferably includes at least one control circuit CTR of the relevant laser sub-module. Each of the n lasers in each of the m laser sub-modules preferably can emit laser pulses. Each of the m laser sub-modules is hereinafter referred to as "the laser module". Preferably, at least each of the n lasers D1 to Dn in the laser sub-module is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module via exactly one main optical path among the at least n optical paths oP1 to oPn in the laser sub-module with the strongest coupling. Each of the n photodetectors PD1 to PDn in the laser sub-module generates exactly one received signal among the n received signals es1 to esn of the laser sub-module, and the received signal exactly belongs to the photodetector among the n photodetectors PD1 to PDn of the corresponding laser sub-module, where the corresponding received signal among the n received signals es1 to esn of the corresponding laser sub-module has a corresponding value curve over time. The value curve over time of the corresponding received signal of each of the n photodetectors PD1 to PDn in the laser sub-module typically depends on the amplitude value curve over time of the laser pulses emitted by the laser among the n lasers D1 to Dn in the laser sub-module, and the laser is coupled to exactly the photodetector among the n photodetectors PD1 to PDn in the laser sub-module via exactly one main optical path among the n optical paths oP1 to oPn in the laser sub-module with the strongest coupling. The laser sub-module typically has components PD1 to PDn, es1 to esn for verifying the following events: for each of the n lasers D1 to Dn, exactly the laser among the n lasers D1 to Dn in the laser sub-module uses the n lasers D1 to Dn in the laser sub-module j in the laser sub-module. Each of the n lasers preferably can emit laser pulses. Each of the m laser sub-modules is hereinafter referred to as "the laser module". Preferably, at least each of the n lasers D1 to Dn in the laser sub-module is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module via exactly one main optical path among the at least n optical paths oP1 to oPn in the laser sub-module with the strongest coupling. j The n lasers D1 to Dn j in the laser sub-module, and at least each of them is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module via exactly one main optical path among the at least n optical paths oP1 to oPn in the laser sub-module with the strongest coupling. j The at least n optical paths oP1 to oPn j in the laser sub-module, and exactly one main optical path among them is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module with the strongest coupling. j The n photodetectors PD1 to PDn j in the laser sub-module, and exactly one of them is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module with the strongest coupling. j The n photodetectors PD1 to PDn j in the laser sub-module, and each of them generates exactly one received signal among the n received signals es1 to esn of the laser sub-module, and the received signal exactly belongs to the photodetector among the n photodetectors PD1 to PDn of the corresponding laser sub-module. j The n received signals es1 to esn j in the laser sub-module, and exactly one of them is the received signal that exactly belongs to the photodetector among the n photodetectors PD1 to PDn of the corresponding laser sub-module. j The n photodetectors PD1 to PDn j in the laser sub-module, and the corresponding received signal among the n received signals es1 to esn of the corresponding laser sub-module has a corresponding value curve over time. j The n received signals es1 to esn j in the laser sub-module, and the value curve over time of the corresponding received signal of each of the n photodetectors PD1 to PDn in the laser sub-module typically depends on the amplitude value curve over time of the laser pulses emitted by the laser among the n lasers D1 to Dn in the laser sub-module. j The n photodetectors PD1 to PDn j in the laser sub-module, and the corresponding received signal of each of them among the n received signals es1 to esn j has a value curve over time that typically depends on the amplitude value curve over time of the laser pulses emitted by the laser among the n lasers D1 to Dn in the laser sub-module. j The laser among the n lasers D1 to Dn in the laser sub-module emits laser pulses, and the laser is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module via exactly one main optical path among the n optical paths oP1 to oPn in the laser sub-module with the strongest coupling. j The n optical paths oP1 to oPn j in the laser sub-module, and exactly one main optical path among them is coupled to exactly one of the n photodetectors PD1 to PDn in the laser sub-module with the strongest coupling. j The n photodetectors PD1 to PDn j in the laser sub-module, and exactly the photodetector among them is coupled to the laser with the strongest coupling. j The components PD1 to PDn, es1 to esn in the laser sub-module typically verify the following events: j For each of the n lasers D1 to Dn j The n lasers D1 to Dn j in the laser sub-module, and exactly the laser among them uses the n lasers D1 to Dn in the laser sub-module j The n lasers D1 to Dn j in the laser sub-module, and exactly the laser among them uses the n lasers D1 to Dn in the laser sub-module jThe photodetectors PD1 to PDn j The n of the photodetectors that are most strongly coupled to the laser j The received signals es1 to esn j Emits light pulses according to the time-dependent value curves of the received signals coupled to the laser, via the n j Optical paths oP1 to oPn j Exactly one main optical path of which is most strongly coupled to the n of the laser submodule j Lasers D1 to Dn j Exactly that laser. If the light pulses that the lasers D1 to Dn j Of the laser submodule should emit do not cause the n j Of the photodetectors PD1 to PDn j Of the laser submodule j At least one of the n j Received signals es1 to esn j Of the time-dependent value curves of the received signals coupled to the laser, and the time-dependent value curves have parameters outside the pre-determined and optionally laser-specific parameter value ranges belonging to the n j Photodetectors PD1 to PDn j Of the photodetectors j Received signals es1 to esn j Of the time-dependent value curves of the received signals coupled to the laser, then the laser submodule generates an error message or error signal or stores it for retrieval by means of the control circuit CTR of the laser submodule.

[0123] Advantages

[0124] The proposed laser module enables the generation of synchronized and substantially equally dense short light pulses and error monitoring of the light pulse emission of the lasers for the proposed lidar system, which does not require any moving parts. The advantages are not limited to this. Description of the Drawings

[0125] Figure 1 Shows an exemplary circuit of the proposed lidar system.

[0126] Figure 2 Shows Figure 1 The proposed structure of the laser module of the lidar system.

[0127] Figure 3 Shows Figure 2 The arrangement of several modules.

[0128] Figure 4 A plan view showing the structure of the proposed driver IC.

[0129] Figure 5 An array of laser modules on the driver IC level is shown.

[0130] Figure 6 Shows Figure 5 the alignment of the laser modules along a curve.

[0131] Figure 7 and Figure 8 Shows Figure 1 the proposed structure of the radar module of the lidar system and corresponds to the figure in which the optical path has been drawn. Detailed Description

[0132] Figure 1 An exemplary interconnection for the proposed laser sub-module is shown. The control circuit CTR causes the charging circuit among the n charging circuits B1 to Bn to charge one of the n capacitors C1 to Cn with a corresponding charging current via the charging line associated with the charging circuit among the n charging lines K1 to Kn. It is conceivable that multiple charging circuits among the n charging circuits B1 to Bn each charge one of the n capacitors C1 to Cn with a corresponding charging current via one of the n charging lines K1 to Kn associated with the corresponding charging circuit. The corresponding charging current associated with one of the capacitors is preferably a constant charging current during the duration of the corresponding charging process of the corresponding capacitor among the n capacitors C1 to Cn.

[0133] Figure 1 The circuit of includes n photodetectors PD1 to PDn. Each of the photodetectors PD1 to PDn is associated with exactly one of the n lasers D1 to Dn. It is particularly conceivable that fewer photodetectors are provided for each laser sub-module. In the extreme case, the laser sub-module may also have only one photodetector. In an even more extreme case, the entire laser module may have only one photodetector. Then, for example, the actual values for adjusting the lasers can be determined by time-division multiplexing instead of space-division multiplexing. Here, for simplicity, the maximum space-division multiplexing will be proposed, where each of the n lasers D1 to Dn in the laser sub-module is associated with only one of the n photodetectors PD1 to PDn.

[0134] When the lasers among the n lasers D1 to Dn generate laser pulses, a substantially fixed portion of the light of the laser pulses is transmitted via the optical path belonging to the laser among the n optical paths oP1 to oPn to the associated photodetector among the n photodetectors PD1 to PDn of the exemplary laser sub-module.

[0135] Among the n photodetectors PD1 to PDn, the photodetector associated with the laser among the n lasers D1 to Dn detects that part of the light of the laser pulse of the associated laser, and converts it into a curve of the value over time of the received signal associated with the photodetector associated with the laser. Therefore, the received signal is exactly one of the n received signals es1 to esn of the n photodetectors PD1 to PDn. Therefore, in this case of full spatial division multiplexing, each of the n lasers D1 to Dn is associated with exactly one of the n received signals es1 to esn.

[0136] As described above, the time point when the laser of the laser sub-module emits a laser pulse can also depend on the start signal and the delay time detected by the photodetectors PD1 to PDn between the start signal and the laser pulse of the laser associated with the photodetector. Particularly advantageous is the detection of the delay time between, for example, the leading edge of the trigger signal TRIG as the start signal and the corresponding edge in the time series of the received signal belonging to it. In order to also adjust the time point when the laser of the laser sub-module emits a laser pulse according to the delay time detected by the photodetector between the start signal and the laser pulse detected by the photodetector associated with the laser, the control circuit detects the marked time point in the value curve of the start signal and the marked start point in the time value curve of the associated received signal, and determines the value of the detected delay time according to the value of the time difference.

[0137] First, the control circuit CTR can now adjust the time point when the laser of the laser sub-module emits a laser pulse such that, after adjustment, the marked start point in the curve of the value over time of the associated received signal is synchronized with the target time point at a predefined target time interval relative to the marked time point in the curve of the value of the start signal.

[0138] Second, the control circuit CTR can now adjust the time point when the laser of the laser sub-module emits a laser pulse such that, after adjustment, the marked start point in the curve of the value over time of the associated received signal is synchronized with the target time point, which is the marked time point in the curve of the value of the synchronization signal Sync. This can be, for example, an edge (Flanke) in the synchronization signal Sync.

[0139] For the control of the delay time of the time point when the laser of the laser sub-module emits a laser pulse, the control circuit CTR evaluates the value curve over time of the received signal associated with the laser among the n received signals es1 to esn in response to the emission of the laser pulse of the laser. In the case of full time division multiplexing, the received signal among the n received signals es1 to esn is exactly associated with the laser. The control circuit CTR can detect the value of the parameter of the value curve over time of the received signal, and this value depends on the delay of the laser pulse emitted by the laser relative to the start signal (for example, the trigger signal TRIG). In this case of delay time control and full space division multiplexing, the control circuit CTR determines a new delay time for the delay of the pulse pre-signal PL before the laser emits the next laser pulse next time. After the capacitor associated with the laser has been charged and is ready to emit the next laser pulse by the laser, when setting the delay of the pulse pre-signal PL relative to the start signal (that is, for example, the trigger signal TRIG), the control circuit CTR uses this delay time as a basis. The control circuit CTR preferably adjusts the delay time by filtering, and this filtering preferably has an integral characteristic, such that in a first approximation, the adjustment basically corresponds to a PI regulator.

[0140] Thus, in this case of full space division multiplexing, each of the n capacitors C1 to Cn is also associated with exactly one of the n received signals es1 to esn. Thus, in this case of full space division multiplexing, each of the n charging circuits B1 to Bn is also associated with exactly one of the n received signals es1 to esn.

[0141] In the case of time control of the charging process of the capacitor, the control circuit CTR causes the respective charging circuits among the n charging circuits B1 to Bn to charge the associated capacitor among the n capacitors K1 to Kn with a charging current according to the charging current value for a duration of the charging time corresponding to the default value of the charging time of the associated capacitor of the laser. The control circuit CTR evaluates the time-dependent value curves of the received signals among the n received signals es1 to esn in response to the emission of a laser pulse of the laser. In this case, in the case of full time-division multiplexing, the received signals among the n received signals es1 to esn are exactly associated with the laser. The control circuit CTR can detect the value of a parameter of the time-dependent value curve of the received signal, which value depends on the amplitude of the laser pulse emitted by the laser. In this case of time control and full space-division multiplexing, the control circuit CTR determines a new default value of the charging time for the emission of the next laser pulse by the laser. When controlling the charging of the associated capacitor associated with the laser by the associated charging circuit, the control circuit CTR uses this default value of the charging time as a basis to set the charging time to prepare for the emission of the next laser pulse by the laser. The control circuit CTR preferably adjusts the default value of the charging time by filtering, which filtering preferably has an integrating characteristic such that, in a first approximation, the adjustment corresponds substantially to a PI controller. The control circuit CTR preferably adjusts the default value of the charging time such that the value of the parameter of the time-dependent value curve of the received signal (which value depends on the amplitude of the laser pulse emitted by the laser) corresponds to a preferably adjustable or programmable default value of the parameter as a nominal value.

[0142] As described above, the capacitor associated with the laser of the laser sub-module can also be charged according to the capacitor voltage of the capacitor among the n capacitors C1 to Cn.

[0143] In the case of capacitor voltage control during the charging process of a capacitor, a control circuit CTR causes a relevant charging circuit among n charging circuits B1 to Bn to charge an associated capacitor among n capacitors K1 to Kn with a charging current corresponding to a charging current value until a capacitor target voltage of the relevant capacitor of the laser is reached. The control circuit CTR evaluates the time-dependent value curve of the received signal among n received signals es1 to esn in response to the emission of a laser pulse of the laser. In the case of full time-division multiplexing, the received signal among n received signals es1 to esn is exactly associated with the laser. The control circuit CTR can again detect the value of a parameter of the time-dependent value curve of the received signal, which value depends on the amplitude of the laser pulse emitted by the laser. In this case of capacitor voltage control and full space-division multiplexing, the control circuit CTR determines a new capacitor target voltage for charging the capacitor before the laser emits the next laser pulse. When controlling the charging of the relevant capacitor of the laser by the relevant charging circuit, the control circuit CTR uses the capacitor target voltage as a basis to set the capacitor voltage after charging has occurred and to prepare for the emission of the next laser pulse by the laser. The control circuit CTR preferably adjusts the target capacitor voltage by filtering, which filtering preferably has an integrating characteristic such that, in a first approximation, the adjustment corresponds substantially to a PI regulator. The control circuit CTR preferably adjusts the capacitor target voltage such that the value of a parameter of the time-dependent value curve of the received signal (which value depends on the amplitude of the laser pulse emitted by the laser) corresponds to a preferably adjustable or programmable parameter default value as a nominal value.

[0144] As described above, it is also possible to charge a capacitor associated with a laser of a laser sub-module by controlling the charging current value of the charging circuit among n charging circuits B1 to Bn that charges the capacitor among n capacitors C1 to Cn of the laser among n lasers D1 to Dn.

[0145] In the case of controlling the charging current during the charging process of the capacitor, the control circuit CTR causes the relevant charging circuit among the n charging circuits B1 to Bn to charge the associated capacitor among the n capacitors K1 to Kn with a charging current according to the charging current value for a duration of the charging time corresponding to the default value of the charging time of the relevant capacitor of the laser. The control circuit CTR evaluates the time-dependent value curve of the received signal among the n received signals es1 to esn in response to the laser pulse emission of the laser. In the case of full time division multiplexing, the received signals among the n received signals es1 to esn are exactly associated with the laser. The control circuit CTR can detect the value of the parameter of the time-dependent value curve of the received signal, and this value depends on the amplitude of the laser pulse emitted by the laser. In this case of charging current control and full space division multiplexing, the control circuit CTR determines the charging current value for charging the capacitor before the laser emits the next laser pulse. When controlling the charging of the relevant capacitor of the laser by the relevant charging circuit, the control circuit CTR uses this charging current value as a basis to set the capacitor voltage after charging has occurred and to prepare for the emission of the next laser pulse by the laser. The controller CTR preferably adjusts the charging current value by filtering, and this filtering preferably has an integral characteristic such that, in a first approximation, the adjustment substantially corresponds to a PI controller. The control circuit CTR preferably adjusts the charging current value such that the value of the parameter of the time-dependent value curve of the received signal (which value depends on the amplitude of the laser pulse emitted by the laser) corresponds to a preferably adjustable or programmable parameter default value as a nominal value.

[0146] Each of the n charging lines K1 to Kn typically has an associated resistor among the n resistors RZ1 to RZn and an inductor among the n inductors LZ1 to LZn. Each of the charging lines K1 to Kn is preferably connected to the first terminal of exactly one capacitor among the n capacitors C1 to Cn. The second terminal of each capacitor among the n capacitors C1 to Cn is connected to the reference potential GND via a line. Each line between the second terminal of the capacitor among the n capacitors C1 to Cn and the reference potential includes an associated resistor among the n resistors RC1 to RCn and an inductor among the n inductors LC1 to LCn. The anode of preferably exactly one laser among the n lasers D1 to Dn is preferably connected to the first contact of preferably exactly one capacitor among the n capacitors C1 to Cn via preferably exactly one of the n discharge lines K1' to Kn'. The cathodes of the n lasers D1 to Dn are interconnected to form a common first star point DISC. When the pulse signal G dis arrives, the common star point is connected to the reference potential GND through the control switch T dis which is connected to the second contact of the n capacitors C1 to Cn.

[0147] The exemplary driver Buf generates a pulse signal G based on a pulse pre-signal PL dis . When the charging process of the capacitor to be charged by the associated charging circuit has been completed and the charging circuit switches to neutral, the control circuit CTR preferably generates the pulse pre-signal PL.

[0148] The backup capacitor CVDD is preferably part of a capacitor array of n capacitors C1 to Cn. The backup capacitor CVDD stabilizes the supply voltage VDD or another system-related voltage. It is used to prevent crosstalk of current surges when starting the laser.

[0149] The first contact of the backup capacitor CVDD is connected to the supply voltage VDD or a line with a similar function to be stabilized via a line inductance LZV in the feed line to the backup capacitor CVDD and via a line resistance RZV in the feed line to the backup capacitor CVDD.

[0150] The second contact of the backup capacitor CVDD is connected to the reference potential GND via a line resistance RCV and a line inductance LCV.

[0151] Figure 2 Shows Figure 1 The proposed structure of the laser sub-module of the laser module of the lidar system. The driver IC is the basis of the sub-module. The driver IC is preferably a monolithic integrated circuit. It preferably includes Figure 1 The control circuit CTR and all other CMOS micro-integrated circuit components. These components would be, for example but not limited to, the control circuit CTR, the driver Buf, the control switch T dis, and n charging circuits B1 to Bn and photodetectors PD1 to PD4. In addition, the control circuit CTR may include, for example, a microcomputer having a memory, an interface, and a CPU. These components together form the control circuit. The control circuit may include other functional components. The functional component may be, for example, an analog-to-digital converter and an analog multiplexer for detecting the capacitor voltage, which may interact with the microcomputer. In addition, the functional component may be a comparator, for example, for detecting whether an analog threshold is exceeded or not reached. The functional component may be a digital-to-analog converter and an analog hold circuit for an analog reference value that supports such threshold specification in analog form. The functional component may be a timer. The functional component may be a filter that generates or extracts a pulse start signal based on the time-dependent value curves of the received signals es1 to esn. The functional component may be an amplitude estimation filter that determines the value of the corresponding amplitude of the corresponding laser pulse depending on the corresponding laser and makes it available to the microcomputer. The functional component may be a delay estimation filter that determines the value of the corresponding delay of the corresponding laser pulse with respect to the start signal, for example, the trigger signal TRIG, depending on the corresponding laser and makes it available to the microcomputer. The functional component may be a delay element that can be set by the microcontroller and delays the pulse pre-signal PL according to a specifiable value of the delay time. For example, the microcomputer may set the delay time. In the case of maximum spatial division multiplexing, before the next laser pulse is emitted by the laser associated with the received signal, the microcomputer may, for example, set the value of the delay time according to the time-dependent value curves of the received signals in the n received signals es1 to esn of the laser sub-module. If only one photodetector is provided, the microcomputer may, for example, determine the delay time to be set in time division multiplexing by measuring the n delay times of the laser pulse emissions of each individual laser in the n lasers, or alternatively, determine fewer than n delay times to be set for a laser group. Here, the laser group may also include all n lasers D1 to Dn.

[0152] In Figure 2 the example of Figure 2 , for example, n = 4 lasers D1 to D4 are used. These lasers are fabricated on a common crystal and form a linear laser array. The bottom of the crystal forms a common cathode, which is electrically connected to a control switch as the first star point DISC. The control switch is fabricated in the crystal of the driver IC of the Figure 2 laser sub-module and is located on its active surface. This flip-chip assembly enables the implementation of this connection with only low parasitic inductance and resistance values, which increases the edge slope of the corresponding laser pulse. Thus, in Figure 2In the example, the second contacts of the four capacitors C1 to C4 are connected to each other via a shared contact. The first contact of each of the capacitors C1 to C4 is connected to the associated one of the four lasers D1 to D4 via the corresponding one of the four discharge lines K1' to K4'. The discharge lines K1' to K4' are particularly short due to the chosen arrangement. The multiple junctions of the discharge lines K1' to K4' result in a further reduction of the parasitic inductance and thus in a further increase of the edge slope. Similarly, the short bonding wire of the connection between the second star point and the reference potential GND together with the multiple junctions also reduces the parasitic inductance in this connection. This also increases the edge slope of the emitted light pulses.

[0153] The relatively long bonding wires of the charging lines K1 to Kn are more likely to be beneficial for the slope.

[0154] The backup capacitor CVDD is part of the capacitor array. The backup capacitor CVDD is connected to the reference potential GND at the lower side with a second terminal with a very low line resistance RCV and a very low line inductance LCV. The first terminal of the backup capacitor CVDD is connected to the virtual node KG' of the supply voltage VDD. The virtual node KG' of the supply voltage VDD is connected to the supply voltage VDD with a very short bonding wire. Thus, the virtual node KG' of the supply voltage VDD is connected to the supply voltage VDD with a very low line resistance RZV and a very low line inductance LZV.

[0155] In Figure 2 the example, four photodetectors PD1 to PD4 are drawn by way of example, which detect the scattered light of the four lasers D1 to D4 and convert it into received signals es1 to es4. Each of the photodetectors is associated with the nearest one of the lasers D1 to D4. The photodetectors PD1 to PD4 can be, for example, PN diodes or the like.

[0156] Figure 3 Shows an arrangement of an exemplary laser module with a plurality of Figure 2 laser sub-modules. The control logic and the control are preferably designed such that only one laser of the laser module always generates light pulses.

[0157] Figure 4 Shows a plan view of the structure of a single proposed driver IC of the laser sub-module. The structure is greatly simplified and limited to the basic information for reworking.

[0158] As elsewhere in this specification, for the sake of clarity, the number n of lasers D1 to Dn of the module is limited to n = 4. Exemplary four photodetectors PD1 to PDn are depicted. The principles of this specification can be correspondingly applied to different numbers n of lasers. Here, even though n = 4 is illustrated, n is still used instead of 4. In this specification, n should always be a positive integer.

[0159] At the top, by way of example, four contact areas for the back contacts of the exemplary four lasers D1 to Dn of the laser module are subsequently to be placed on this top. Each of the four contact surfaces is connected to the first star point DISC. Instead of four separate contact areas, a single contact area can obviously also be envisaged.

[0160] Below it is the contact GND connected to the reference potential GND. The capacitor arrays C1 to Cn and CVDD are placed on this contact surface. Thus, the back contacts KR of the capacitor arrays C1 to Cn and CVDD and the reference potential GND will be connected.

[0161] Below it there is a contact surface for the bonding wires, with which the first contact of the capacitor arrays C1 to Cn and the backup capacitor CVDD of CVDD, which is the virtual node KG' of the supply voltage VDD, is connected to the supply voltage VDD.

[0162] Below it, there are n bonding areas for the outputs of the driver circuits B1 to Bn here, n = 4. Here, for example, n = 4. By means of long bonding wires representing the charging lines K1 to Kn here, n = 4, the capacitors C1 to Cn of the energy reserves of the lasers D1 to Dn here, n = 4 are charged by the driver circuits B1 to Bn.

[0163] In Figure 4 the example in, the proposed driver IC of the laser sub-module requires multiple supply voltages via multiple supply voltage contacts VDDA, GNDA, VDDD, GNDD, VDDP, GNDP, VDDH, GNDH. The result of the elaboration is that it is advantageous to feed the supply voltage into the driver IC with low inductive reactance via the edge of the driver IC opposite the laser, because each driver IC can then have its own low-inductive-reactance feed line.

[0164] Furthermore, the proposed implementation shows that the driver IC can cycle through signals that can also be sent to the driver IC with high inductive reactance. For example, below, Figure 4 in the example in, the reset signal RST represents such a cycled-through signal. The reset signal RST is preferably horizontally connected to the corresponding terminal on the opposite side of the driver IC. Furthermore, in Figure 4In the example, as an example of a data bus, this represents the SPI data bus. The input MOSI of the SPI data bus, the output MISO of the SPI data bus, and the clock SCK of the SPI data bus have paired components on the opposite side of the driver IC. In Figure 4 In the example, the proposed driver IC also cycles through the select signal chip select CS. The driver IC also preferably cycles through the synchronization signal Sync and the trigger signal TRIG. Therefore, this ignition signal TRIG for emitting laser pulses is also preferably fed from one side of the driver IC and cycles through to the other side without change.

[0165] By the edge of this trigger signal TRIG, the lasers of the laser sub-modules of the laser module are started substantially simultaneously.

[0166] For the sake of understanding, an example of another synchronization signal sync going to all driver ICs is shown, and this synchronization signal is also cycled through. The synchronization signal Sync can signal to the driver ICs of the laser sub-modules a reference time point shared by these laser sub-modules, at which reference time point, the control circuits CTR of all driver ICs of all laser sub-modules, for example by means of a plurality of laser pulse emission processes to synchronize the rising edges of the laser pulses actually emitted by the lasers.

[0167] Figure 5 The arrangement of several laser sub-modules is shown here as Figure 4 to form a laser module at the driver IC level.

[0168] The contacts on the long sides of two adjacent driver ICs are connected to each other by bonding wires. It is clear that this construction ensures a low-impedance supply of all laser sub-modules with electrical energy because the control signals are cycled through.

[0169] Figure 6 The alignment of the laser sub-modules of Figure 4 along the curve kL is shown. This has the advantage of greatly simplifying the generation of the laser beam sector. First, the laser sub-modules can be aligned perpendicular to this curve kL. Second, the lasers within the laser sub-modules can be aligned along this curve kL such that ultimately all lasers of all laser sub-modules are aligned along this curve kL. The curve kL can be convex or concave. Each laser beam of each laser of each laser sub-module has a laser beam axis. If only the laser sub-modules are aligned along the curve kL and if this curve is a segment of a circle, the laser beam axes of the first lasers D1 of all laser sub-modules intersect at a point in space. This point can also be located behind the lasers.

[0170] If the lasers D1 to Dn of the laser module are aligned along the curve kL, the laser beam axes of the lasers D1 to Dn of the laser module intersect at a point.

[0171] If the lasers D1 to Dn of all laser modules are aligned along the curve kL, the laser beam axes of the lasers D1 to Dn of all laser modules intersect at a point.

[0172] The invention particularly includes aligning only some of the lasers and / or only some of the laser sub-modules along the curve kL.

[0173] It is also conceivable to align the lasers of the laser sub-module along the curve kL.

[0174] Figure 7 and Figure 8 shows Figure 1 the proposed structure of the laser sub-module of the laser module of the lidar system. Figure 7 and Figure 8 corresponding to Figure 2 wherein Figure 7 the optical paths oP1 to oP4 in Figure 8 and the optical path oP4 of the fourth laser diode D4 in

[0175] In Figure 7 example, four photodetectors PD1 to PD4 are drawn by way of example. The four photodetectors PD1 to PD4 detect the scattered light of the four lasers D1 to D4 and convert it into received signals es1 to es4. Each photodetector P1 to P4 is associated with the closest adjacent laser D1 to D4. The photodetectors PD1 to PD4 can be, for example, PN diodes or the like.

[0176] According to the proposal, lasers D1 to Dn are edge emitters (Kantenemitter). The light beams emitted along the respective laser beam axes SA1 to SAn generally have an elliptical cross-section, which has a vertical cross-section axis of the ellipse and a horizontal cross-section axis of the ellipse. Usually, the laser beam is more divergent in the vertical direction than in the horizontal direction because lasers D1 to D2 emit light only from a very thin PN junction, which, due to the Heisenberg uncertainty principle, causes the light beam to diverge in the vertical direction. In contrast, the emission of lasers D1 to Dn comes from a layer that has a certain width in the horizontal direction. Therefore, the laser beams of each of lasers D1 to Dn are less divergent in the horizontal direction. Experiments in the context of the development of the technical teaching proposed here have shown that the vertically divergent laser beams of the lasers in D1 to Dn are expanded to such an extent that the elliptical segment of the laser beam cross-section of this laser is cut by the surface of the photodiode near the photodiode associated with this laser in D1 to Dn. This means that the respective laser irradiates the photodiode associated with it with the emission radiation of its laser beam. In Figure 7 and Figure 8 , this cut laser beam, which reaches the surface, is shown by a parabola cut by a dashed line on the surface of the driven IC. For clarity, Figure 8 only one laser beam is shown. Most importantly here, each of the lasers as edge emitters can directly irradiate the associated photodetectors PD1 to PDn, such as photodiodes, with laser radiation.

[0177] This idea is unknown in the prior art.

[0178] The semiconductor crystal of the driver IC intersects with the respective laser beams of the laser beams of the respective lasers in D1 to Dn with its edge KT see Figure 8 so that an undisturbed upper, first elliptical segment of the real laser beam that is used for lidar system measurements and actually exits the laser module forms the actual free-space laser beam.

[0179] In contrast, the semiconductor crystal of the driver IC intersects with its edge KT see Figure 8Intersect with the respective laser beams of the respective lasers D1 to Dn such that the disturbed lower part, the second elliptical segment of the laser beam is imaged on the surface of the driver IC, and preferably irradiates the photodetectors PD1 to PDn associated with the respective lasers among the n photodetectors at that location. The associated photodetectors convert the laser radiation of the second elliptical segment of the received laser beam into received signals es1 to esn of the respective photodetectors. The control circuit CTR evaluates the respective received signals of the associated lasers. The control circuit CTR preferably checks the reasonableness of the associated received signals. During a first time period, when the laser emits a laser pulse, the numerical value of the received signal must be within a first value range. During a second time period, when the laser does not emit a laser pulse, the value of the received signal must be within a second value range. If the received signal is not within the first value range during the first time period, when the laser emits a laser pulse, the control circuit CTR preferably signals an error to a higher-level unit. If the value of the received signal is not within the second value range during the first time period, when the laser does not emit a laser pulse, the control circuit CTR preferably signals an error to a higher-level unit.

[0180] Reference signs:

[0181] Atest Second test control signal for activating and controlling the test state of the device;

[0182] B1 First charging circuit for the first capacitor C1, which optionally supplies electrical energy to the first laser D1 in the case of optical pulse generation;

[0183] B2 Second charging circuit for the second capacitor C2, which optionally supplies electrical energy to the second laser D2 in the case of optical pulse generation;

[0184] B3 Third charging circuit for the third capacitor C3, which optionally supplies electrical energy to the third laser D3 in the case of optical pulse generation;

[0185] Bn nth charging circuit for the nth capacitor Cn, which optionally supplies electrical energy to the nth laser Dn in the case of optical pulse generation;

[0186] Buf Driver for amplifying the pulse pre-signal PL to form a pulse signal G dis ;

[0187] C1 First capacitor, which represents an energy reservoir for the first laser D1;

[0188] C2 The second capacitor, which represents an energy reservoir for the second laser D2;

[0189] C3 The third capacitor, which represents an energy reservoir for the third laser D3;

[0190] C4 The fourth capacitor, which represents an energy reservoir for the fourth laser D4;

[0191] Cn The nth capacitor, which represents an energy reservoir for the nth laser Dn;

[0192] CS Selection signal;

[0193] CTR Control circuit, which controls n charging circuits B1 to Bn and generates a pulse pre-signal PL. The control circuit causes one of the n charging circuits, typically one of the n capacitors, to be charged before an optical pulse is generated by one of the n lasers, and then preferably disconnects preferably all of the charging circuits or switches the charging outputs of preferably all of the charging circuits to a high resistance, and then closes the control switch T dis , which initiates the generation of the optical pulse. The control circuit CTR preferably repeats this process until all n lasers D1 to Dn have emitted optical pulses, preferably only once, and then preferably starts again from the beginning with the following process;

[0194] CVDD Backup capacitor for stabilizing the supply voltage VDD;

[0195] D1 First laser;

[0196] D2 Second laser;

[0197] D3 Third laser;

[0198] D4 Fourth laser;

[0199] DISC First star point. The cathodes of lasers D1 to Dn are preferably connected to the first star point. When the pulse signal G dis arrives, the first star point DISC is connected to the reference potential GND through the control switch T dis . If one of the capacitors C1 to Cn has been charged in advance, then that capacitor discharges via the corresponding laser, which then emits an optical pulse;

[0200] Dn Nth laser;

[0201] es1 First received signal;

[0202] es2 Second received signal;

[0203] es3 Third received signal;

[0204] The Nth received signal of the ESN;

[0205] G dis Pulse signal;

[0206] Reference potential of GND;

[0207] Analog reference potential of GNDA;

[0208] Digital reference potential of GNDD;

[0209] Reference potential for high supply voltage of GNDH;

[0210] Reference potential of the GNDP interface;

[0211] Reference potential of the GNDPB backup capacitor CVDD;

[0212] K1 First charging line, the first charging circuit B1 optionally charges the first capacitor C1 via this first charging line before the optical pulse generated by the first laser D1;

[0213] K1′ First discharge line, when the control switch T dis is pulsed by the pulse signal G dis is closed, the first laser D1 discharges the first capacitor C1 via this first discharge line;

[0214] K2 Second charging line, the second charging circuit B2 optionally charges the second capacitor C2 via this second charging line before the optical pulse generated by the second laser D2;

[0215] K2′ Second discharge line, when the control switch T dis is pulsed by the pulse signal G dis is closed, the second laser D2 discharges the second capacitor C2 via this second discharge line;

[0216] K3 Third charging line, the third charging circuit B3 optionally charges the third capacitor C3 via this third charging line before the optical pulse generated by the third laser D3;

[0217] K3′ Third discharge line, when the control switch T dis is pulsed by the pulse signal G dis is closed, the third laser D3 discharges the third capacitor C3 via this third discharge line;

[0218] K4′ Fourth discharge line, when the control switch Tdis is pulsed closed by the pulse signal Gdis, the fourth laser D4 discharges the fourth capacitor C4 via this fourth discharge line;

[0219] Supply voltage virtual node VDD of KG';

[0220] kL selectable curve along which the laser module is aligned.

[0221] Kn The nth charging line, and the nth charging circuit Bn optionally charges the nth capacitor Cn via the Nth charging line before a light pulse is generated by the nth laser Dn;

[0222] Kn' The Nth discharging line, when the control switch T dis is pulsed by the signal G dis is closed, the nth laser Dn discharges the nth capacitor Cn via the Nth discharging line;

[0223] KR Back contact;

[0224] LC1 Inductance of the line connecting the second contact of the first capacitor C1 to the reference potential GND;

[0225] LC2 Inductance of the line connecting the second contact of the second capacitor C2 to the reference potential GND;

[0226] LC3 Inductance of the line connecting the second contact of the third capacitor C3 to the reference potential GND;

[0227] LCn Inductance of the line connecting the second contact of the nth capacitor Cn to the reference potential GND;

[0228] LCV Inductance of the line between the second terminal of the standby capacitor CVDD and the reference potential GND;

[0229] LZ1 Inductance of the first charging line K1, and the first charging circuit B1 optionally charges the first capacitor C1 via the first charging line before a light pulse is generated by the first laser D1;

[0230] LZ2 Inductance of the second charging line K2, and the second charging circuit B2 optionally charges the second capacitor C2 via the second charging line before a light pulse is generated by the second laser D2;

[0231] LZ3 Inductance of the third charging line K3, and the third charging circuit B3 optionally charges the third capacitor C3 via the third charging line before a light pulse is generated by the third laser D3;

[0232] LZn Inductance of the nth charging line Kn, and the nth charging circuit Bn optionally charges the nth capacitor Cn via the nth charging line before a light pulse is generated by the nth laser Dn;

[0233] LZV Inductance of the line of the feeding line to the standby capacitor CVDD;

[0234] Input of the MOSI SPI data bus;

[0235] Output of the MISO SPI data bus;

[0236] oP1 First optical path;

[0237] oP2 Second optical path;

[0238] oP3 Third optical path;

[0239] oPn Nth optical path;

[0240] PD1 First photodetector;

[0241] PD2 Second photodetector;

[0242] PD3 Third photodetector;

[0243] PD4 Fourth photodetector;

[0244] PDn Nth photodetector;

[0245] PL Pulse pre-signal;

[0246] RC1 Resistance of the line that connects the second contact of the first capacitor C1 to the reference potential GND;

[0247] RC2 Resistance of the line that connects the second contact of the second capacitor C2 to the reference potential GND;

[0248] RC3 Resistance of the line that connects the second contact of the third capacitor C3 to the reference potential GND;

[0249] RCn Resistance of the line that connects the second contact of the nth capacitor Cn to the reference potential GND;

[0250] RCV Line resistance between the second terminal of the standby capacitor CVDD and the reference potential GND;

[0251] RST Reset signal;

[0252] RZ1 Resistance of the first charging line K1, through which the first charging circuit B1 optionally charges the first capacitor C1 before the optical pulse is generated by the first laser D1;

[0253] RZ2 Resistance of the second charging line K2, through which the second charging circuit B2 optionally charges the second capacitor C2 before the optical pulse is generated by the second laser D2;

[0254] The resistance of the third charging line K3 of RZ3. The third charging circuit B3 optionally charges the third capacitor C3 via this third charging line before generating an optical pulse by the third laser D3;

[0255] The line resistance of the feed line RZV to the backup capacitor CVDD;

[0256] The resistance of the nth charging line Kn. Via this nth charging line, the nth charging circuit Bn optionally charges the nth capacitor Cn before generating an optical pulse by the nth laser Dn;

[0257] SCK The clock signal of the SPI data bus;

[0258] Sync The synchronization signal to all laser sub-modules;

[0259] T dis Control switch. Control switch T dis Preferably a transistor;

[0260] Test_Mode The first test control signal for activating and controlling the test state of the device;

[0261] TRIG The trigger signal that causes the driver IC in a predetermined signal state to start its lasers D1 to Dn;

[0262] VDD Supply voltage;

[0263] VDDA Analog supply voltage;

[0264] VDDD Digital supply voltage;

[0265] VDDH High supply voltage;

[0266] VDDP Supply voltage of the interface;

[0267] VDDPB Supply voltage node of the backup capacitor CVDD.

[0268] Cited references:

[0269] DE 19 514 062 A1,

[0270] DE 19 546 563 C2, DE 19 914 362 A1, DE 10 2006 036 167 B4, DE 10 2008 021 588 A1, DE 10 2009 060 873 A1, DE 10 2014 105 482 A1, DE 10 2016 116 368 A1, DE 10 2016 116 369 A1, DE 10 2016 116 875 A1, DE 10 2017 100 879 A1, DE 10 2017 121 713 A1, DE 10 2018 106 861 A1, DE 10 2019 131 460.7, DE 10 2020 111 075.8, DE 10 2020 114 782.1, DE 10 2020 124 564.5, EP 2 002 519 A2, EP 3 301 473 A1, PCT / EP2021 / 050199, US 6,697,402 B2, US 9,185,762 B2, US 9,368,936 B1, US 10,193,304 B2.

Claims

1. A laser sub-module, which has a linear laser array with n lasers (D1 to Dn), and has n capacitors (C1 to Cn), and With a control switch (T dis ), and has n charging circuits (B1 to Bn), and has a control circuit (CTR), has a driver IC, wherein, n is a positive integer greater than 2, and wherein, the driver IC is a monolithic integrated circuit, and Among them, the driver IC includes the control circuit (CTR), the control switch (T dis ), and the n charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) has a first terminal and a second terminal, and wherein, each of the n charging circuits (B1 to Bn) can selectively charge one of the n capacitors (C1 to Cn), hereinafter referred to as the capacitor associated with the charging circuit, and wherein, the control circuit (CTR) controls the charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) is associated with one of the n lasers (D1 to Dn) as the laser associated with the capacitor, and Among them, the control circuit (CTR) controls the control switch (T dis ), and wherein, the control switch (Tdis) discharges the charged capacitor among the n capacitors (C1 to Cn) through the laser associated with the capacitor, and wherein, in each case, the associated laser emits a laser pulse only when the capacitor associated with the laser is charged and the control switch (T dis ) connects the cathode of the laser to the reference potential (GND), and wherein, the laser sub-module has at least one photodetector (PD1), and wherein, the laser associated with the capacitor is optically coupled to at least one of the photodetectors through optical paths (oP1 to oPn), and wherein, the at least one photodetector (PD1) generates a received signal, and the value curve of the received signal over time depends on the amplitude curve over time generated by the light pulse of the laser optically coupled to the photodetector, and wherein, the control circuit (CTR) determines the parameters of the value curve of the received signal over time according to the value curve of the received signal over time, and wherein, the control circuit (CTR) controls and / or monitors the generation of the light pulse of the laser associated with the capacitor according to the parameter, and wherein, the driver IC includes the photodetector (PD1), wherein, the n lasers (D1 to Dn) in the linear laser array of the n lasers (D1 to Dn) are fabricated on a common crystal, characterized in that, the bottom of the crystal forms a common cathode of the n lasers (D1 to Dn), and The common cathode of the n lasers (D1 to Dn) is electrically connected to the control switch (T dis ), as a first star point (DISC), and the common cathode is located on the active surface of the crystal, and the bottom of the crystal having the common cathode is placed on the first star point (DISC).

2. The laser sub-module according to claim 1, wherein, the laser sub-module has n photodetectors (PD1 to PDn), and wherein, the driver IC includes the n photodetectors (PD1 to PDn).

3. The laser sub-module according to claim 1 or 2, wherein, The value of the real-time delay between the time when the time characteristics of the trigger signal (TRIG) for the laser pulse emission of the associated laser reach the control circuit (CTR) and the time when the actual emission of the laser pulse occurs in the curve of the received signal's value over time.

4. The laser sub-module according to claim 3 Wherein, After a delay time, the control circuit (CTR) causes the control switch (T dis ) to connect the associated laser to the reference potential, and Wherein, the delay time starts from the time when the time characteristics of the start signal (TRIG) for the laser pulse emission of the associated laser reach the control circuit (CTR), and this arrival serves as the start time.

5. The laser sub-module according to claim 4, Wherein, The control circuit (CTR) adjusts the delay time according to the parameter.

6. The laser sub-module according to claim 5, Wherein, The control circuit (CTR) adjusts the delay time to have a nominal value, that is, the target value of the delay time.

7. The laser sub-module according to claim 6, Wherein, The control circuit (CTR) adjusts the delay time such that the time point when the time characteristics of the actual emission of the laser pulse appear in the curve of the received signal's value over time is synchronized with the time offset with respect to the time characteristics in the curve of the synchronization signal's value over time.

8. The laser sub-module according to claim 7, Wherein, The time offset is fixed.

9. The laser sub-module according to claim 1 or 2, Wherein, The parameter is a value that depends on the influence of the curve of the laser pulse's amplitude over time in the curve of the received signal's value over time.

10. The laser sub-module according to claim 9, Wherein, Before the control switch (T dis ) is closed, the control circuit (CTR) causes a charging circuit belonging to the laser to charge a capacitor belonging to the laser with a charging current, and Wherein, the control circuit (CTR) can control the amount of energy that the charging circuit can use to charge the capacitor.

11. The laser sub-module according to claim 10, Wherein, The control circuit (CTR) adjusts the amount of energy that the charging circuit can use to charge the capacitor according to the parameter.

12. The laser sub-module according to claim 11, Wherein, The control circuit (CTR) causes the charging circuit to charge the capacitor to the capacitor voltage with a charging current having a charging current value during the charging period, and Wherein, this charging period is limited by the default value of the charging period, and Wherein, the control circuit (CTR) adjusts the amount of energy that the charging circuit uses to charge the capacitor during the charging period according to the parameter, such that the control circuit (CTR) changes the default value of the charging time according to the parameter for the next continuous charging of the capacitor after the laser pulse emission of the laser, in order to prepare for the next laser pulse emission of this laser according to the parameter.

13. The laser sub-module according to claim 12, Wherein, The control circuit (CTR) adjusts the default value of the charging time such that the value of the parameter of the curve of the received signal's value over time that depends on the amplitude of the laser pulse emitted by this laser corresponds to the default value of the parameter as the nominal value.

14. The laser sub-module according to claim 13, Among them, the parameter default value is adjustable or programmable.

15. The laser sub-module according to claim 12, wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the default charging time value with an expected value range of the default charging time value, and wherein, if the value of the default charging time value is outside the expected value range of the default charging time value, the control circuit (CTR) signals an error or generates and / or holds information about the error.

16. The laser sub-module according to claim 15, wherein, the expected value range can also be given by a single threshold of the default charging time value.

17. The laser sub-module according to claim 11, wherein, the control circuit (CTR) causes the charging circuit to charge the capacitor to a capacitor voltage with a charging current having a charging current value during a charging period, and wherein, the control circuit (CTR) detects the capacitor voltage during the charging period of the capacitor, and wherein, when the value of the capacitor voltage reaches or exceeds the value of the capacitor target voltage, the control circuit (CTR) causes the charging circuit to stop charging the capacitor with the charging current, and wherein, the control circuit (CTR) adjusts the amount of energy used by the charging circuit to charge the capacitor during the charging period according to the parameter, such that the control circuit (CTR) changes the value of the capacitor target voltage according to the parameter for the next consecutive charging of the capacitor after the laser pulse emission of the laser, in order to prepare for the next laser pulse emission of the laser according to the parameter.

18. The laser sub-module according to claim 17, wherein, the control circuit (CTR) adjusts the value of the capacitor target voltage such that the value of the parameter of the time-dependent value curve of the received signal corresponding to the amplitude of the laser pulse emitted by the laser corresponds to the parameter default value as the nominal value.

19. The laser sub-module according to claim 18, wherein, the parameter default value is adjustable or programmable.

20. The laser sub-module according to claim 17, wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the value of the capacitor target voltage with an expected value range of the capacitor target voltage, and wherein, if the value of the capacitor target voltage is outside the expected value range of the capacitor target voltage, the control circuit (CTR) signals an error or generates and / or stores information about the error.

21. The laser sub-module according to claim 20, wherein, the expected value range can also be given by a single threshold of the capacitor target voltage.

22. The laser sub-module according to claim 11, wherein, the control circuit (CTR) causes the charging circuit to charge the capacitor to a capacitor voltage with a charging current having a charging current value during a charging period, Wherein, the control circuit (CTR) adjusts the amount of energy used by the charging circuit to charge the capacitor during the charging period according to the parameter, such that after the laser pulse emission of the laser, the control circuit (CTR) changes the charging current value according to the parameter for the next consecutive charging of the capacitor, so as to prepare for the next laser pulse emission of the laser according to the parameter.

23. The laser sub-module according to claim 22, Wherein, the control circuit (CTR) adjusts the charging current value such that the value of the parameter of the curve of the received signal over time that depends on the amplitude of the laser pulse emitted by the laser corresponds to a parameter default value as a nominal value.

24. The laser sub-module according to claim 23, Wherein, the parameter default value is adjustable or programmable.

25. The laser sub-module according to claim 22, Wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the charging current value with an expected value range of the charging current value, and wherein, if the charging current value is outside the expected value range of the charging current value, the control circuit (CTR) signals an error or generates and / or stores information about the error.

26. The laser sub-module according to claim 25, Wherein, the expected value range can also be given by a single threshold of the charging current value.

27. The laser sub-module according to claim 1 or 2, Wherein, the control circuit (CRT) or another sub-device compares the value of the parameter of the curve of the received signal over time with an expected value range, and wherein, if the value of the parameter of the curve of the received signal over time is outside the expected value range of the value of the parameter of the curve of the received signal over time, the control circuit (CRT) signals an error or generates and / or stores information about the error.

28. The laser sub-module according to claim 27, Wherein, the expected value range can also be defined by a single parameter threshold.

29. A laser module, Wherein, the laser module has a plurality of laser sub-modules according to any one of claims 1 to 28, including at least one first laser sub-module and at least one second laser sub-module, and wherein, the control circuits (CTR) of the first laser sub-module and the second laser sub-module adjust the amplitudes of the pulses of the lasers of their respective sub-modules so that the amplitude curves of the pulses of the lasers of their respective sub-modules have the same peak amplitude value and / or the same time integral value, and wherein, the term "same" herein means that the peak amplitude value and / or the time integral value of the amplitude curve of the pulse of the laser of the first laser sub-module and the peak amplitude value and / or the time integral value of the amplitude curve of the pulse of the laser of the second laser sub-module differ by no more than 10%.

30. The laser module according to claim 29, Wherein, The term "identical" herein means that the peak amplitude value and / or the time integral value of the pulse amplitude curve of the laser of the first laser sub-module differ by no more than 5% from the peak amplitude value and / or the time integral value of the pulse amplitude curve of the laser of the second laser sub-module.

31. The laser module according to claim 30, wherein, the term "identical" herein means that the peak amplitude value and / or the time integral value of the pulse amplitude curve of the laser of the first laser sub-module differ by no more than 2% from the peak amplitude value and / or the time integral value of the pulse amplitude curve of the laser of the second laser sub-module.

32. A laser module, wherein, the laser module has a plurality of laser sub-modules according to one of claims 1 to 28, including at least one first laser sub-module and at least one second laser sub-module, and wherein, the laser module has a synchronization signal (Sync), and wherein, the laser module has a trigger signal (TRIG), and wherein, the synchronization signal (Sync) and the trigger signal (TRIG) are in a fixed time-phase relationship, and wherein, the first laser sub-module is connected to the synchronization signal (Sync), and wherein, the first laser sub-module is connected to the trigger signal (TRIG), and wherein, the second laser sub-module is connected to the synchronization signal (Sync), and wherein, the second laser sub-module is connected to the trigger signal (TRIG), and wherein, the control circuit (CTR) of the first laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal (TRIG) and the emission of the laser pulse by the laser of the first laser sub-module such that the time feature of the time-dependent amplitude curve of the laser pulse of the laser of the first laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal (Sync), and wherein, the control circuit (CTR) of the second laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal (TRIG) and the emission of the laser pulse by the laser of the second laser sub-module such that the time feature of the time-dependent amplitude curve of the laser pulse of the laser of the second laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal (Sync).

33. The laser module according to one of claims 29 to 32, wherein, the laser module includes at least one, i.e., m laser sub-modules, the laser module has m*n lasers (D1 to Dn), and has at least one photodetector (PD1 to PDn), wherein, the laser module includes at least one control circuit (CTR), and wherein, the m*n lasers are each capable of emitting laser pulses, and wherein at least one of the m*n lasers (D1 to Dn) is coupled via an optical path (oP1 to oPn) to at least one of the photodetectors (PD1 to PDn), and wherein the at least one photodetector (PD1 to PDn) generates a received signal (es1 to esn) that specifically belongs to the photodetector, and the received signal has a value curve over time, and wherein the value curve over time of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) depends on the amplitude curve over time of laser pulses emitted by at least one of the m*n lasers (D1 to Dn), and wherein the laser module has means (PD1 to PDn, es1 to esn) for verifying the fact that light pulses are emitted by the at least one laser using the value curve of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn), and wherein if the laser pulses that should be emitted by at least one of the m*n lasers (D1 to Dn) do not cause a value curve over time of the received signal (es1 to esn) of the at least one photodetector (PD1 to PDn), and the value of a parameter of the value curve over time of the received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) is outside a predetermined parameter range, then the laser module generates an error message or an error signal via a control electronics (CTR), or makes it ready for retrieval.

34. The laser module according to any one of claims 29 to 32, wherein, the laser module includes at least one, namely m laser sub-modules, and wherein, each of the m laser sub-modules has a plurality, namely n j lasers (D1 to Dn j ), wherein, 1 ≤ j ≤ m, and wherein, the number n of the lasers of the laser sub-module j can vary depending on the laser sub-module, and The laser module has at least one photodetector and / or a plurality of photodetectors (PD1 to PDn) for each laser sub-module j ) wherein each laser sub-module includes at least one control circuit (CTR) of the respective laser sub-module, and Among them, each of the n lasers in each of the m laser sub-modules j is capable of emitting laser pulses, and Among them, for each of the m laser sub-modules, the n j lasers (D1 to Dn j ) of at least one of them are coupled to the at least one j photodetector (PD1 to PDn j ) of the photodetectors of the laser sub-module through the optical paths (oP1 to oPn) of the laser sub-module, and wherein the at least one photodetector (PD1 to PDn) of the laser sub-module generates a received signal (es1 to esn) that specifically belongs to the photodetector of the laser sub-module, and the received signal of the laser sub-module has a value curve over time, and wherein, the curve of the value over time of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module depends on the curve of the amplitude value over time of the laser pulses emitted by at least one of the n j lasers (D1 to Dn) of the laser sub-module, and wherein the laser sub-module has means (PD1 to PDn, es1 to esn) for verifying the fact that light pulses are emitted by the at least one photodetector (PD1 to PDn) of the laser sub-module using the value curve over time of the at least one received signal of the at least one photodetector (PD1 to PDn) of the laser sub-module, and Wherein, if the laser pulses that at least one of the n j lasers (D1 to Dn j ) of the laser sub-module should have emitted do not cause a time-dependent value curve of the received signals (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module, and the parameter values of the time-dependent value curve of the received signals (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module are outside a predetermined parameter value range, then the laser sub-module generates an error message or error signal through a control circuit (CTR) of the laser sub-module, or stores it for retrieval.

35. The laser module according to any one of claims 29 to 32, wherein, the laser module includes at least one, namely m laser sub-modules, Among them, each of the m laser sub-modules has a plurality, namely n j lasers (D1 to Dn j ), where 1 ≤ j ≤ m, and wherein, the entire positive integer n of the laser of the laser sub-module j can vary depending on the laser sub-module, and The laser module has at least n photodetectors (PD1 to PDnj) for each laser sub-module j where n is a positive integer wherein in each case, each laser sub-module includes at least one control circuit (CTR) of the respective laser sub-module, and Among them, each of the n lasers in each of the m laser sub-modules j is capable of emitting laser pulses, and Among them, for each of the m laser sub-modules, the n j lasers (D1 to Dn j ) of each laser sub-module are each coupled to exactly one of the n j optical paths (oP1 to oPn j ) of the laser sub-module through at least n j optical detectors (PD1 to PDn j ) of the laser sub-module through the strongest main optical path, and wherein, in each case, these n j photodetectors (PD1 to PDn j ) of the laser submodule each generate exactly one of the n j received signals (es1 to esn j ) belonging to the laser submodule, the received signal of the photodetector of the n j photodetectors (PD1 to PDn j ) of the corresponding laser submodule, and the corresponding received signal of the n j received signals (es1 to esnj) of the corresponding laser submodule has a corresponding time-dependent value curve, and Among them, the n j photodetectors (PD1 to PDn j ) of the laser sub-module, the value curve over time of the corresponding received signal (es1 to esn j ) of each photodetector depends on the amplitude value curve over time of the laser pulses emitted by the following laser among the n j lasers (D1 to Dn) of the laser sub-module, and the laser is coupled most strongly to exactly one main optical path among the n j optical paths (oP1 to oPn j ) of the laser sub-module, and to exactly this photodetector among the n j photodetectors (PD1 to PDn j ), and Among them, the laser sub-module has components (PD1 to PDn j , es1 to esn j ) for verifying the following fact: Exactly the laser among the n j lasers (D1 to Dn j ) of the laser sub-module uses the following photodetectors among the n j photodetectors (PD1 to PDn j ) of the laser sub-module to emit light pulses based on the time-varying value curve of the received signal of the following photodetectors among the n j received signals (es1 to esn j ) coupled to the laser. The photodetector is most strongly coupled to exactly the laser among the n j lasers (D1 to Dn j ) of the laser sub-module via one main optical path among the n j optical paths (oP1 to oPn j ) of the laser sub-module, and Wherein, if the n of the laser submodule j Lasers (D1 to Dn j ) does not cause the laser submodule to emit a laser pulse that should have been emitted. j Photodetectors (PD1 to PDn j ) of the at least one photodetector j Received signals (es1 to esn j ) in the value curve over time of the received signal coupled to the laser, and the n belonging to the laser submodule j Photodetectors (PD1 to PDn j ) of the photodetector j Received signals (es1 to esn j ) in the time value curve of the received signal coupled to the laser is outside the predetermined parameter value range, the laser submodule generates an error message or error signal through the control circuit (CTR) of the laser submodule, or stores it for retrieval.

36. The laser module according to claim 35, wherein, the parameter value range is specific to the laser.

37. A laser sub-module, which A linear laser array having n lasers (D1 to Dn), and having n capacitors (C1 to Cn), and Having a control switch (T dis ), and having n charging circuits (B1 to Bn), and having a control circuit (CTR), having a driver IC, wherein, n is a positive integer greater than 2, and wherein, the driver IC is a monolithic integrated circuit, and Among them, the driver IC includes the control circuit (CTR), the control switch (T dis ), and the n charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) has a first terminal and a second terminal, and wherein, each of the n charging circuits (B1 to Bn) (B1) can selectively charge one of the n capacitors (C1 to Cn) (C1) respectively, and hereinafter this capacitor is referred to as the capacitor (C1) associated with this charging circuit, and wherein, the control circuit (CTR) controls the charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) (C1) is associated with a laser (D1) among the n lasers (D1 to Dn), as the laser (D1) associated with this capacitor (C1), and Among them, the control circuit (CTR) controls the control switch (T dis ), and wherein the control switch (T dis ) discharges the charged capacitor among the n capacitors (C1 to Cn) via the laser associated with the capacitor (C1), and wherein, the anode of the associated laser (D1) is electrically connected to the associated capacitor (C1), and wherein, in each case, the associated laser emits a laser pulse in the form of a laser beam only when the capacitor (C1) associated with the laser (D1) is charged and the control switch (T dis ) connects the cathode of the laser to the reference potential (GND), and wherein, the laser beam has an elliptical cross-section of laser radiation intensity distribution in a direction perpendicular to the propagation direction of the laser beam, and wherein, the laser sub-module has at least one photodetector (PD1), and wherein, the driver IC includes the photodetector (PD1), characterized in that the laser (D1) associated with the capacitor (C1) is directly optically coupled to at least one photodetector via an optical path (oP1 to oPn), and the lasers (D1 to D1) are edge emitters, and the semiconductor crystal of the driver IC cuts the laser beam of the laser (D1) with one of its edges (KT), - The first elliptical segment of the undisturbed upper part of the laser beam forms a truly free space laser beam, and - The second elliptical segment of the disturbed lower part of the laser beam is depicted on the surface of the driver IC, and - The second elliptical segment of the disturbed lower part on the surface of the driver IC irradiates the at least one photodetector (PD1) associated with the laser (D1), and the at least one photodetector (PD1) generates a received signal (es1), and the time-dependent value curve of the received signal has an amplitude curve depending on the optical pulse generation of the laser directly optically coupled to this photodetector (PD1), and the control circuit (CTR) determines the parameters of the time-dependent value curve of the received signal (es1) according to the time-dependent value curve of the received signal (es1), and the control circuit (CTR) controls and / or monitors the generation of optical pulses of the laser (D1) associated with the capacitor (C1) according to this parameter.

38. The laser sub-module according to claim 37, wherein, The laser sub-module has n photodetectors (PD1 to PDn), and wherein, the driver IC includes the n photodetectors (PD1 to PDn).

39. A laser sub-module, which has a linear laser array with n lasers (D1 to Dn), and has n capacitors (C1 to Cn), and With a control switch (T dis ), and has n charging circuits (B1 to Bn), and has a control circuit (CTR), has a driver IC, wherein, n is a positive integer greater than 2, and wherein, the driver IC is a monolithic integrated circuit, and Among them, the driver IC includes the control circuit (CTR), the control switch (T dis ), and the n charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) has a first terminal and a second terminal, and wherein, each of the n charging circuits (B1 to Bn) (B1) can selectively charge one of the n capacitors (C1 to Cn) (C1) respectively, and hereinafter this capacitor is referred to as the capacitor (C1) associated with this charging circuit, and wherein, the control circuit (CTR) controls the charging circuits (B1 to Bn), and wherein, each of the n capacitors (C1 to Cn) (C1) is associated with a laser (D1) among the n lasers (D1 to Dn), as the laser (D1) associated with this capacitor (C1), and Among them, the control circuit (CTR) controls the control switch (T dis ), and Among them, the control switch (T dis ) causes the charged capacitor (C1) among the n capacitors (C1 to Cn) to discharge through the laser (D1) associated with the capacitor (C1), and wherein, the anode of the associated laser (D1) is electrically connected to the associated capacitor (C1), and wherein, in each case, the associated laser (D1) emits a laser pulse in the form of a laser beam only when the capacitor (C1) associated with the laser (D1) is charged and the control switch (T dis ) connects the cathode of the laser to the reference potential (GND), and wherein, the laser sub-module has at least one photodetector (PD1), and wherein, the driver IC includes the photodetector (PD1), characterized in that the n lasers (D1 to Dn) in the linear laser array of the n lasers (D1 to Dn) are fabricated on a common crystal of the laser array, and the bottom of the crystal of the laser array forms a common cathode of the n lasers (D1 to Dn), and The common cathode of the laser array of the n lasers (D1 to Dn) is directly electrically connected to the terminal of the control switch (T dis ) by solder or a conductive adhesive as a first star point (DISC), and the laser (D1) associated with the capacitor (C1) is directly optically coupled to the at least one photodetector (D1) via optical paths (oP1 to oPn), and a part of the laser beam of the laser (D1) associated with the capacitor (C1) directly irradiates the at least one photodetector (D1) in a straight path, and the laser (D1) associated with the capacitor (C1) is an edge emitter, and the at least one photodetector (PD1) generates a received signal (es1), and the curve of the value of this received signal over time depends on and thus the amplitude curve over time generated by the light pulses of the laser directly optically coupled to this photodetector (PD1), and the control circuit (CTR) determines the parameters of the curve of the value of the received signal (es1) over time according to the curve of the value of the received signal (es1) over time, and the control circuit (CTR) controls and / or monitors the generation of the light pulses of the laser (D1) associated with the capacitor (C1) according to this parameter.

40. The laser sub-module according to claim 39, wherein, the laser sub-module has n photodetectors (PD1 to PDn), and wherein, the driver IC includes the n photodetectors (PD1 to PDn).

41. The laser sub-module according to claim 37 or 39, wherein, the parameter is the value of the true time delay between when the time characteristic of the start signal (TRIG) for the laser pulse emission of the associated laser reaches the control circuit (CTR) and when the actual emission of the laser pulse occurs in the curve of the received signal's value over time.

42. The laser sub-module according to claim 39, wherein, After a delay time, the control circuit (CTR) causes the control switch (T dis ) to connect the associated laser to the reference potential, and wherein, the delay time starts when the start signal (TRIG) for the laser pulse emission of the associated laser reaches the control circuit (CTR), and this arrival is taken as the start time.

43. The laser sub-module according to claim 42, wherein, the control circuit (CTR) adjusts the delay time according to the parameter.

44. The laser sub-module according to claim 43, wherein, the control circuit (CTR) adjusts the delay time to a nominal value, i.e., the target value of the delay time.

45. The laser sub-module according to claim 44, wherein, the control circuit (CTR) adjusts the delay time such that the time point when the time characteristic of the actual emission of the laser pulse appears in the value pattern of the received signal over time is synchronized with the time offset of the time characteristic in the value pattern of the synchronization signal over time.

46. The laser sub-module according to claim 45, wherein, the time offset is fixed.

47. The laser sub-module according to claim 37 or 39, wherein, the parameter is a value that depends on the influence of the amplitude curve of the laser pulse over time in the curve of the received signal's value over time.

48. The laser sub-module according to claim 47, wherein, Before the control switch (T dis ) is closed, the control circuit (CTR) causes the charging circuit belonging to the laser to charge the capacitor belonging to the laser with a charging current, and wherein, the control circuit (CTR) can control the amount of energy that the charging circuit can use to charge the capacitor.

49. The laser sub-module according to claim 48, wherein, the control circuit (CTR) adjusts the amount of energy that the charging circuit can use to charge the capacitor according to the parameter.

50. The laser sub-module according to claim 49, wherein, the control circuit (CTR) causes the charging circuit to charge the capacitor to a capacitor voltage with a charging current having a charging current value during the duration of the charging time, and wherein, the duration of this charging time is limited by a default charging time value, and wherein, the control circuit (CTR) adjusts the amount of energy that the charging circuit uses to charge the capacitor during the duration of the charging time according to the parameter, such that the control circuit (CTR) changes the default charging time value according to the parameter for the next chronological charging of the capacitor to prepare for the next laser pulse emission of the laser according to the parameter.

51. The laser sub-module according to claim 50, wherein, the control circuit (CTR) adjusts the default charging time such that the value of the parameter of the value curve of the received signal over time that depends on the amplitude of the laser pulse emitted by the laser corresponds to the default parameter value as the nominal value.

52. The laser sub-module according to claim 51, wherein, the default parameter value is adjustable or programmable.

53. The laser sub-module according to claim 51, wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the default charging time with an expected value range of the default charging time, and wherein if the value of the default charging time lies outside the expected value range of the value of the default charging time, the control circuit (CTR) signals an error or generates and / or holds information about the error.

54. The laser sub-module according to claim 53, wherein, the expected value range can also be given by a single threshold of the value of the default charging time.

55. The laser sub-module according to claim 49, wherein, the control circuit (CTR) causes the charging circuit to charge the capacitor to a capacitor voltage with a charging current having a charging current value during the duration of the charging time, and wherein the control circuit (CTR) detects the capacitor voltage during the duration of the charging time of the capacitor, and wherein when the value of the capacitor voltage reaches or exceeds the value of the capacitor target voltage, the control circuit (CTR) causes the charging circuit to stop charging the capacitor with the charging current, and wherein the control circuit (CTR) adjusts the amount of energy used by the charging circuit to charge the capacitor during the duration of the charging time according to the parameter such that after the emission of the laser pulse of the laser, the control circuit (CTR) changes the value of the capacitor target voltage according to the parameter for the next chronological charging of the capacitor to prepare for the next laser pulse emission of the laser according to the parameter.

56. The laser sub-module according to claim 55, wherein, the control circuit (CTR) adjusts the value of the capacitor target voltage such that the value of the parameter of the value curve of the received signal over time that depends on the amplitude of the laser pulse emitted by the laser corresponds to the default parameter value as the nominal value.

57. The laser sub-module according to claim 56, wherein, the default parameter value is adjustable or programmable.

58. The laser sub-module according to claim 55, wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the value of the capacitor target voltage with an expected value range of the capacitor target voltage, and Wherein, if the value of the capacitor target voltage is outside the expected value range of the value of the capacitor target voltage, the control circuit (CTR) signals an error or generates and / or readies information regarding the error.

59. The laser sub-module according to claim 58, Wherein, the expected value range can also be given by a single threshold of the value of the capacitor target voltage.

60. The laser sub-module according to claim 49, Wherein, the control circuit (CTR) causes the charging circuit to charge the capacitor to a capacitor voltage with a charging current having a charging current value during the duration of the charging time, and wherein the control circuit (CTR) adjusts the amount of energy used by the charging circuit to charge the capacitor during the duration of the charging time according to the parameter, such that after the laser pulse emission of the laser, the control circuit (CTR) changes the charging current value according to the parameter for the next chronological charging of the capacitor to prepare for the next laser pulse emission of the laser according to the parameter.

61. The laser sub-module according to claim 60, Wherein, the control circuit (CTR) adjusts the charging current value such that the value of the parameter of the time-dependent value curve of the received signal corresponding to the amplitude of the laser pulse emitted by the laser corresponds to a parameter default value as a nominal value.

62. The laser sub-module according to claim 61, Wherein, the parameter default value is adjustable or programmable.

63. The laser sub-module according to claim 60, Wherein, the control circuit (CTR) or another sub-device of the laser sub-module compares the value of the parameter of the time-dependent value curve of the received signal with an expected value range, and wherein if the value of the parameter of the time-dependent value curve of the received signal is outside the expected value range of the value of the parameter of the time-dependent value curve of the received signal, the control circuit (CTR) signals an error or generates and / or readies information regarding the error.

64. The laser sub-module according to claim 63, Wherein, the expected value range can also be given by a single threshold of the value of the charging current value.

65. The laser sub-module according to claim 37 or 39, Wherein, the control circuit (CRT) or another sub-device compares the value of the parameter of the time-dependent value curve of the received signal with an expected value range, and wherein if the value of the parameter of the time-dependent value curve of the received signal is outside the expected value range of the value of the parameter of the time-dependent value curve of the received signal, the control circuit (CRT) signals an error or generates and / or readies information regarding the error.

66. The laser sub-module according to claim 65, Wherein, the expected value range can also be given by a single threshold of the parameter.

67. A laser module, Wherein, The laser module has a plurality of laser sub-modules according to any one of claims 37 to 66, including at least one first laser sub-module and at least one second laser sub-module, and wherein the control circuits (CTR) of the first laser sub-module and the second laser sub-module adjust the amplitudes of the laser pulses of the lasers of their respective laser sub-modules such that the amplitude curves of the lasers of their respective laser sub-modules have the same peak amplitude value and / or the same time integral value, and wherein the term "same" herein means that the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the first laser sub-module differ from the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the second laser sub-module by no more than 10%.

68. The laser module according to claim 67, wherein, the term "same" herein means that the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the first laser sub-module differ from the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the second laser sub-module by no more than 5%.

69. The laser module according to claim 68, wherein, the term "same" herein means that the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the first laser sub-module differ from the peak amplitude value and / or the time integral value of the amplitude curve of the laser pulse of the laser of the second laser sub-module by no more than 2%.

70. A laser module, wherein, the laser module has a plurality of laser sub-modules according to any one of claims 37 to 66, including at least one first laser sub-module and at least one second laser sub-module, and wherein the laser module has a synchronization signal (Sync), and wherein the laser module has a trigger signal (TRIG), and wherein the synchronization signal (Sync) and the trigger signal (TRIG) are in a fixed time-phase relationship, and wherein the first laser sub-module is connected to the synchronization signal (Sync), and wherein the first laser sub-module is connected to the trigger signal (TRIG), and wherein the second laser sub-module is connected to the synchronization signal (Sync), and wherein the second laser sub-module is connected to the trigger signal (TRIG), and wherein the control circuit (CTR) of the first laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal (TRIG) and the emission of a laser pulse by the laser of the first laser sub-module such that the time feature in the time-dependent amplitude curve of the laser pulse of the laser of the first laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal (Sync), and Wherein, the control circuit (CTR) of the second laser sub-module adjusts the time delay between the occurrence of a time feature in the time-dependent value curve of the trigger signal (TRIG) and the emission of a laser pulse by the laser of the second laser sub-module, such that the time feature in the time-dependent amplitude curve of the laser pulse of the laser of the second laser sub-module occurs at substantially the same time point as the time feature of the synchronization signal (Sync).

71. A laser module, Wherein, the laser module includes at least one, namely m laser sub-modules, the laser module has a plurality, namely m*n lasers (D1 to Dn), and at least one photodetector (PD1 to PDn), wherein, the laser module includes at least one control circuit (CTR), and wherein, the m*n lasers are each capable of emitting a laser pulse in the form of a laser beam, and wherein, at least one of the m*n lasers (D1 to Dn) is coupled to at least one of the photodetectors (PD1 to PDn) via a direct optical path (oP1 to oPn), and wherein, a part of the laser beam is directly irradiated into the at least one photodetector, and wherein, the at least one photodetector (PD1 to PDn) generates the received signal that exactly belongs to the at least one photodetector among the n received signals (es1 to esn), and the received signal has a time-dependent value curve, and wherein, the time-dependent value curve of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) depends on the time-dependent amplitude curve of the laser pulse emitted by at least one of the m*n lasers (D1 to Dn), and wherein, the laser module has components (PD1 to PDn, es1 to esn) for verifying the fact that the at least one laser emits an optical pulse using the value curve of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn), and wherein, if the laser pulse that at least one of the m*n lasers (D1 to Dn) should emit does not cause the time-dependent value curve of the received signal (es1 to esn) of the at least one photodetector (PD1 to PDn), and the value of the parameter of the time-dependent value curve of the received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) is outside a predetermined parameter value range, then the laser module generates an error message or an error signal through the control electronics (CTR), or makes itself ready for retrieval.

72. A laser module, Wherein, the laser module includes at least one, namely m laser sub-modules, and Among them, each of the m laser sub-modules has a plurality, that is, n j lasers (D1 to Dn j ), where 1 ≤ j ≤ m, and wherein, the number of lasers n of the laser sub-module j can vary depending on the laser sub-module, and The laser module has at least one and / or a plurality of photodetectors (PD1 to PDn) for each laser sub-module j ) wherein, each laser sub-module includes at least one control circuit (CTR) of the relevant laser sub-module, and wherein, each of the n lasers in each of the m laser sub-modules j is capable of emitting laser pulses in the form of corresponding laser beams, and Among them, for each of the m laser sub-modules, in this claim, it will be hereinafter referred to as "the laser module", and the n j lasers (D1 to Dn j ) of at least one laser among them are coupled to the at least one photodetector among the photodetectors (PD1 to PDn j ) of the laser sub-module through the direct optical paths (oP1 to oPn j ) of the laser sub-module, and wherein, a part of the laser beam is directly irradiated into the at least one photodetector, and wherein the at least one photodetector (PD1 to PDn) of the laser sub-module generates reception signals (es1 to esn) of the laser sub-module that exactly belong to the photodetector, the reception signals of the laser sub-module having a value curve over time, and wherein, the curve of the value over time of the at least one received signal (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module depends on the curve of the amplitude value over time of the laser pulses emitted by at least one of the n j lasers (D1 to Dn) of the laser sub-module, and wherein the laser sub-module has means (PD1 to PDn, es1 to esn) for verifying the fact that the at least one laser of the laser sub-module emits light pulses using the value curve over time of the at least one reception signal (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module, and Wherein, if the laser pulses that at least one of the n j lasers (D1 to Dn j ) of the laser sub-module should have emitted do not cause a curve of the values over time of the received signals (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module, and the value of a parameter of the curve of the values over time of the received signals (es1 to esn) of the at least one photodetector (PD1 to PDn) of the laser sub-module is outside a predetermined parameter value range, then the laser sub-module generates an error message or an error signal through the control circuit (CTR) of the laser sub-module, or makes itself ready for retrieval.

73. A laser module, wherein, the laser module comprises at least one, namely m, laser sub-modules, Among them, each of the m laser sub-modules has a plurality, namely n j lasers (D1 to Dn j ), where 1 ≤ j ≤ m, and wherein, the positive integer number n of the lasers of the laser sub-module j can be different for different laser sub-modules, and The laser module has at least n photodetectors (PD1 to PDn) for each laser sub-module j j )​ wherein, in each case, each laser sub-module comprises at least one control circuit (CTR) of the associated laser sub-module, and wherein, each of the n lasers in each of the m laser sub-modules j is capable of emitting laser pulses in the form of laser beams, and Among them, for each of the m laser sub-modules, the n j lasers (D1 to Dn j ) of at least each one thereof is directly coupled to exactly one of the n j optical paths (oP1 to oPn j ) of the laser sub-module through exactly one main optical path most strongly, and is directly coupled to exactly one of the n j photodetectors (PD1 to PDn j ), and wherein a part of the laser beam of each laser directly irradiates exactly one photodetector that is directly optically coupled to exactly the laser via exactly the one main optical path, and where in each case the n of the laser submodules j Photodetectors (PD1 to PDn j ) generates n of the laser submodule j Received signals (es1 to esn j ) belongs to the laser submodule j Photodetectors (PD1 to PDn j ) in the photodetector, the n received signals of the corresponding laser submodule j Received signals (es1 to esn j ) has a corresponding value curve over time, and wherein, the respective received signals (es1 to esn j ) of each of the n j photodetectors (PD1 to PDn j ) of the laser sub-module depend on the amplitude values over time of the laser pulses emitted by the following laser among the n j lasers (D1 to Dn) of the laser sub-module, and the laser is coupled most strongly to the photodetector among the n j optical paths (oP1 to oPn j ) of the laser sub-module via exactly one main optical path of the n j photodetectors (PD1 to PDn), and Among them, the laser sub-module has components (PD1 to PDn, es1 to esn) for verifying the following fact for each of the n lasers (D1 to Dn): j That is, the laser emits optical pulses using the received signal (es1 to esn) coupled to the laser among the n received signals of the following photodetectors (PD1 to PDn) of the n photodetectors (PD1 to PDn) of the laser sub-module. The photodetector is coupled to the laser through the following photodetector of the n optical paths (oP1 to oPn) of the laser sub-module. Exactly one main optical path is most strongly coupled to the laser, that is, most strongly coupled to exactly the laser among the n lasers (D1 to Dn) of the laser sub-module, and j (PD1 to PDn j , es1 to esn j ) of the laser sub-module: the fact that exactly the laser among the n lasers (D1 to Dn j ) of the laser sub-module uses the received signal (es1 to esn j ) of the following photodetector of the n photodetectors (PD1 to PDn j ) of the laser sub-module to emit an optical pulse, and the photodetector is coupled to the laser through the following photodetector of the n optical paths (oP1 to oPn j ) of the laser sub-module. Exactly one main optical path is most strongly coupled to the laser, that is, most strongly coupled to exactly the laser among the n lasers (D1 to Dn j ) of the laser sub-module, and j the received signal coupled to the laser is used to emit an optical pulse. The photodetector is most strongly coupled to the laser through exactly one of the n optical paths (oP1 to oPn j ) of the laser sub-module, that is, most strongly coupled to exactly the laser among the n lasers (D1 to Dn j ) of the laser sub-module, and j (D1 to Dn j ) of the laser sub-module Wherein, if the n of the laser submodule j Lasers (D1 to Dn j ) does not cause the laser submodule to emit a laser pulse that should have been emitted. j Photodetectors (PD1 to PDn j ) of the at least one photodetector j Received signals (es1 to esn j ) in the value curve over time of the received signal coupled to the laser, and the n belonging to the laser submodule j Photodetectors (PD1 to PDn j ) of the photodetector j Received signals (es1 to esn j ) in the time value curve of the received signal coupled to the laser is outside the predetermined parameter value range, the laser submodule generates an error message or an error signal through the control circuit (CTR) of the laser submodule, or makes it ready for retrieval.

74. The laser module according to claim 73, wherein, the range of the predetermined parameter values is specific to the laser.

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