1. An image capturing device comprising a pixel array in which a plurality of pixels each including a photoelectric conversion portion are arrayed, a plurality of signal lines connected to the pixel array, and a plurality of column amplifiers configured to respectively amplify signals transferred from the pixel array via the signal lines,
wherein the column amplifier comprises:
a first input terminal;
a first output terminal;
an amplifier having a second input terminal and a second output terminal;
a feedback capacitance arranged between the second input terminal and the first output terminal;
an input capacitance having an electrode connected to the first input terminal, and an electrode connected to the second input terminal;
a first switch arranged between the second input terminal and the second output terminal;
a second switch arranged between the first output terminal and the second output terminal; and
a third switch arranged between a reference voltage terminal and the first output terminal.
2. The device according to claim 1, wherein the amplifier includes a common-source amplifier circuit.
3. The device according to claim 1, wherein the amplifier includes an operational amplifier including an inverting input terminal serving as the second input terminal, a non-inverting input terminal connected to the reference voltage terminal, and the second output terminal.
4. The device according to claim 1, wherein
the column amplifier is in a first state in which the reference voltage terminal is connected to the first output terminal, and the second output terminal is connected to the second input terminal, in a first duration, and is in a second state in which the second output terminal is connected to the first output terminal, in a second duration after the first duration and in a third duration after the second duration, and
the column amplifier generates a first signal in the second duration, and amplifies the signal, which is output from the pixel array and transferred via the signal line, in the third duration, thereby generating a second signal including the amplified signal and the first signal.
5. The device according to claim 4, wherein the column amplifier is configured to compress the signal output from the second output terminal of the amplifier in the first duration, in accordance with an open-loop gain of the amplifier in the second duration to generate the first signal in the second duration.
6. The device according to claim 5, wherein the column amplifier is set in the first state by turning on the first switch and the third switch and turning off the second switch in the first duration, and is set in the second state by turning off the first switch and the third switch and turning on the second switch in the second duration.
7. The device according to claim 1, wherein the second switch includes a CMOS switch.
8. The device according to claim 4, further comprising:
a first holding portion configured to hold the first signal; and
a second holding portion configured to hold the second signal,
wherein the first holding portion is configured to hold the first signal in the first duration, the second holding portion holds the second signal in the second duration, and the first signal held in the first holding portion is output and the second signal held in the second holding portion is output in the third duration.
9. An image capturing system comprising:
an image capturing device defined in claim 1;
an optical system configured to form an image on an imaging surface of the image capturing device; and
a signal processing unit configured to process the signal output from the image capturing device to generate image data.
10. A method of driving an image capturing device comprising a pixel array in which a plurality of pixels each including a photoelectric conversion portion are arrayed, a plurality of signal lines connected to the pixel array, a plurality of column amplifiers configured to respectively amplify signals transferred from the pixel array via the signal lines, and an output amplifier to which a plurality of signals are sequentially transferred from the plurality of column amplifiers,
wherein the column amplifier comprises:
a first input terminal;
a first output terminal;
an amplifier having a second input terminal and a second output terminal;
a feedback capacitance arranged between the second input terminal and the first output terminal;
an input capacitance including an electrode connected to the first input terminal, and an electrode connected to the second input terminal;
a first switch arranged between the second input terminal and the second output terminal;
a second switch arranged between the first output terminal and the second output terminal; and
a third switch arranged between a reference voltage terminal and the first output terminal, and
the driving method comprises the steps of:
connecting the reference voltage terminal to the first output terminal and connecting the second output terminal to the second input terminal;
connecting the second output terminal to the first output terminal to generate a first signal; and
amplifying the signal transferred from the pixel array via the signal line to generate a second signal including the amplified signal and the first signal.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1-8. (canceled)
9. A control system for controlling a pair of vehicles concurrently to traverse a respective pair of trajectories, comprising:
an onboard computer and a wireless communication device disposed on each vehicle, a vehicle location tracking system;
the computer having software configured to:
specify for each trajectory of the pair of overall trajectories a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval;
exchange a forecasted trajectory associated with each vehicle to the other vehicle of the pair of vehicles, the forecasted trajectory comprising a subset of the associated overall trajectory;
control movement of each vehicle of the pair of vehicles in coordination with one another along the respective forecasted trajectory,
sense a rate of exchange of additional waypoints data between the respective vehicles
determine for each trajectory the distance from the associated vehicle to an end of the safe stopping interval
update a position of the vehicles periodically, and sequentially thereafter update the forecasted trajectory with at least one additional waypoint in response to the respective vehicles traversing at least one waypoint of the forecasted trajectory;
determine a remainder length of the forecasted trajectory and compare the remainder length to the intermediate interval and the safe stopping interval, in response to a sensed reduction in a rate of exchanging additional waypoints, and:
continue traversing the forecasted trajectory in response to the remainder length being greater than the intermediate interval;
generate a warning signal in response to the remainder trajectory length being less than or equal to the intermediate interval and greater than the safe stopping interval; and
control the associated vehicle to a gradual stop within the safe stopping interval in response to the remainder trajectory length being equal to or less than the safe stopping interval.
10. The control system of claim 9, wherein the software is further configured to determine the initial position of the pair of vehicles at a pair of predetermined starting points in predetermined relation to the trajectory.
11. The control system of claim 9, wherein each waypoint of the plurality of successive waypoints specifies a plurality of parameters related to the associated trajectory, the plurality of parameters including at least two parameters selected from: time, position, direction and velocity.
12. The control system of claim 9, wherein each waypoint of the plurality of successive waypoints describe a beginning point and a termination point of a segment of the trajectory.
13. The control system of claim 9, wherein the warning signal warns the drivers of the respective vehicles to prepare to take manual control of the vehicle.
14. The control system of claim 9, wherein the warning signal indicates at least one driver of the pair of vehicles to assume manual control of driving the associated vehicle.
15. The control system of claim 9, wherein the software is further configured to:
designate one vehicle a primary vehicle and the other vehicle a secondary vehicle, at least one driver is driving the secondary vehicle, the secondary vehicle having an overall trajectory that is computed as a function of a primary trajectory associated with the other vehicle; and
determine the secondary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval based on the primary vehicle overall trajectory, forecasted trajectory, safe stopping interval and intermediate interval; and bringing the secondary vehicle to a controlled stop concurrently with the primary vehicle by following the remainder of the secondary vehicle safe stopping trajectory.
16. The control system of claim 15, wherein the software is further configured to require the driver of the secondary vehicle to take manual control of driving the secondary vehicle, and to automatically control the primary vehicle.
17. The control system of claim 9, wherein the software is configured to initialize upon receiving reference coordinates for the pair of vehicles at a pair of respective predetermined starting points, the starting points having a predetermined relation to the trajectory.