CN103852067B - 调整飞行时间(tof)测量系统的操作参数的方法 - Google Patents

调整飞行时间(tof)测量系统的操作参数的方法 Download PDF

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CN103852067B
CN103852067B CN201310646288.5A CN201310646288A CN103852067B CN 103852067 B CN103852067 B CN 103852067B CN 201310646288 A CN201310646288 A CN 201310646288A CN 103852067 B CN103852067 B CN 103852067B
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东翼·古
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

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Abstract

本申请案涉及一种调整飞行时间TOF测量系统的操作参数的方法。本发明揭示一种用于与飞行时间测量系统的移动速度及周围光等级成比例地调整所述TOF系统的IR照明的调制频率及强度，因此取决于速度而调整所述系统的视觉范围的方法。在替代实施例中，周期性地调整TOF测量系统的所述调制频率以覆盖所述TOF的较大视觉范围。

Description

调整飞行时间(TOF)测量系统的操作参数的方法
技术领域
本发明的技术领域为飞行时间传感器系统。
背景技术
从真实环境采集3D几何信息是计算机绘图中的许多应用的基本任务。例如虚拟及增广的环境以及人机交互(例如，针对游戏)的突出实例清楚地受益于用于实时范围图像采集的简单且准确装置。然而，甚至针对静态场景，不存在实时提供全范围、高分辨率距离信息的低价现成系统。激光三角测量技术(其仅借助单个激光装置逐行对场景取样)相当耗时且因此针对动态场景不实用。立体视觉摄像机系统不具有匹配同质对象区域中的对应物的能力。
在用于高精确度距离测量的LIDAR(光检测与测距)扫描仪中使用基于测量照明单元所发射的光行进到对象且返回到检测器所需的时间的飞行时间(ToF)技术。最近，此原理已成为开发在标准CMOS或CCD技术中实现的新的范围感测装置(所谓的ToF摄像机)的基础；在摄影测量法的背景中，ToF摄像机也称为范围成像(RIM)传感器。不同于其它3D系统，ToF摄像机为已实现实时距离采集所期望的大多数上文所述的特征的非常紧凑装置。当前在ToF技术中采用两种主要方法。第一种方法利用经调制非相干光且基于相位测量。第二种方法基于首先用于摄影棚用摄像机且稍后针对小型摄像机开发的光学快门技术。
在近三年内，在ToF摄像机的背景中研究活动的数目已急剧增加。尽管初始研究集中于更基本问题(如传感器特性及用于采集静态场景的ToF摄像机的应用)，但最近其它应用领域已成为焦点，例如，人机交互及监控。
可通过可感测并分析车辆内部及外部的动态3D环境的数字信号处理器启用各种安全性增强的汽车特征。安全特征可包含碰撞警告与避免、智能空气囊部署、障碍物检测(例如倒车警告)及停车辅助。对这些应用来说，共同的是需要检测、隔离、测量、定位、识别及追踪对象(例如人、交通及路边特征)。
经常提出使用常规2D成像传感器及分析软件执行这些任务，但在所有车辆使用情境期间实现成本效益及可靠性能为可怕挑战。对象在2D图像中的显现取决于照明条件、表面材料及对象定向极大地变化。图像的这些变化使软件必须解释场景的任务复杂化。另一方面，对象的3D形状不随那些混淆效应变化。
基于立体视觉的3D恢复在计算上为复杂的且在未经图案化表面上失败。类似地提出RADAR、超声波、扫描LADAR及其它测距技术，但其由于有限时间或角度分辨率而具有辨别对象上的困难；此外，每一安全功能对专门传感器的需要造成系统集成挑战。单个高帧速率焦点平面阵列3D传感器为合意的，这是因为其可同时提供多个安全且便利功能，从而允许应用联合利用动态场景中的形状及外观信息。传感器的输出应为2D像素值阵列序列，其中每一像素值描述亮度及场景的表面上的3D点的笛卡尔X、Y、Z坐标。
不断成长的政府立法、增加的责任关注度及对改进的安全性的必然消费者期望使得引入新的安全特征成为汽车制造商的高度优先选择。当今，各种感测技术在以下方面发挥关键作用：提供这些特征、在如停车辅助等应用中检测车辆内部及外部两者的条件、自适应巡航控制及预撞击碰撞减轻。这些应用中的每一者由通常提供测距功能或对象识别功能的独特定制技术(例如，超声波、RADAR、LADAR、数字图像感测等)表征。
对在多种不同技术中投资的需要使得视需要尽快或尽可能广泛地部署个别安全特征具挑战性。
未来应用造成甚至更多困难，这是因为必须在单个车辆中提供多个特征。此外，事实上对汽车制造商的路标(例如，在欧洲及日本计划的行人检测)的所有新的感测应用需要测距及对象识别功能两者。组合两种不一致技术来实现此任务(例如RADAR及数字图像感测)为昂贵的、难以实施且造成额外无效开发问题。
使用视觉通过提供静态或动态乘员分类及位置感测而对空气囊系统赋予添加的辨别等级。此外，在机舱内部添加视觉系统实现其它增值应用，例如被遗弃的婴儿/宠物检测、个性化及安全性。车外部的基于视觉的感测的应用为盲点检测、车辆车道偏离、后视安全性、围绕车辆的其它车辆的接近以及离开路面及重设备接近感测。视觉传感器的益处为两倍的。其提供增强的视觉反馈以帮助驾驶员操作车辆。但更重要的是，当视觉传感器还提供范围数据时，其提供先进算法所必需的信息以实现更高级辨别及对对象运动动态的更准确分析。举例来说，借助此些传感器，系统可使用坐在前座中的人与大箱子的形状差异来部署空气囊或不部署空气囊。
除深度值之外，ToF摄像机还提供表示从特定点往回发送的光的量的强度值。
由于调制信号的周期性，ToF摄像机具有经定义不模糊范围。在此范围内，可独特地计算距离。所述范围取决于摄像机的定义所发射信号的波长的调制频率。如图1中所展示，为计算距离，摄像机评估参考(所发射)信号101与所接收信号102之间的相移。所述相移与距离d成比例。
当前，多数ToF摄像机针对游戏、TV控制手势及数字标牌等以约20MHz的调制频率操作。那么，单个波长为15米，且这些ToF摄像机的独特范围为大约7.5米。可针对其中车以60英里/时或更快移动的汽车使用改变此频率以获得较长范围覆盖。可通过取决于汽车的速度调整有源照明的调制频率而调整所述范围。
发明内容
深度传感器技术为尖端新技术。尚未主要考虑来自经调制照明的TOF传感器的交叉干扰，这是因为尚未在很大程度上采用多个TOF摄像机。因此，人工地重新配置TOF调制频率。然而，举例来说，如果TOF技术广泛应用于汽车应用(例如，用于前场景及后场景分析)，那么几乎不可能针对每一传感器产品个别地指派单独TOF调制频率。给定技术允许通过检测其它TOF传感器的调制频率而动态改变TOF调制频率。因此，可避免多个TOF传感器当中的经调制照明的交叉干扰。
通过动态地改变IR调制频率的能力实现额外功能。通过调整与车辆的速度相关的调制频率，可针对碰撞避免或速度控制应用优化TOF摄像机的范围。在较高速度下，摄像机的范围经延伸以允许用于速度调整的更多时间，且在较低速度下，所述范围随距离测量的准确性的对应增加而减小。
还可根据速度及周围光动态地调整IR照明功率以便最小化TOF所经历的噪声级。
附图说明
在图式中图解说明本发明的这些及其它方面，其中：
图1展示现有技术TOF距离测量；
图2图解说明本发明的框图。
具体实施方式
TOF(飞行时间)传感器提供非常准确深度测量且可广泛地应用于各种环境内的应用。然而，TOF传感器技术由于来自多个TOF传感器的IR照明采用相同调制频率而在本质上具有TOF传感器当中的交叉干扰问题。由于IR调制频率与TOF的经覆盖深度范围直接相关，因此存在将在适当位置中的TOF传感器当中选择TOF IR照明的相同调制频率的可能性。
举例来说，针对以中等范围深度地图为目标的应用，在许多情形中，选择20MHz IR调制频率。来自具有相同IR调制频率(20MHz)的TOF传感器的干扰可显著影响每一传感器的深度准确性。
所描述的发明提供一种通过组合IR调制频率检测器与用于动态调整IR发射调制频率的逻辑而避免TOF传感器当中的IR干扰的方法。
如图2中所展示，本发明主要由两部分组成：AIMD(周围IR调制频率检测)模块及TIMA(发射IR调制频率调整)模块。
AIMD模块通过IR频率检测器201检测所有周围IR调制频率208，且MCU202通过IR调制频率监视例程203分析每一调制频率及其持续时间。如果其持续时间Δtime(fr，IR)比预定义阈值ThΔtime长，那么MCU触发IR调制频率调整例程207以调整相关联TOF传感器的当前IR发射调制频率209。可动态地重新配置所述预定义阈值以调整TOF对干扰噪声的敏感性及实时处理的需要。
IR调制频率209的小的改变(例如，20Mhz→20.1Mhz)可显著减小干扰相关的噪声。因此，可在TOF传感器205的深度地图采集中移除周围IR调制频率的干扰。因此，可在不具有周围交叉干扰噪声的情况下捕获TOF传感器原始数据210。
除减小来自周围IR调制频率的干扰之外，本发明的不同实施例还添加根据车辆的速度及周围光的强度调整TOF摄像机的IR调制频率及IR照明强度的能力。在碰撞预防或其它速度敏感应用中，在车辆速度增加时增加TOF摄像机的视觉距离以便确保校正行动的充分时间为有益的。
除减小来自周围IR调制频率的干扰之外，本发明的另一不同实施例还添加使调制频率及因此TOF摄像机的视觉距离周期性地变化以有效地覆盖较大视觉地图的能力。

Claims (4)

1.一种调整飞行时间TOF测量系统的操作参数的方法，其包括以下步骤：
接收指示所述飞行时间TOF测量系统的移动速度的信号；
与所述飞行时间TOF测量系统的所述移动速度的增加成比例地减小所述飞行时间TOF测量系统的调制频率；
与所述飞行时间TOF测量系统的所述移动速度的所述增加成比例地增加IR照明等级的强度；
接收指示周围光的等级的信号；
与所述周围光的所述等级成反比地调整所述IR照明等级。
2.根据权利要求1所述的方法，其中：
指示所述飞行时间TOF测量系统的所述移动速度的所述信号为与所述速度成比例的连续可变信号。
3.根据权利要求1所述的方法，其中：
指示所述飞行时间TOF测量系统的所述移动速度的所述信号为与设定速度范围成比例的阶梯函数。
4.根据权利要求1所述的方法，其进一步包括以下步骤：
在不考虑所述速度的情况下使所述飞行时间TOF测量系统的所述调制频率周期性地变化。
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