CN108603932B - 多脉冲的基于光探测和测距的三维成像 - Google Patents
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Abstract
本文给出了用于执行多脉冲LIDAR测量的方法和系统。在一方面,每个LIDAR测量波束利用多个照明光脉冲的序列照亮三维环境中的位置。在测量区间期间由LIDAR系统的光敏探测器探测从该位置反射的光,该测量区间的持续时间大于或等于光从LIDAR系统飞到LIDAR系统的编程范围并返回的飞行时间。测量脉冲序列中的脉冲的幅度和持续时间可以变化。此外,还可以改变脉冲之间的延迟和每个测量脉冲序列中的脉冲数。在一些实施例中,对多脉冲照明波束进行编码,并且对返回测量脉冲序列进行解码以将测量脉冲序列与外源信号区分开。
Description
相关申请的交叉引用
本专利申请要求于2016年10月31日提交的名为“多脉冲的基于雷达的三维成像(Multiple Pulse,LIDAR Based三维Imaging)”美国专利申请No.15/339,790的优先权,该美国专利申请又根据美国法典第35卷第119节的规定要求于2016年1月31日提交的名为“多脉冲的基于雷达的三维成像(Multiple Pulse,LIDAR Based三维Imaging)”美国临时专利申请No.62/289,277的优先权,其主题被通过引用全部结合到本文中。
技术领域
所述实施例涉及基于光探测和测距(LIDAR)的三维点云测量系统。
背景技术
LIDAR系统使用光脉冲来基于每个光脉冲的飞行时间(TOF)测量与物体相距的距离。从LIDAR系统的光源发射的光脉冲与远侧物体相互作用。一部分光从该物体反射并返回到LIDAR系统的探测器。基于发射光脉冲和探测到返回的光脉冲之间所经过的时间来估计距离。在一些示例中,光脉冲由激光发射器产生。光脉冲通过透镜或透镜组件聚焦。测量激光脉冲返回到安装在发射器附近的探测器所花费的时间,并且以高精度通过时间推导出距离。
一些LIDAR系统采用与旋转镜相结合的单个激光发射器/探测器组合,以有效地横扫平面。由这种系统执行的距离测量实际上是二维的(即,平面的),并且捕获到的距离点被作为二维(即,单个平面)点云呈现出来。在一些示例中,旋转镜以非常快的速度(例如,每分钟数千转)旋转。
然而,在许多操作方案中,需要三维点云。已经采用了许多方案来三维地询问周围环境。在一些示例中,二维仪器通常在万向接头上被上下和/或前后致动。这在本领域中通常被称为“眨眼”或“点头”传感器。因此,可以采用单波束LIDAR单元来捕获距离点的整个三维阵列,尽管每次一个点。在相关示例中,采用棱镜将激光脉冲“划分”成多个层,每个层具有略微不同的垂直角。这模拟了上述点头效果,但是没未致动传感器本身。
在所有上述示例中,单个激光发射器/探测器组合的光路被以某种方式改变以获得更宽的视野。但是,由于对单个激光器的脉冲重复率的限制,导致这种设备每单位时间可以产生的像素数量天生就受到限制。波束路径的用以实现更大覆盖区域的任何改变(无论是通过反射镜、棱镜还是装置的致动)都以降低点云密度为代价。
如上所述,三维点云系统以若干种配置而存在。然而,在许多应用中,有必要在宽视野上收集距离测量值。例如,在自主车辆应用中,垂直视野应该向下延伸到车辆前方的地面。此外,如果汽车在道路上倾斜,则垂直视野应该在地平线的上方延伸。此外,必须在现实世界中发生的动作与那些动作的成像之间具有最小延迟。在一些示例中,所期望的是每秒提供至少五次完整的图像更新。为了满足这些要求,已经研发了一种3维LIDAR系统,其包括多个激光发射器和探测器阵列。该系统在于2011年6月28日授权的美国专利No.7,969,558中予以描述,其主题被通过引用全部结合到本文中。
在许多应用中,发射脉冲序列。每个脉冲的方向被依次接连不断地改变。在这些示例中,与每个单独脉冲相关联的距离测量可以被视为是像素,并且接连不断地发射和捕获的像素(即,“点云”)的收集可以被作为图像呈现或者出于其它原因(例如,探测障碍物)而被进行分析。在一些示例中,采用查看软件将最终获得的点云作为向用户显现三维的图像呈现。可以使用不同的方案将距离测量值描绘为三维图像,这些三维图像看起来就像它们被实况摄像机所捕获到的那样。
在一些示例中,设定连续光发射脉冲的正时,使得在触发后续脉冲发射之前探测与特定脉冲发射相关联的返回信号。这确保了探测到的返回信号与产生探测到的返回信号的特定脉冲发射适当关联。
在一些其它示例中,在探测到来自多个脉冲中的任一个的返回信号之前,将多个脉冲发射到周围环境中。传统上,该方法增加了探测到的信号之间的串扰的可能性。换句话说,当在探测到来自多个脉冲中的任一个的返回信号之前将多个脉冲发射到周围环境中时,探测到的返回信号可能与不同于引起探测到的返回信号的特定脉冲发射的脉冲发射错误地关联。这可能会导致距离测量误差。
传统上,为了避免多个脉冲之间的串扰,多个脉冲中的每个脉冲沿不同的方向投射。通过沿不同方向投射多个脉冲中的每一个,由多个脉冲中的每一个询问的每个空间体积与由其它多个脉冲中的任一个询问的任何空间体积完全分离开。由于增加了同时询问的空间之间的分离,因此降低了由于串扰诱生测量误差的可能性。
无论采用顺序脉冲技术还是采用具有空间分离的多脉冲技术,性能难题仍然存在。
返回信号的探测包括值得注意的测量噪声源。在一些示例中,由于太阳光、太阳耀斑或宇宙射线引起的光脉冲被探测到并且被与特定脉冲发射错误地相关联。这导致错误的距离测量值。在一些其它示例中,来自另一个LIDAR系统的脉冲发射被探测到并且被与特定脉冲发射错误地相关联。再一次,这导致错误的距离测量值。由于用于LIDAR系统的测量范围被扩展而并未增加激光脉冲强度,因此这些问题被加剧。
现有的LIDAR系统在任何给正时间使用单个光脉冲来询问周围环境的特定体积。这些系统易受到来自外部噪声源(例如太阳光、宇宙射线或其它基于LIDAR的成像系统)的信号污染的影响。
期望改善噪声抑制以扩展测量范围并抑制与不与LIDAR系统相关联的照明源相关联的探测信号。
发明内容
本文给出了用于执行多脉冲LIDAR测量的方法和系统。在一方面,每个LIDAR测量波束利用多个照明光脉冲的阵列来照亮三维环境中的位置。每个测量脉冲序列包括多个照明光脉冲,并且得到三维LIDAR系统与特定位置之间的距离的估计。在测量区间(window)期间由LIDAR系统的光敏探测器探测从该位置反射的光,该测量区间的持续时间大于或等于光从该LIDAR系统飞到LIDAR系统的编程范围之外并返回的飞行时间。
在另一方面,LIDAR系统确定多脉冲测量波束从LIDAR装置飞到三维环境的特定照亮点并返回到LIDAR装置的飞行时间。
在一些实施例中,每个LIDAR测量之间的延迟时间被设定为大于测量脉冲序列往返于位于LIDAR装置的最大范围处的物体的飞行时间。以这种方式,LIDAR系统的不同信道之间不存在串扰。
在一些其它实施例中,在从另一多脉冲照明系统发射的测量脉冲序列有时间返回到LIDAR装置之前,可以从一个多脉冲照明系统发射测量脉冲序列。在一些实施例中,注意确保在由每个波束询问的周围环境的区域之间存在足够的空间间隔以避免串扰。在一些实施例中,与特定测量信道相关联的多脉冲照明被以与由任何其它测量信道产生的任何其它多脉冲照明不同的方式进行编码。
可以根据代码分集方案、幅度分集方案、时间分集方案或其任何组合来对多脉冲照明波束进行编码。通过对测量脉冲序列进行编码并对返回测量脉冲序列进行解码,将通过测量脉冲序列与照明相关联的反射信号与外源信号区分开。
在一些示例中,多脉冲照明波束的编码可以是伪随机的。在一些示例中,可以响应于返回信号中的信道噪声的测量值来改变多脉冲波束的编码。例如,如果返回信号包括超过阈值的噪声,则选择另一代码。以这种方式,可以选择编码以使外源噪声源(例如其它LIDAR系统)的影响最小化。
通常,测量脉冲序列中的脉冲序列的幅度和持续时间可以变化。此外,还可以改变脉冲之间的延迟和每个测量脉冲序列中的脉冲数。
以上是概述,因此必然包含对于细节的简化、概括和省略;因此,本领域技术人员将了解,该概述仅是说明性的而并不以任何方式进行限制。本文中描述的装置和/或过程的其它方面、创造性特征和优点将在本文阐述的非限制性详细描述中变得显而易见。
附图说明
图1是示出了可被用于执行本文中所述的多脉冲测量方法的三维LIDAR系统100的一个实施例的简图。
图2是示出了可被用于执行本文中所述的多脉冲测量方法的3维LIDAR系统10的另一实施例的简图。
图3描绘了一个示例性实施例中的3维LIDAR系统100的分解图。
图4描绘了3维LIDAR系统100的光发射/收集引擎112的视图。
图5更为详细地描绘了3维LIDAR系统100的集光器件116的视图。
图6描绘了3维LIDAR系统100的集光器件116的剖视图,其示出了收集到的光118的每个波束的成形。
图7描绘了包括多脉冲照明系统130、光探测系统150和控制器140的3维LIDAR系统的元件。
图8描绘了多脉冲测量光束的发射正时和返回测量脉冲序列的捕获的图示。
图9描绘了在后滤波之前的返回测量脉冲序列的图示。
图10描绘了包括时间分界的返回测量脉冲序列的图示。
图11描绘了表170,该表170表明了与图10中描绘的返回测量脉冲序列的每个峰相关联的时间和相邻峰之间的时间。
图12描绘了测量脉冲序列167的图示,该测量脉冲序列167包括四个幅度相对小且持续时间短的脉冲,接着是具有相对大的幅度和长持续时间的第五脉冲。
图13描绘了来自十六个多脉冲照亮子系统的光发射的正时的图示。
图14描绘了一幅流程图,该流程图在至少一个新颖方面示出了执行多脉冲LIDAR测量的方法200。
具体实施方式
现将详细参考背景示例和本发明的一些实施例进行说明,本发明的示例被在附图中示出。
图1是示出了一个示例性操作场景中的3维LIDAR系统100的实施例的示图。三维LIDAR系统100包括下壳体101和上壳体102,该上壳体102包括由对红外光(例如,波长在700纳米至1,700纳米的光谱范围内的光)透明的材料构成的圆顶外壳元件103。在一个示例中,圆顶外壳元件103对于波长集中在905纳米的光是透明的。
如图1中所描绘的那样,多个脉冲光束105被从三维LIDAR系统100遍及从中心轴104测量到的角度范围α发射穿过圆顶外壳元件103。在图1中描述的实施例中,示出了每个光束的主射线。每个光束的每个主射线在彼此间隔开的多个不同的位置处被投影到由x轴和y轴限定的平面上。例如,波束106被于位置107处投射到xy平面上。
在图1中所描绘的实施例中,三维LIDAR系统100被配置为围绕中心轴104扫描多个光束105中的每一个。被投射到xy平面上的每个光束描画出以中心轴104和xy平面的交叉点为中心的圆形图案。例如,随着时间的推移,波束106的主射线到xy平面上的投影描绘出以中心轴104为中心的圆形轨迹108。xy平面被图1中描绘以示出从三维LIDAR系统100发射的波束的空间分离。通常,从三维LIDAR系统100发射的波束被投射到周围环境中并且入射在位于每个相应波束的路径中的物体上。
图2是示出了一个示例性操作场景中的三维LIDAR系统10的另一实施例的示图。三维LIDAR系统10包括下壳体11和上壳体12,该上壳体12包括由对红外光(例如,波长在700纳米至1,700纳米的光谱范围内的光)透明的材料构成的圆柱形外壳元件13。在一个示例中,圆柱形外壳元件13对于波长集中在905纳米的光是透明的。
如图2中所描绘的那样,多个光束15被从三维LIDAR系统10遍及角度范围β发射穿过圆柱形外壳元件13。在图2在描绘的实施例中,示出了每个光束的主射线。每个光束沿不同方向向外投射到周围环境中。例如,波束16被投射到周围环境中的位置17上。在一些实施例中,从系统10发射的每个光束略微发散。在一个示例中,从系统10发射的光束在与系统10相距100米的距离处照亮直径为20厘米的斑点大小。以这种方式,每个照明光束是从系统10发射的照明光锥。
在图2描绘的实施例中,三维LIDAR系统10被配置为以角速度ω围绕中心轴14扫描多个光束15中的每一个。出于说明的目的,光束15被示出为相对于三维LIDAR系统10的非旋转坐标系处于一个角度定向中,并且光束15'被示出为相对于该非旋转坐标系处于另一角度定向中。当光束15围绕中心轴14旋转时,投射到周围环境中的每个光束(例如,与每个波束束相关联的每个照明光锥)在它围绕中心轴14扫掠时照亮对应于锥形照明波束的环境的体积。
图3描绘了一个示例性实施例中的三维LIDAR系统100的分解图。三维LIDAR系统100还包括围绕中心轴104旋转的光发射/收集引擎112。如图3中所描绘的那样,光发射/收集引擎112的中心光轴117相对于中心轴104以角度θ倾斜。三维LIDAR系统100包括相对于下壳体101安装在固定位置中的固定电子板110。旋转电子板111被设置在固定电子板110的上方,并被配置为以预定旋转速度(例如,大于200转/分钟)相对于固定电子板110旋转。电力信号和电子信号被在固定电子板110和旋转电子板111之间通过一个或多个变压器元件、电容元件或光学元件进行传递,从而导致这些信号的非接触传输。光发射/收集引擎112被相对于旋转电子板111固定地定位,并因此以预定角速度ω围绕中心轴104旋转。
如图3中所描绘的那样,光发射/收集引擎112包括发光元件114的阵列和光探测元件113的阵列。从每个发光元件114发射的光被朝向反射镜(未示出)引导。从反射镜反射的光通过一系列照明光学器件115,这些照明光学器件115将发射的光校准到如图1中所描绘的从三维LIDAR系统100发射的光束105的阵列中。通常,任何数量的发光元件可以被布置成同时或基本上同时从三维LIDAR系统100发射任何数量的光束。此外,任何数量的发光元件可以被布置为从三维LIDAR系统100顺序地发射任意数量的光束。在一个实施例中,两个或更多个发光元件被触发以基本上同时发光,并且随后在经过编程的时间段之后,另外两个或更多个发光元件被触发以基本上同时发光。从环境中的物体反射的光被通过集光器件116进行收集。与每个照明光束相关联的收集光通过集光器件116,在那里,光被聚焦到探测元件113的阵列中的每个相应的探测元件上。在通过集光器件116之后,收集到的光被从反射镜(未示出)反射到每个探测器元件上。实际上,每个测量信道之中的串扰限制了可以被同时触发的信道数量。然而,为了使成像分辨率最大化,期望同时触发尽可能多的信道,使得同时而非顺序地从许多信道获得飞行时间测量值。
图4描绘了光发射/收集引擎112的另一视图。在一个方面中,光发射/收集引擎112包括中间电子板121、122和123,这些中间电子板提供旋转电子板111和光发射/收集引擎112的多个元件之间的机械支撑和电气连通性。例如,光探测元件113的阵列中的每一个被安装到中间电子板121。中间电子板121又被机械地以及电气地联接到旋转电子板111。同样,发光元件114的阵列中的每一个被安装到中间电子板123。中间电子板123又被机械地以及电气地联接到旋转电子板111。在另一示例中,照明光学器件115和集光器件116被机械地安装到中间电子板122。在该示例中,中间电子板122在空间上以及在光学方面将照明光学器件115和集光器件116分离开,以避免用照明光污染收集到的光。中间电子板122又被机械地以及电气地联接到旋转电子板111。以这种方式,中间电子板提供机械和电气连通性以及用于安装三维LIDAR系统100的操作所需的电气部件的附加板区域。
图5更为详细地描绘了集光器件116的视图。如图5中所描绘的那样,集光器件116包括四个透镜元件116A-D,这些透镜元件116A-D被布置为将收集到的光118聚焦到探测元件113的阵列中的每一个上。穿过集光器件116的光被从反射镜124反射并被引导到探测元件113的阵列中的每一个上。在另一方面中,集光器件116的光学元件中的一个或多个由吸收位于预定波长范围之外的光的一种或多种材料构成,该预定波长范围包括由发光元件114的阵列中的每一个发射的光的波长。在一个示例中,透镜元件中的一个或多个由塑料材料构成,该塑料材料包括着色添加剂以吸收波长小于由发光元件114的阵列中的每一个产生的红外光的光。在一个示例中,着色剂是可从Aako BV(荷兰)获得的Epolight 7276A。通常,可以将任何数量的不同着色剂添加到集光器件116的任何塑料透镜元件中以滤除掉不希望存在的光谱。
图6描绘了集光器件116的剖视图,以示出收集到的光118的每个波束的弯曲。
如上文中所述,集光器件116的光学元件中的一个或多个由吸收位于预定波长范围之外的光的一种或多种材料构成,该预定波长范围包括由发光元件114的阵列中的每一个发射的光的波长。然而,通常,照明光学器件115的光学元件中的一个或多个也可以由吸收位于预定波长范围之外的光的一种或多种材料构成,该预定波长范围包括由发光元件114的阵列中的每一个发射的光的波长。
LIDAR系统(例如图2中所描绘的三维LIDAR系统10和图1中所描绘的系统100)包括脉冲照明源,该脉冲照明源将来自LIDAR装置的照明光脉冲波束发射到周围环境中。在一些实施例中,脉冲照明源是基于激光的。在一些实施例中,脉冲照明源基于一个或多个发光二极管。通常,可以设想到任何适用的脉冲照明源。
在一个方面中,每个测量波束利用多个照明光脉冲的序列照亮三维环境(例如,像素)的特定位置。因此,每个测量脉冲序列包括多个照明光脉冲,该照明光询问周围环境中的一个位置并得到对于三维LIDAR系统与该位置之间的距离的估计。在测量区间期间,由LIDAR系统的光敏探测器探测从该位置反射的光,该测量区间的持续时间小于或等于从LIDAR系统到LIDAR系统的编程范围并返回的光的飞行时间。光敏探测器探测从周围的三维环境中的特定位置反射的测量脉冲序列。以这种方式,由LIDAR系统捕获来自测量脉冲序列的每个脉冲的特定测量位置的反射。
在另一方面,LIDAR系统确定多脉冲测量射束从LIDAR装置到三维环境的特定照亮点并返回到该LIDAR装置的飞行时间。基于在测量区间期间探测到的反射光来确定该飞行时间。LIDAR装置与由多脉冲照明光束照亮的三维环境的特定位置之间的距离被基于飞行时间和已知光速加以确定。
图7描绘了一个实施例中的LIDAR系统的元件,这些元件包括多脉冲照明系统130、多脉冲光探测系统150和控制器140。图7中描绘的实施例被作为非限制性示例提供,并且在本专利文件的范围内可以设想到用于执行如本文中所述的多脉冲LIDAR测量的许多其它适用的实施例。
多脉冲照明系统130包括脉冲发光装置137。脉冲发光装置137响应于向脉冲发光装置提供的脉冲电信号136产生脉冲光发射。由脉冲发光装置137产生的光被LIDAR系统的一个或多个光学元件被聚焦并被作为测量脉冲序列投射到周围环境中的特定位置138上。在一个示例中,由脉冲发光装置137发射的光被照明光学器件115聚焦并投射到特定位置上,这些照明光学器件115将发射的光校准到从三维LIDAR系统10发射的多脉冲光束16中,如图2中所示。
多脉冲照明系统130包括被选择性地联接到脉冲发光装置137的任何数量的电能存储元件(ESE)。出于说明的目的,图7描绘了N个能量存储元件中的三个能量存储元件(标记为ESE 132A-C),其中,N可以是任何整数。在一些示例中,每个能量存储元件是电容器。电能源131(例如,电压源)被电联接到能量存储元件中的每一个,并向每个电能存储元件提供电能。每个电能存储元件均被通过开关元件选择性地联接到脉冲发光装置137。再次,出于说明的目的,图7描绘了N个开关元件中的三个开关元件(被标记为139A-C)。每个开关元件被配置为根据控制信号(例如,数字控制信号MPC)的状态在两个状态之间进行切换。在第一状态下,开关元件基本上是不导电的。在这种状态下,相应的能量存储元件有效地与脉冲发光装置137断开连接。在这种状态下,电能从电能源131流到每个相应的能量存储元件,以有效地对能量存储元件进行充电。在第二状态下,开关元件基本上是导电的。在这种状态下,相应的能量存储元件被电联接到脉冲发光装置137。在这种状态下,电能从能量存储元件流到脉冲发光装置137。
如图7中所描绘的那样,通过任何能量存储元件同时向脉冲发光装置137供给的任何电流都是有效加成的。以这种方式,向脉冲发光装置137提供的电流信号136被通过控制信号(MPC)有效地成形。例如,当MPC[N]控制开关元件139C以便从基本上不导电的状态切换到基本导电的状态时,电流脉冲133被提供给脉冲发光装置137。同样,电流脉冲134和135可以分别从能量存储元件ESE 132B和ESE 132A向脉冲发光装置137提供。
如图7中所描绘的那样,控制器140产生控制信号MPC,该控制信号控制向脉冲发光装置137提供的电流脉冲的正时,并因此控制从LIDAR装置发射的光脉冲的正时。
通常,由控制器140命令的每个脉冲序列的幅度和持续时间可以变化。此外,还可以改变脉冲之间的延迟和每个测量脉冲序列中的脉冲数。在一些示例中,测量脉冲序列的一个脉冲具有比同一测量脉冲序列的另一脉冲更大的幅度。在一些示例中,测量脉冲序列的一个脉冲具有比同一测量脉冲序列的另一脉冲更长的持续时间。在一些示例中,测量脉冲序列的一个脉冲具有比同一测量脉冲序列的另一脉冲更长的持续时间和更大的幅度。
在一个实施例中,多脉冲照明系统130包括八个电能存储元件,其被以参照图7描述的方式选择性地联接到脉冲发光装置。通常,八个可用的光能脉冲被根据需要组合并确定正时。在图12中描绘的一个示例中,测量脉冲序列包括四个幅度相对小且持续时间短的脉冲,接着是幅度相对大且持续时间长的第五脉冲。通过触发一个能量存储元件的放电产生前四个脉冲中的每一个。通过将其余的四个能量存储元件同时触发到脉冲发光装置中来产生第五脉冲。在另一实施例中,第五脉冲可由具有较大能量存储容量的单个能量存储元件产生。以这种方式,测量光序列包括四个幅度相对小的脉冲,接着是一个大幅度脉冲。这可能是期望的,这是因为前四个脉冲适用于短距离测量,并且大幅度脉冲适用于相对长距离的测量。通常,能量存储元件可以以任何适用的方式确定尺寸,并且可以同时触发任何数量的能量存储元件以便在多脉冲照明序列内获得所期望的脉冲幅度。
通常,多脉冲照明系统130可以包括选择性地与脉冲发光装置串联联接的任何数量的电能存储元件。此外,一个或多个电能存储元件可以具有与一个或多个其它电能存储元件不同的能量存储容量。
在另一实施例中,LIDAR系统(例如图2中所描绘的LIDAR系统10)包括与共用控制器(例如,控制器140)协同操作的十六个多脉冲照明系统。图13描绘了示例性简图180,其示出了来自十六个多脉冲照明系统中的每一个的光发射的正时。
如图13中所描绘的那样,从第一多脉冲照明系统发射测量脉冲序列。在延迟时间(T延迟)之后,从LIDAR装置的第二多脉冲照明系统发射测量脉冲序列。以这种方式,在测量周期(T测量)期间,从LIDAR装置以不同方向发射一系列共十六个测量脉冲序列。十六个多脉冲照明系统中的每一个的能量存储元件在测量周期之后被充电持续充电周期(T充电)。在充电周期之后,在后一测量周期中从每个多脉冲照明系统发射另一测量脉冲序列。
在一些实施例中,延迟时间T延迟被设定为大于测量脉冲序列往返于位于LIDAR装置的最大范围处的对象的飞行时间。以这种方式,在十六个多脉冲照明系统中的任何一个之间均不存在串扰。
在一些其它实施例中,在从另一多脉冲照明系统发射的测量脉冲序列有时间返回到LIDAR装置之前,可以从一个多脉冲照亮系统发射测量脉冲序列。在这些实施例中的一些中,注意确保在由每个波束所询问的周围环境的区域之间存在足够大的空间间隔以避免串扰。在这些实施例中的一些中,由LIDAR系统采用的任何多脉冲照明系统所产生的多脉冲照明被以与由任何其它多脉冲照明系统所产生的任何其它多脉冲照明不同的方式进行编码。以这种方式,即使在射束之间存在空间重叠,也可以将与每个多脉冲照明波束相关联的返回信号与任何其它收集到的光区分开。
如图7中所描绘的那样,由光探测器155探测从位置138反射的光。光探测器155产生由模拟跨阻抗放大器152放大的输出信号151。通常,输出信号151的放大可以包括多个放大器级。在这个意义上,通过非限制性示例提供模拟跨阻抗放大器152,这是因为在本专利文件的范围内可以设想到许多其它模拟信号放大方案。
放大信号153被传送到控制器140。控制器140的模数转换器(ADC)144被用于将模拟信号153转换成用于进一步处理的数字信号。控制器140产生启用/停用信号145,用于与多脉冲控制信号MPC相呼应地通过ADC144控制数据获取的正时。
图8描绘了与测量脉冲序列的发射和返回的测量脉冲序列的捕获相关联的正时的图示。如图8中所描绘的那样,测量开始于由控制器140产生的多脉冲触发信号161(例如,MPC[1])。由于内部系统延迟,确定被相对于多脉冲触发信号161移位时间延迟(TD)的索引信号162。该时间延迟包括与从LIDAR系统发射光相关联的已知延迟(例如,与开关元件、能量存储元件和脉冲发光装置相关联的信号通信延迟和延时(latency))以及与收集光和产生指示收集到的光的信号相关联的已知延迟(例如,放大器延时、模拟-数字转换延迟等)。索引信号162可以是如图8中所描绘的多脉冲信号或单脉冲信号。索引信号被作为测量该系统内的时间延迟的方式而产生。这样,索引信号可以在系统操作期间的任何适用的时刻再生。另外,可以采用索引信号来估计与一个或多个测量信道相关联的时间延迟。
如图8中所描绘的那样,响应于特定位置的照明,由LIDAR系统探测返回信号163。通过启用来自光探测元件150的数据获取来启动测量区间(即,收集到的返回信号数据与特定测量脉冲序列相关联的一段时间)。控制器140控制测量区间的正时以对应于响应于测量脉冲序列的发射而预期返回信号的时间区间。在一些示例中,测量区间在发射测量脉冲序列的时间点被启用,并且在与光飞过两倍于LIDAR系统的范围的距离的飞行时间相对应的时间点被停用。以这种方式,测量区间被打开,以收集从与LIDAR系统相邻的物体(即,飞行时间可忽略)返回到位于LIDAR系统的最大范围处的物体的返回光。以这种方式,抑制可能无法有助于有用的返回信号的所有其它的光。
如图8中所描绘的那样,返回信号163包括两个返回测量脉冲序列,其对应于发射的测量脉冲序列。通常,对所有探测到的测量脉冲序列执行信号探测。可以执行进一步的信号分析以识别最接近的信号(例如,返回测量脉冲序列中的第一个情况)、最强信号和最远信号(例如,测量区间中的返回测量脉冲序列中的最后一个情况)。任何这些情况都可以被LIDAR系统报告为潜在有效的距离测量。例如,飞行时间TOF1可以通过最接近的(即,最早的)返回测量脉冲序列进行计算,该脉冲序列对应于如图8中所描绘的发射的测量脉冲序列。
在测量LIDAR系统与周围环境中的特定位置之间的距离时测量脉冲序列的发射和收集能够实现许多用于抑制噪声的方案。这可以导致可实现的范围的增大和不想要的信号(例如,太阳噪声、太阳耀斑、来自其它LIDAR装置的串扰等)的灵敏度的降低。可以根据代码分集方案、幅度分集方案、时间分集方案或其任何组合对多脉冲照明波束进行编码。通过对测量脉冲序列进行编码并对返回测量脉冲序列进行解码,将通过测量脉冲序列与照明相关联的反射信号与外源信号区分开。
在一些示例中,多脉冲照明波束的编码可以是伪随机的。在一些示例中,可以响应于返回信号中的信道噪声的测量值来改变多脉冲射束的编码。例如,如果返回信号包括超过阈值的噪声,则选择另一代码。以这种方式,可以选择使外源噪声源(例如其它LIDAR系统)的影响最小化的编码。
在图9中所描绘的一个示例中,返回测量脉冲序列163例如由签名探测滤波器进行滤波。在一个示例中,签名探测滤波器是自相关滤波器。滤波后的信号165也被描绘在图9中。在这些示例中,如果滤波后的输出信号超过阈值,则将收集到的信号确定为是真实(legitimate)的返回测量脉冲序列。
在图10-图11中描绘的另一示例中,确定返回测量脉冲序列163的峰的时间间隔。例如,如图11中所描绘的那样,表170表示与测量脉冲序列163的每个峰相关联的时间和相邻峰之间的时间。如果每个连续情况之间的时间基本上类似于发射的测量脉冲序列之间的时间,则将该返回测量脉冲序列确定为是真实的。因此,多脉冲照明光束的飞行时间基于从LIDAR装置发射多脉冲波束的时间和与超过阈值的输出信号的多个连续情况相关联的探测时间之间的差。
在另一方面中,在测量LIDAR系统与周围环境中的特定位置之间的距离测量中发射和收集多个脉冲序列能够估计LIDAR系统与探测到的物体之间的相对速度。
图14示出了在至少一个新颖方面中执行多脉冲LIDAR测量的方法200。方法200适用于由本发明的LIDAR系统(例如分别为图1的LIDAR系统100和图2的LIDAR系统10)实现。在一方面,认识到方法200的数据处理块可以经由由控制器140的一个或多个处理器或任何其它通用计算系统执行的预编程算法来执行。在此认识到,LIDAR系统100和10的特定结构方面并不代表限制,而应该仅被解释为是说明性的。
在块201中,将多脉冲照明光束从LIDAR装置发射到三维环境中。多脉冲照明光束利用照明光的测量脉冲序列照亮三维环境的特定点。
在块202中,在测量时间区间期间探测从三维环境的由多脉冲照明光束照亮的特定点反射的测量脉冲序列的量。测量时间区间的持续时间超过光飞过两倍于LIDAR装置的测量范围的距离的飞行时间。
在块203中,产生表示探测到的光量的输出信号。
在块204中,输出信号被例如通过图7中所描绘的控制器140的模数转换电子器件转换为数字信号。
在块205中,基于数字信号确定测量脉冲序列从LIDAR装置到三维环境的特定点并返回到LIDAR装置的飞行时间。
在一个或多个示例性实施例中,所描述的功能可以在硬件、软件、固件或其任何组合中来实施。如果在软件中实现,则可以将这些功能作为一个或多个指令或代码存储在计算机可读介质上或通过计算机可读介质进行传输。计算机可读介质包括计算机存储介质和通信介质,通信介质包括便于将计算机程序从一个地方传送到另一个地方的任何介质。存储介质可以是可由通用或专用计算机进行访问的任何可用介质。作为示例而非限制,这种计算机可读介质可包括RAM、ROM、EEPROM、CD-ROM或其它光盘存储器、磁盘存储器或其它磁性存储装置或者可以被用于呈指令或数据结构的形式承载或存储所需的程序代码且可以由通用或专用计算机或通用或专用处理器进行访问的任何其它介质。此外,任何连接都被适当地称为计算机可读介质。例如,如果使用同轴电缆、光纤电缆、双绞线、数字用户线(DSL)或无线技术(例如红外、无线电和微波)从网站、服务器或其它远程源传输软件,则介质的定义中包括同轴电缆、光纤电缆、双绞线、DSL或无线技术(例如红外、无线电和微波)。本文中所使用的磁盘和光盘包括压缩光盘(CD)、激光光盘、光盘、数字通用光盘(DVD)、软盘和蓝光光盘,其中,磁盘通常磁性地再现数据,而光盘利用激光光学地再现数据。上述的组合也应被包括在计算机可读介质的范围内。
尽管上面出于指导的目的描述了某些具体实施例,但是本专利文件的教导具有普遍适用性且不限于上述具体实施例。因此,在不脱离权利要求中所阐述的本发明的范围的情况下,可以实践所述实施例的多种特征的各种修改、改编和组合。
Claims (23)
1.一种光探测和测距装置,包括:
多脉冲照明源,所述多脉冲照明源被配置成将来自所述光探测和测距装置的多脉冲照明光束发射到三维环境中以利用照明光的包括多个照明光脉冲的测量脉冲序列照亮所述三维环境的特定点;
光敏探测器,所述光敏探测器被配置成探测从所述三维环境的由所述多脉冲照明光束照亮的所述特定点反射的所述测量脉冲序列的量,并产生表示探测到的光量的输出信号;以及
计算系统,所述计算系统被配置为:
接收表示所述探测到的光量的所述输出信号;
将所述输出信号转换为数字信号;
基于所述数字信号确定所述测量脉冲序列从所述光探测和测距装置飞到所述三维环境的所述特定点并返回到所述光探测和测距装置的飞行时间;以及
其中,所述多脉冲照明源被配置成响应于由所述光敏探测器产生的所述输出信号中的信道噪声的测量值改变所述多脉冲照明光束的编码。
2.根据权利要求1所述的光探测和测距装置,其中,所述多脉冲照明源包括:
脉冲发光装置;
多个电能存储元件,所述多个电能存储元件被选择性地联接到所述脉冲发光装置;
多个开关元件,所述多个开关元件被配置为将所述多个能量存储元件中的每一个选择性地联接到所述脉冲发光装置;以及
电能源,所述电能源被电联接到所述多个电能存储元件,其中,所述电能源被配置成向所述多个电能存储装置提供电能。
3.根据权利要求2所述的光探测和测距装置,其中,所述计算系统被进一步配置为:
将控制信号传送到所述多个开关元件中的每一个,以致使所述多个开关元件中的一个或多个将状态从不导电的状态改变为导电的状态。
4.根据权利要求3所述的光探测和测距装置,其中,所述控制信号致使从不止一个电存储元件到所述脉冲发光装置产生放电序列,并且所述脉冲发光装置被配置成接收所述放电序列并产生所述多脉冲照明光束。
5.根据权利要求4所述的光探测和测距装置,其中,所述多脉冲照明光束包括具有第一幅度的第一脉冲和具有大于或小于所述第一幅度的第二幅度的第二脉冲。
6.根据权利要求4所述的光探测和测距装置,其中,所述多脉冲照明波束包括具有第一持续时间的第一脉冲和具有大于或小于所述第一持续时间的第二持续时间的第二脉冲。
7.根据权利要求4所述的光探测和测距装置,其中,所述多脉冲照明波束包括具有第一持续时间和第一幅度的第一脉冲和具有第二持续时间和第二幅度的第二脉冲,所述第二幅度大于所述第一幅度,所述第二持续时间大于所述第一持续时间。
8.根据权利要求4所述的光探测和测距装置,其中,所述多脉冲照明波束被根据代码分集方案、幅度分集方案和时间分集方案中的任何一种进行编码。
9.根据权利要求1所述的光探测和测距装置,其中,所述计算系统被进一步配置为:
确定与所述输出信号的超过阈值的多个连续情况中的每一个相关联的第一探测时间;以及
确定所述连续情况中的每一个之间的第二时间是否类似于所述多脉冲照明光束的多个脉冲之间的第三时间,其中,基于从所述光探测和测距装置发射所述多脉冲波束的第四时间与同所述输出信号的超过所述阈值的多个连续情况中的每一个相关联的所述第一探测时间之间的差确定所述多脉冲照明光束的所述飞行时间。
10.根据权利要求1所述的光探测和测距装置,其中,所述计算系统被进一步配置为:
对所述输出信号进行滤波;以及
确定滤波后的所述输出信号超过阈值的情况,其中,基于从所述光探测和测距装置发射所述多脉冲波束的时间与同所述滤波后的输出信号超过所述阈值的情况相关联的探测时间之间的差确定所述多脉冲照明光束的所述飞行时间。
11.根据权利要求10所述的光探测和测距装置,其中,所述滤波涉及签名探测滤波器。
12.根据权利要求1所述的光探测和测距装置,其中,表示所述探测到的光量的所述输出信号在测量时间区间期间产生,所述测量时间区间的持续时间超过光飞过两倍于所述光探测和测距装置的测量范围的距离的所述飞行时间。
13.一种光探测和测距装置,包括:
多脉冲照明源,所述多脉冲照明源被配置成将来自所述光探测和测距装置的多脉冲照明光束发射到三维环境中,以利用照明光的包括多个照明光脉冲的测量脉冲序列照亮所述三维环境的特定点;
光敏探测器,所述光敏探测器被配置成探测从所述三维环境的由所述多脉冲照明光束照亮的所述特定点反射的所述测量脉冲序列的量,并产生表示探测到的光量的输出信号;以及
存储一定量的程序代码的非暂时性计算机可读介质,所述程序代码在由计算系统执行时致使所述计算系统:
接收表示所述探测到的光量的所述输出信号;
将所述输出信号转换为数字信号;
基于所述数字信号确定所述测量脉冲序列从所述光探测和测距装置飞到所述三维环境的所述特定点并返回到所述光探测和测距装置的飞行时间;以及
其中,所述多脉冲照明源被配置成响应于由所述光敏探测器产生的所述输出信号中的信道噪声的测量值改变所述多脉冲照明光束的编码。
14.根据权利要求13所述的光探测和测距装置,其中,所述多脉冲照明光束包括具有第一幅度的第一脉冲和具有大于或小于所述第一幅度的第二幅度的第二脉冲。
15.根据权利要求13所述的光探测和测距装置,其中,所述多脉冲照明波束包括具有第一持续时间的第一脉冲和具有大于或小于所述第一持续时间的第二持续时间的第二脉冲。
16.根据权利要求13所述的光探测和测距装置,其中,所述多脉冲照明波束被根据代码分集方案、幅度分集方案和时间分集方案中的任何一种进行编码。
17.根据权利要求13所述的光探测和测距装置,其中,所述一定量的程序代码进一步致使所述计算系统:
对所述输出信号进行滤波;以及
确定滤波后的所述输出信号超过阈值的情况,其中,基于从所述光探测和测距装置发射所述多脉冲波束的时间与同滤波后的所述输出信号超过阈值的情况相关联的探测时间之间的差确定所述多脉冲照明光束的所述飞行时间。
18.根据权利要求13所述的光探测和测距装置,其中,表示所述探测到的光量的所述输出信号在测量时间区间期间产生,所述测量时间区间的持续时间超过光飞过两倍于所述光探测和测距装置的测量范围的距离的所述飞行时间。
19.一种方法,包括:
将来自光探测和测距装置的编码的多脉冲照明光束发射到三维环境中,所述多脉冲照明光束利用照明光的包括多个照明光脉冲的测量脉冲序列照亮所述三维环境的特定点;
探测从所述三维环境的由所述多脉冲照明光束照亮的所述特定点反射的所述测量脉冲序列的量;
产生表示探测到的光量的输出信号;
将所述输出信号转换为数字信号;
基于所述数字信号确定所述测量脉冲序列从所述光探测和测距装置飞到所述三维环境的特定点并返回到所述光探测和测距装置的飞行时间;以及
响应于所述输出信号中的信道噪声的测量值来改变所述多脉冲照明光束的编码。
20.根据权利要求19所述的方法,其中,所述多脉冲照明光束包括具有第一幅度的第一脉冲和具有大于或小于所述第一幅度的第二幅度的第二脉冲、具有第一持续时间的所述第一脉冲和具有大于或小于所述第一持续时间的第二持续时间的所述第二脉冲或其组合。
21.根据权利要求19所述的方法,其中,根据代码分集方案、幅度分集方案和时间分集方案中的任何一种对所述多脉冲照明波束进行编码。
22.根据权利要求19所述的方法,其中,所述方法还包括:
对所述输出信号进行滤波;以及
确定滤波后的所述输出信号超过阈值的情况,其中,基于从所述光探测和测距装置发射所述测量脉冲序列的时间与同滤波后的所述输出信号超过所述阈值的情况相关联的探测时间之间的差确定所述测量脉冲序列的所述飞行时间。
23.根据权利要求19所述的方法,其中,在测量时间区间期间探测从所述三维环境的由所述多脉冲照明光束照亮的所述特定点反射的所述测量脉冲序列的量,所述测量时间区间的持续时间超过光飞过两倍于所述光探测和测距装置的测量范围的距离的所述飞行时间。
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