CN111480093A - 用于改进光测距和检测系统中的回波信号的检测的系统和方法 - Google Patents
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Abstract
本文描述了用于改进光测距和检测系统中的回波信号的检测的系统和方法。系统包括发射器和接收器。第一脉冲序列可以用反欺骗签名来编码并在激光束中发射。包括第二脉冲序列的回波信号可以被接收器接收,并且反欺骗签名从第二脉冲序列中提取。如果基于提取,第一和第二脉冲序列匹配,则接收器输出回波信号数据。如果基于提取,第一和第二脉冲序列不匹配,则丢弃回波信号。系统可以动态地改变用于后续脉冲序列的反欺骗签名。另外,第一脉冲序列可以相对于先前脉冲序列而随机化。
Description
相关专利申请的交叉引用
本专利申请要求于2017年12月8日提交的题为"SYSTEMS AND METHODS FOR IMPROVINGDETECTION OF A RETURN SIGNAL IN A LIGHT RANGING AND DETECTION SYSTEM"、发明人为David Hall和Anand Gopalan的共同拥有的美国专利申请号15/835,983(卷号20151-2163)的优先权,该专利申请文件通过引用以其整体并入本文并用于所有目的。
背景技术
A.技术领域
本公开一般涉及用于光发射和接收的系统和方法,并且更具体地涉及通过应用唯一且可标识的光脉冲序列来阻止由(一个或多个)系统检测到的反射光的欺骗而改进光发射和接收系统的安全性。
B.背景技术
诸如LIDAR系统之类的光检测和测距系统通过发射一系列光脉冲来操作,所述一系列光脉冲被物体反射。反射信号或回波信号由光检测和测距系统接收,并且基于检测到的飞行时间(TOF),系统确定系统所处的距物体的距离。光检测和测距系统可以具有广范围的应用,包括表面的航空测绘和自主驱动。这些应用可以对操作的安全性、准确性和可靠性设置高优先级。如果另一方有意或无意地使激光束或回波信号失真,则可能对准确性和可靠性产生负面影响。一种形式的破坏可以是欺骗攻击,其中恶意方使回波信号的特性失真或冒充回波信号的特性。
因此,需要的是用于改进光检测和测距系统中的回波信号的检测(包括减轻欺骗攻击的影响)的系统和方法。
附图说明
将参考本发明的实施例,其示例可在附图中示出。这些附图旨在说明而非限制。尽管在这些实施例的上下文中一般地描述了本发明,但是应当理解,不希望将本发明的范围限制于这些特定实施例。图中的项目不是按比例绘制。
图1描绘根据本文档实施例的光检测和测距系统的操作;
图2示出根据本文档实施例的多个回波光信号以及光检测和测距系统的操作;
图3A描绘根据本文档实施例的具有旋转反射镜的LIDAR系统;
图3B描绘根据本文档实施例的在包括转子和轴的转子轴结构中具有旋转电子装置的LIDAR系统;
图4A、4B和4C各自描绘根据本公开实施例的反欺骗签名;
图5描绘根据本公开实施例的用于减轻光检测和测距系统中的回波信号的欺骗的系统;
图6A和6B描绘根据本公开实施例的用于减轻光检测和测距系统中的回波信号的欺骗的流程图;
图7描绘根据本文档实施例的计算设备/信息处理系统的简化框图。
具体实施例
在以下描述中,为了解释的目的,阐述了具体细节以便提供对本发明的理解。然而,对于本领域技术人员来说,显然可以在没有这些细节的情况下实施本发明。此外,本领域技术人员应当认识到,下面描述的本发明的实施例可以以各种方式实现,诸如过程、装置、系统、设备或有形计算机可读介质上的方法。
图中所示的组件或模块是本发明的示例性实施例的说明,并且意图避免使本发明模糊。还应当理解,在整个讨论中,组件可以被描述为可以包括子单元的单独的功能单元,但是本领域技术人员应当认识到,各种组件或其部分可以被划分为单独的组件或者可以被集成在一起,包括集成在单个系统或组件内。应当注意,这里讨论的功能或操作可以被实现为组件。组件可以用软件、硬件或其组合来实现。
此外,附图中的组件或系统之间的连接不旨在限于直接连接。更确切地说,这些组件之间的数据可由中间组件修改、重新格式化或以其他方式改变。此外,可以使用附加的或更少的连接。还应当注意,术语"耦合"、"连接"或"通信地耦合"应当被理解为包括直接连接、通过一个或多个中间设备的间接连接、以及无线连接。
说明书中对"一个实施例"、"优选实施例"、"实施例"或"各实施例"的引用意味着结合实施例描述的特定特征、结构、特性或功能被包括在本发明的至少一个实施例中,并且也可以在多于一个实施例中。此外,在说明书中的各个位置中的上述短语的出现不一定都指相同的一个或多个实施例。
在说明书中的各个位置中的某些术语的使用是为了说明,而不应被解释为限制。服务、功能或资源不限于单个服务、功能或资源;这些术语的使用可以指分布的或聚合的一组相关服务、功能或资源。
术语"包括"、"包括有"、"包含"和"包含有"应理解为开放性术语,并且以下任何罗列的都是示例,并且不意味着局限于所罗列的项目。本文所用的任何标题仅用于组织目的,而不应被用于限制说明书或权利要求书的范围。在本专利文件中提到的每个参考文件都通过引用以其整体结合于此。
此外,本领域技术人员应当认识到:(1)可以可选地执行某些步骤;(2)步骤可不限于本文阐述的特定顺序;(3)某些步骤可以以不同的顺序执行;以及(4)某些步骤可以同时进行。
A.光检测和测距系统
诸如LIDAR系统之类的光检测和测距系统可以是测量系统周围环境的形状和轮廓的工具。LIDAR系统可以应用于包括表面的航空测绘和自主导航两者的许多应用。LIDAR系统发射光脉冲,该光脉冲随后被系统在其中操作的环境内的物体反射。可以测量每个脉冲从被发射到被接收的时间(即,飞行时间"TOF"),以确定物体与LIDAR系统之间的距离。该科学基于光和光学的物理性质。
在LIDAR系统中,可从快速发射激光发射光。激光穿过介质并被环境中的物点反射,如建筑物、树枝和车辆。反射的光能返回到LIDAR接收器(检测器),在那里它被记录并用于测绘环境。
图1描绘了根据本文档实施例的光检测和测距组件102以及数据分析和解释109的操作100。光检测和测距组件102可以包括对发射光信号110进行发射的发射器104、包括检测器的接收器106、以及系统控制和数据获取108。发射光信号110传播通过介质并被物体112反射。回波光信号114传播通过介质并由接收器106接收。系统控制和数据获取108可以控制由发射器104的光发射,并且数据获取可以记录由接收器106检测到的回波光信号114。数据分析和解释109可以经由连接116从系统控制和数据获取108接收输出,并且执行数据分析功能。连接116可以用无线或非接触通信方法来实现。发射器104和接收器106可以包括光学透镜和反射镜(未示出)。发射器104可发射具有采用特定序列的多个脉冲的激光束。在一些实施例中,光检测和测距组件102以及数据分析和解释109包括LIDAR系统。
图2示出了根据本文档实施例的包括多个回波光信号:(1)回波信号203和(2)回波信号205的光检测和测距系统202的操作200。光检测和测距系统202可以是LIDAR系统。由于激光的光束发散,单次激光发射经常会击中多个物体,从而产生多个回波。光检测和测距系统202可以分析多个回波,并且可以报告最强的回波、最后的回波、或这两个回波。按照图2,光检测和测距系统202在近侧壁204和远侧壁208的方向上发射激光。如图所示,大部分光束在区域206处击中近侧壁204,从而产生回波信号203,而另一部分光束在区域210处击中远侧壁208,从而产生回波信号205。回波信号203与回波信号205相比可以具有较短的TOF和较强的接收信号强度。光检测和测距系统202可以仅在两个物体之间的距离大于最小距离的情况下才记录两个回波。在单个和多个回波LIDAR系统两者中,重要的是,回波信号与所发射的光信号准确地相关联,以便计算准确的TOF。
LIDAR系统的一些实施例可以以2-D(即单平面)点云方式捕获距离数据。这些LIDAR系统通常可以用于工业应用中,并且通常可以被重新提出以用于勘测、测绘、自主导航和其他用途。这些设备的一些实施例依赖于使用与某种类型的移动反射镜组合的单个激光发射器/检测器对来实现跨至少一个平面的扫描。该反射镜不仅反射来自二极管的发射光,而且还可以将回波光反射到检测器。在本申请中使用旋转反射镜可以是实现90-180-360度的方位角观察同时简化系统设计和可制造性两者的方式。
图3描绘了根据本文档实施例的具有旋转反射镜的LIDAR系统300。LIDAR系统300采用与旋转反射镜组合的单个激光发射器/检测器来有效地跨平面进行扫描。由这种系统执行的距离测量实际上是二维的(即,平面的),并且所捕获的距离点被渲染为2-D(即,单平面)点云。在一些实施例中,但不是限制,旋转反射镜以非常快的速度旋转,例如每分钟数千转。旋转反射镜也可以被称为旋镜。
LIDAR系统300包括激光电子装置302,其包括单个光发射器和光检测器。发射的激光信号301可以被引导到固定反射镜304,其将发射的激光信号301反射到旋转反射镜306。当旋转反射镜306"旋转"时,发射的激光信号301可被其传播路径中的物体308反射。反射信号303可以经由旋转反射镜306和固定镜304耦合到激光电子装置302中的检测器。
图3B描绘了根据本文档实施例的在包括转子351和轴361的转子轴结构中具有旋转电子装置的LIDAR系统350。转子351可以具有圆柱形形状并且包括在转子351的中心处的圆柱形孔。轴361可以定位在圆柱形孔的内部。如图所示,转子351围绕轴361旋转。这些组件可包括在LIDAR系统中。转子351可包括转子组件352并且轴361可包括轴组件366。转子组件352中包括顶部PCB,并且轴组件366中包括底部PCB。在一些实施例中,转子组件352可以包括光检测和测距组件102,并且轴组件366可以包括图1的数据分析和解释109。
环356和环358经由连接354耦合到转子组件352。环356和环358是位于转子351的内表面上的圆形带,并且针对气隙电容器的一侧提供电极板功能。环360和环362经由连接364耦合到轴组件366。环360和环362是位于轴361的外表面上的圆形带,并且针对气隙电容器的另一侧提供电极板功能。电容器C1可基于环356和环360之间的空间而产生。另一电容器C2可基于环358和环362之间的空间而产生。上述电容器的电容可以部分地由气隙368限定。
环356和环360是电容器C1的电极板组件,并且环358和环362是电容器C2的电极板组件。环356和环358之间的竖直间隙370可影响电容器C1和电容器C2之间的电容链接的性能,因为竖直间隙370的值可确定两个电容器之间的干扰水平。本领域技术人员应当认识到,转子351和轴361可各自包括可支持N个电容链路的N个环。
如前所述,飞行时间或TOF是LIDAR系统用于测绘环境的方法,并且提供了用于检测目标物体的可行且已被证实的技术。同时,当激光发射时,LIDAR系统内的固件可分析并测量所接收的数据。LIDAR系统内的光学接收透镜如收集从环境中返回的光子的片段的望远镜一样起作用。系统中采用的激光器越多,可以收集的关于环境的信息就越多。与具有多个激光器的系统相比,单个激光LIDAR系统可能处于劣势,因为可检索到的光子较少,因此可获取的信息较少。LIDAR系统的一些实施例(但不是限制)已用8、16、32和64个激光器来实现。而且,一些LIDAR实施例(但不是限制)可具有30-40°的竖直视场(FOV)(其中激光束间距紧密达0.3°),且可具有每秒5-20转的旋转速度。
旋转反射镜功能也可以用诸如MEMS的固态技术来实现。
B.回波信号的反欺骗
本文档实施例的一个目的是创建防欺骗光检测和测距系统。如本文所使用的,光检测和测距系统可以是但不限于LIDAR系统。
防欺骗LIDAR系统可以具有分析包括脉冲序列的回波信号并且将所接收的脉冲序列与所发射的脉冲序列进行匹配以便与其他虚假脉冲相区分的能力。如本文所使用的,包括脉冲序列的回波信号可以等效于多回波信号或单回波信号。
一种防欺骗系统可以基于反欺骗签名。反欺骗签名可唯一地标识有效反射光信号。反欺骗签名可被编码或嵌入在随后由LIDAR系统发射的脉冲中。当LIDAR系统接收到回波信号时,LIDAR系统可以从单回波或多回波信号中提取反欺骗签名,并确定所接收的回波信号的解码脉冲是否与激光束中所发射的脉冲相匹配。如果脉冲确实匹配,则回波信号可以被认为是经认证的,并且数据可以从回波信号脉冲中解码。如果脉冲不匹配,则回波信号可以被认为是虚假信号,并且可以丢弃该回波信号。实际上,系统使用包括嵌入的反欺骗签名的发射脉冲的特性来认证或验证回波信号。系统可以标识故意的或无意的虚假回波信号,而不是可能错误地触发假回波信号计算。也就是说,LIDAR系统可以从虚假脉冲中区分并确认发射脉冲。此外,系统可以包括减轻回波信号的欺骗的两个特征:
第一,LIDAR系统可动态地改变脉冲的特性以用于下一次或后续激光发射。如前所述,脉冲的特性可以由反欺骗签名来限定。该特征允许LIDAR系统响应于虚假脉冲的欺骗攻击。恶意方可能正在监视发射激光束或回波信号,以欺骗LIDAR系统。对于反欺骗签名,利用静态操作而不是动态操作,恶意方可能能够容易地欺骗LIDAR系统。
当发射的脉冲序列与回波信号脉冲序列匹配时,LIDAR系统还可以动态地改变用于下一次发射的签名。如上所述,通过动态地改变用于下一次激光发射的反欺骗签名,可以减轻有意或无意欺骗的可能性。通常,激光束行进到物体并反射回到LIDAR系统的飞行时间(TOF)的时间大约为0.5到2微秒。在这个时间段中,LIDAR系统可以分析回波信号,并决定是否改变用于下一次激光发射的签名。
在各种实施例中,LIDAR系统还可以动态地改变所发射的脉冲序列以包括反欺骗签名,以及使脉冲序列适应于其操作的环境。例如,如果在自主导航系统内采用LIDAR系统,则天气模式和/或交通拥堵可能影响光信号传播的方式。在该实施例中,LIDAR系统可以调整光脉冲的图样(pattern),以不仅向接收器唯一地标识其,而且基于系统操作的环境来改进系统的性能。
第二,为了添加另一安全元件,LIDAR系统可以随机改变发射脉冲。基于随机算法的编码可以由来自控制器的指令发起。该特征可以有益于减轻无意回波信号的影响。无意回波信号可能随着基于LIDAR系统的自主驱动的增长而增加。
反欺骗签名可以基于(但不是限制)脉冲的数量、脉冲之间的距离、脉冲的幅度和幅度比、以及脉冲的形状。作为反欺骗签名的示例,两个发射序列中的脉冲的数量可以包括第一序列中的X个脉冲和第二序列中的Y个脉冲,其中X不等于Y。
图4A、4B和4C各自描绘了根据本公开实施例的反欺骗签名400。在这些图中,A表示脉冲的幅度,并且di表示时间线T中的距离。图4A示出了四个脉冲的序列,其中每个脉冲之间的距离变化可以限定反欺骗签名。例如,脉冲Pl和脉冲P2之间的距离可以是距离dl。脉冲P2和脉冲P3之间的距离可以是距离d2。脉冲P3和脉冲P4之间的距离可以是d3。如图所示,dl>d3>d2。
图4B示出了三个脉冲的序列,其中幅度的变化可以限定反欺骗签名。例如,脉冲P5可具有幅度a2。脉冲P6可具有幅度a4。脉冲P7可具有幅度a3。如图所示,a4>a3>a2。签名可以基于脉冲幅度的固定比,和/或签名可以基于脉冲之间的可变比,和/或签名可以基于由预定或动态阈值限定的绝对幅度。
图4C示出了三个脉冲的序列,其中脉冲形状的变化可以限定反欺骗签名。在图4C的实施例中,变化脉冲形状可以是脉冲宽度的变化。例如,脉冲P8可具有脉冲宽度d4。脉冲P9可具有脉冲宽度d5。脉冲P10可具有脉冲宽度d6,如所示,d5>d6>d4。
本领域技术人员应当认识到,反欺骗签名可以基于实现本发明实施例的应用和环境而变化,所有这些都旨在落在本发明的范围内。反欺骗签名可以单独或组合地利用。反欺骗签名检测可以用固定或可变的阈值来实现。
图5描绘根据本公开实施例的用于减轻光测距和检测系统中的回波信号的欺骗的系统500。如本文所使用的,"反欺骗签名"可以被称为"签名"。如前所述,反欺骗签名可以基于脉冲的特性,包括两个或更多个脉冲序列中的脉冲数量的变化、脉冲之间的距离的变化、脉冲幅度比的变化、或脉冲宽度的变化。
签名提取器524可向反欺骗编码器506和控制器504发送指定要嵌入在脉冲序列中的签名的信号。反欺骗编码器506可以基于指定的签名来生成签名编码信号507,其包括具有要由激光器514发射的嵌入签名的脉冲序列。为了在脉冲序列中创建随机化元素,随机编码器508(基于来自控制器504的指令)可以相对于先前脉冲序列向当前脉冲序列提供随机调整。随机编码器508可操作以随机化相对于先前发射脉冲序列的发射激光束的脉冲序列的特性。即使没有标识欺骗攻击,控制器504也可以发起对当前脉冲序列的随机调整。签名提取器524可针对反欺骗操作提供控制器504状态。
签名编码信号507可以耦合到复用器510。继而,复用器510组合来自随机编码器508的随机化信号509和来自反欺骗编码器506的签名编码信号507。复用器510的输出可耦合到发射器512,其可耦合到激光器514。在从发射器512接收到脉冲序列后,激光器514发射包括具有嵌入签名的脉冲序列的激光束516。
光回波信号518可以通过激光束516被物体反射而生成,并且可以由光电检测器520接收。作为替选,光回波信号518可以是由另一光发射器生成的欺骗回波信号。欺骗回波信号可以是有意或无意的回波信号。
光电检测器520将信号从光域转换成电域,并将回波信号信息耦合到接收器522。接收器522可以基于光电检测器的特定特性将数字化形式的回波信号信息输出到签名提取器524或输出模拟信号。签名提取器524处理回波信号信息并提取签名以便认证或验证回波信号。如果回波信号的脉冲序列的特性与发射的脉冲序列的特性匹配,则可以认为多回波信号是经认证的。签名提取器可以继续输出数据526。签名提取器还可以继续输出警报528,其可以耦合到更高级控制器。
如果回波信号序列的特性与发射的脉冲序列的特性不匹配,则回波信号可以被认为是未认证的。作为响应,签名提取器524可以动态地引导反欺骗编码器506选择用于下一次激光发射的另一签名。换句话说,签名提取器524可以相对于先前发射脉冲序列动态地改变要发射的下一脉冲序列的反欺骗签名。用于确定脉冲的匹配的阈值可以是预定的,或者可以基于性能参数的变化而动态地调整。
控制器504接收环境条件502,其可以包括关于天气、拥堵、测试/校准/工厂条件的信息。基于环境条件502和来自签名提取器524的指令,控制器504可以提供用于随机编码器508和复用器510的操作的指令。
图6A和6B描绘了根据本公开实施例的用于减轻光测距和检测系统中的回波信号的欺骗的流程图600和650。该方法包括在光测距和检测系统处的以下步骤:
选择反欺骗签名(步骤602)
用反欺骗签名对脉冲序列进行编码(步骤606)
激活编码随机算法(步骤604)(可选的)
如果激活,则基于编码随机算法修改脉冲序列(步骤608)
发射包括经修改的脉冲序列的激光束(步骤609)
在物体处,当激光束被物体反射时生成有效多回波信号(步骤610)
或者,在另一光发射器处,生成虚假多回波信号(步骤611)
接收并解码包括有效多回波信号或虚假多回波信号的接收信号(步骤612)
从所接收的信号中提取反欺骗签名(步骤614)
如果是,则生成数据输出(步骤618)
如果否,则生成警报(步骤617)并重复步骤602。
本文档实施例可以包括一种系统,包括:签名提取器,其可操作用于选择反欺骗签名;反欺骗编码器,其可操作以将所述反欺骗签名嵌入在包括脉冲序列的发射激光束中;控制器;以及解码器,其可操作以解码回波信号。签名提取器从解码回波信号中提取反欺骗签名,并确定解码回波信号的特性是否与发射激光束的脉冲序列的特性相匹配。如果解码回波信号与发射激光束的特性相匹配,则签名提取器使解码回波信号生效并输出解码回波信号的数据。如果解码回波信号与发射激光束的特性不匹配,则签名提取器使解码回波信号无效,丢弃该解码回波信号并输出警报。对于要发射的下一脉冲序列,签名提取器动态地改变反欺骗签名。
系统还包括随机编码器,其可操作以随机化相对于先前发射脉冲序列的发射激光束的脉冲序列的特性。控制器接收环境条件,其限定用于发射激光束的脉冲序列的特性。反欺骗签名基于环境条件而动态地改变。反欺骗签名基于环境条件而动态地改变。发射激光束的脉冲序列的特性基于环境条件而随机化。环境条件包括天气、拥堵、或测试/校准/工厂条件。反欺骗签名基于脉冲的特性,包括两个或更多个脉冲序列中的脉冲数量的变化、脉冲之间的距离的变化、脉冲幅度比的变化、或脉冲宽度的变化。
C.系统实施例
在实施例中,本专利文档的各方面可以针对信息处理系统/计算系统或在信息处理系统/计算系统上实现。为了本公开的目的,计算系统可以包括任何装置或装置的聚合,其可操作以计算、运算、确定、分类、处理、发送、接收、检索、发源、路由、切换、存储、显示、通信、表明、检测、记录、再现、处置或利用任何形式的信息、智力或数据,以用于商业、科学、控制或其他目的。例如,计算系统可以是诸如LIDAR系统的光学测量系统,其使用飞行时间来测绘其环境内的物体。计算系统可以包括随机存取存储器(RAM)、一个或多个处理资源(诸如中央处理单元(CPU)或硬件或软件控制逻辑)、ROM和/或其他类型的存储器。计算系统的附加组件可以包括用于与外部设备以及诸如键盘、鼠标、触摸屏和/或视频显示器之类的各种输入和输出(I/O)设备进行通信的一个或多个网络或无线端口。计算系统还可以包括一个或多个总线,其可操作以在各种硬件组件之间传输通信。
图7描绘了根据本公开实施例的计算设备/信息处理系统(或计算系统)的简化框图。应当理解,针对系统700所示的功能可以操作以支持信息处理系统的各种实施例——尽管应当理解,信息处理系统可以被不同地配置且包括不同的组件。
如图7所示,系统700包括一个或多个中央处理单元(CPU)701,其提供计算资源并控制计算机。CPU 701可以用微处理器等来实现,并且还可以包括一个或多个图形处理单元(GPU)717和/或用于数学计算的浮点协处理器。系统700还可以包括系统存储器702,其可以采用随机存取存储器(RAM)、只读存储器(ROM)、或两者的形式。
如图7所示,也可以提供多个控制器和外围设备。输入控制器703表示到(一个或多个)各种输入设备704(例如键盘、鼠标或触控笔)的接口。还可以存在与无线设备706通信的无线控制器705。系统700还可以包括用于与一个或多个存储设备708对接的存储控制器707,所述一个或多个存储设备708中的每个包括诸如闪存的存储介质、或者可以用于记录用于操作系统、实用程序和应用的指令程序(其可以包括实现本发明的各个方面的程序的实施例)的光学介质。(一个或多个)存储设备708也可以用于存储根据本发明经处理的数据或要处理的数据。系统700还可以包括用于向显示设备711提供接口的显示控制器709。计算系统700还可以包括用于与汽车系统713通信的汽车信号控制器712。通信控制器714可以与一个或多个通信设备715对接,其使得系统700能够通过包括汽车网络、因特网、云资源(例如,以太网云、以太网光纤通道(FCoE)/数据中心桥接(DCB)云等)、局域网(LAN)、广域网(WAN)、存储区域网(SAN)的各种网络中的任何一个或通过包括红外信号的任何合适的电磁载波信号连接到远程设备。
在所示系统中,所有主要系统组件可连接到总线716,其可表示多于一个物理总线。然而,各种系统组件可以彼此物理接近或可以不彼此物理接近。例如,输入数据和/或输出数据可以从一个物理位置远程地发送到另一个物理位置。此外,实现本发明的各个方面的程序可以通过网络从远程位置(例如,服务器)访问。这样的数据和/或程序可以通过各种机器可读介质中的任何一种来输送,包括但不限于:磁介质,例如硬盘、软盘和磁带;光学介质,例如CD-ROM和全息设备;磁光介质;以及专门配置成存储或存储并执行程序代码的硬件设备,诸如专用集成电路(ASIC)、可编程逻辑器件(PLD)、闪存设备、以及ROM和RAM设备。
本发明的实施例可以被编码在一个或多个非暂时性计算机可读介质上,所述非暂时性计算机可读介质具有用于一个或多个处理器或处理单元以使得步骤被执行的指令。应当注意,一个或多个非暂时性计算机可读介质应当包括易失性和非易失性存储器。应当注意,替换实现是可能的,包括硬件实现或软件/硬件实现。硬件实现功能可以使用(一个或多个)ASIC、可编程阵列、数字信号处理电路等来实现。因此,任何权利要求中的"装置"术语旨在覆盖软件和硬件实现两者。类似地,如本文所使用的术语"一个或多个计算机可读介质"包括软件和/或其上包含指令程序的硬件、或其组合。考虑到这些实现替选方案,应当理解,附图和所附描述提供了本领域技术人员编写程序代码(即,软件)和/或制造电路(即,硬件)以执行所需处理所需的功能信息。
应当注意,本发明的实施例还可以涉及具有非暂时性有形计算机可读介质的计算机产品,所述介质上具有用于执行各种计算机实现的操作的计算机代码。介质和计算机代码可以是为本发明的目的而特别设计和构造的,或者它们可以是相关领域的技术人员公知或可用的种类。有形计算机可读介质的示例包括但不限于:磁介质,例如硬盘、软盘和磁带;光学介质,例如CD-ROM和全息设备;磁光介质;以及专门配置成存储或存储并执行程序代码的硬件设备,诸如专用集成电路(ASIC)、可编程逻辑器件(PLD)、闪存设备、以及ROM和RAM设备。计算机代码的示例包括诸如由编译器产生的机器代码、以及包含由计算机使用解释器执行的更高级代码的文件。本发明的实施例可以整体或部分地实现为机器可执行指令,该机器可执行指令可以在由处理设备执行的程序模块中。程序模块的示例包括库、程序、例程、对象、组件和数据结构。在分布式计算环境中,程序模块可以物理地位于本地、远程或两者的设置中。
本领域技术人员应当认识到,没有计算系统或编程语言对于本发明的实践是关键的。本领域技术人员还应当认识到,上述多个元件可以在物理上和/或功能上被分成子模块或组合在一起。
本领域技术人员应当理解,前述示例和实施例是示例性的,而不是限制本公开范围。在阅读说明书和研究附图之后对于本领域技术人员显而易见的所有置换、增强、等效、组合和改进都包括在本公开的真实精神和范围内。还应当注意,任何权利要求的元素可以被不同地布置,包括具有多重依赖性、配置和组合。
Claims (20)
1.一种系统,包括:
签名提取器,可操作用于选择反欺骗签名;
反欺骗编码器,可操作以将所述反欺骗签名嵌入在包括脉冲序列的发射激光束中;
控制器;以及
解码器,可操作用于解码回波信号,
其中,所述签名提取器从所述解码回波信号中提取所述反欺骗签名,并且确定所述解码回波信号的特性是否与所述发射激光束的脉冲序列的特性相匹配。
2.根据权利要求1所述的系统,其中,如果解码回波信号与发射激光束的特性相匹配,则签名提取器使所述解码回波信号生效并输出所述解码回波信号的数据。
3.根据权利要求1所述的系统,其中,如果所述解码回波信号与所述发射激光束的特性不匹配,则所述签名提取器使所述解码回波信号无效,丢弃所述解码回波信号并输出警报。
4.根据权利要求1所述的系统,其中,针对要发射的下一脉冲序列,所述签名提取器动态地改变所述反欺骗签名。
5.根据权利要求1所述的系统,还包括随机编码器,所述随机编码器可操作以相对于先前发射脉冲序列使要发射的脉冲序列的特性随机化。
6.根据权利要求1所述的系统,其中,所述控制器接收环境条件,所述环境条件限定用于所述发射激光束的脉冲序列的特性。
7.根据权利要求6所述的系统,其中,所述反欺骗签名基于所述环境条件而动态地改变。
8.根据权利要求6所述的系统,其中,用于所述发射激光束的脉冲序列的特性基于所述环境条件而随机化。
9.根据权利要求6所述的系统,其中,所述环境条件包括天气、拥堵、或测试/校准/工厂条件。
10.根据权利要求1所述的系统,其中,所述反欺骗签名基于脉冲的特性,包括两个或更多个脉冲序列中的脉冲数量的变化、脉冲之间的距离的变化、脉冲幅度比的变化、或脉冲宽度的变化。
11.一种方法,包括:
选择反欺骗签名;
将所述反欺骗签名编码在第一脉冲序列中;
发射包括所述第一脉冲序列的激光束,
接收并解码包括第二脉冲序列的回波信号;
从所述第二脉冲序列中提取所述反欺骗签名;以及
确定所述第二脉冲序列是否与所述第一脉冲序列相匹配。
12.根据权利要求11所述的方法,还包括动态地改变用于要发射的下一脉冲序列的反欺骗签名。
13.根据权利要求11所述的方法,还包括随机化要发射的下一脉冲序列的特性。
14.根据权利要求11所述的方法,还包括,
如果所述第二脉冲序列与所述第一脉冲序列相匹配,则生成解码的回波信号的数据输出。
15.根据权利要求11所述的方法,还包括,
如果所述第二脉冲序列与所述第一脉冲序列不匹配,则丢弃所述第二脉冲序列并生成警报。
16.根据权利要求11所述的方法,还包括基于环境条件来调整所述第一脉冲序列。
17.根据权利要求16所述的方法,其中,所述环境条件包括天气、拥堵、测试/校准/工厂条件。
18.一种非暂时性计算机可读存储介质,具有存储在其上的计算机程序代码,所述计算机程序代码在由在光检测和测距系统上实现的一个或多个处理器执行时使得所述光检测和测距系统执行包括以下各项的方法:
选择用于第二脉冲序列的第二反欺骗签名,所述第二反欺骗签名不同于在先前发射的第一脉冲序列中利用的第一反欺骗签名;
将所述第二反欺骗签名编码在所述第二脉冲序列中;
随机化所述第二脉冲序列;
发射包括所述第二脉冲序列的激光束;
接收并解码包括第三脉冲序列的回波信号;
从所述第三脉冲序列中提取所述第二反欺骗签名;以及
确定所述第三脉冲序列是否与所述第二脉冲序列相匹配。
19.根据权利要求18所述的方法,还包括,
如果所述第三脉冲序列与所述第二脉冲序列相匹配,则基于所述回波信号生成数据输出。
20.根据权利要求18所述的方法,还包括,
如果所述第三脉冲序列与所述第二脉冲序列不匹配,则丢弃所述第三脉冲序列并生成警报。
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US11294041B2 (en) | 2022-04-05 |
KR20200100103A (ko) | 2020-08-25 |
US20190178991A1 (en) | 2019-06-13 |
EP3698172A1 (en) | 2020-08-26 |
US20230052333A1 (en) | 2023-02-16 |
IL274888A (en) | 2020-07-30 |
JP2021505893A (ja) | 2021-02-18 |
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