CN114730009A - 用于确定到场景的距离的方法和设备 - Google Patents

用于确定到场景的距离的方法和设备 Download PDF

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Publication number
CN114730009A
CN114730009A CN202080066981.3A CN202080066981A CN114730009A CN 114730009 A CN114730009 A CN 114730009A CN 202080066981 A CN202080066981 A CN 202080066981A CN 114730009 A CN114730009 A CN 114730009A
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CN
China
Prior art keywords
detection time
time window
max
laser light
pulse
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Pending
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CN202080066981.3A
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English (en)
Chinese (zh)
Inventor
R·派森
D·范德克
S·范德维勒
N·范登布勒克
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Xenomatix NV
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Xenomatix NV
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Publication of CN114730009A publication Critical patent/CN114730009A/zh
Pending legal-status Critical Current

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    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • 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—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [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
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
CN202080066981.3A 2019-09-25 2020-09-23 用于确定到场景的距离的方法和设备 Pending CN114730009A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19199701.4A EP3798673A1 (en) 2019-09-25 2019-09-25 Method and device for determining distances to a scene
EP19199701.4 2019-09-25
PCT/EP2020/076455 WO2021058494A1 (en) 2019-09-25 2020-09-23 Method and device for determining distances to a scene

Publications (1)

Publication Number Publication Date
CN114730009A true CN114730009A (zh) 2022-07-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080066981.3A Pending CN114730009A (zh) 2019-09-25 2020-09-23 用于确定到场景的距离的方法和设备

Country Status (6)

Country Link
US (1) US20220326358A1 (https=)
EP (2) EP3798673A1 (https=)
JP (1) JP2022551427A (https=)
KR (1) KR20220082849A (https=)
CN (1) CN114730009A (https=)
WO (1) WO2021058494A1 (https=)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN116990774A (zh) * 2023-07-05 2023-11-03 西安理工大学 一种混合激光脉冲序列的自适应分离方法

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WO2022022432A1 (zh) * 2020-07-31 2022-02-03 宁波飞芯电子科技有限公司 探测装置及方法
WO2023104438A1 (en) * 2021-12-09 2023-06-15 Sony Semiconductor Solutions Corporation Electronic device and method
EP4469827A4 (en) * 2022-01-30 2026-02-11 Ouster Inc Overlapping sub-beaches with no power
CN116982609B (zh) * 2023-08-03 2025-10-10 华南农业大学 基于作物处方图的喷雾方法、系统和计算机设备
CN118191860B (zh) * 2024-05-16 2024-08-02 天津宜科自动化股份有限公司 一种基于脉冲的多周期测量方法、电子设备及存储介质
KR102791616B1 (ko) * 2024-07-31 2025-04-08 한화시스템 주식회사 레이다 추적자원 최적화 시스템 및 방법

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US20180053799A1 (en) * 2015-05-28 2018-02-22 Panasonic Intellectual Property Management Co., Ltd. Distance-measuring imaging device, distance measuring method of distance-measuring imaging device, and solid-state imaging device
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US20180053799A1 (en) * 2015-05-28 2018-02-22 Panasonic Intellectual Property Management Co., Ltd. Distance-measuring imaging device, distance measuring method of distance-measuring imaging device, and solid-state imaging device
US20180299554A1 (en) * 2015-10-23 2018-10-18 Xenomatix Nv System and method for determining a distance to an object
WO2019115839A1 (en) * 2017-12-15 2019-06-20 Xenomatix Nv System and method for determining a distance to an object
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Also Published As

Publication number Publication date
EP4034910A1 (en) 2022-08-03
WO2021058494A1 (en) 2021-04-01
JP2022551427A (ja) 2022-12-09
EP3798673A1 (en) 2021-03-31
KR20220082849A (ko) 2022-06-17
EP4034910B1 (en) 2025-06-18
US20220326358A1 (en) 2022-10-13

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