EP3516418A2 - Codierte laserlicht-pulssequenzen für lidar - Google Patents

Codierte laserlicht-pulssequenzen für lidar

Info

Publication number
EP3516418A2
EP3516418A2 EP17768797.7A EP17768797A EP3516418A2 EP 3516418 A2 EP3516418 A2 EP 3516418A2 EP 17768797 A EP17768797 A EP 17768797A EP 3516418 A2 EP3516418 A2 EP 3516418A2
Authority
EP
European Patent Office
Prior art keywords
pulse train
laser light
detector
lidar
distance value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP17768797.7A
Other languages
German (de)
English (en)
French (fr)
Inventor
Florian Petit
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Blickfeld GmbH
Original Assignee
Blickfeld GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Blickfeld GmbH filed Critical Blickfeld GmbH
Publication of EP3516418A2 publication Critical patent/EP3516418A2/de
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • 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
    • G01S17/93—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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G01S7/484—Transmitters
    • 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
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres

Definitions

  • Distance measurement of objects is desirable in various fields of technology. For example, in the context of autonomous driving applications, it may be desirable to detect objects around vehicles and, in particular, to determine a distance to the objects.
  • At least one optical element such as a mirror, a prism, and / or a lens, such as a graded index (GRIN) lens, may be attached to the moveable end of the fiber.
  • the optical element it is possible to deflect the laser light from the laser light source.
  • the mirror could be implemented by a wafer, such as a silicon wafer, or a glass substrate.
  • the seal could have a thickness in the range of 0.05 ⁇ - 0.1 mm.
  • Various examples described herein are based on the fact that, for one pixel of a LIDAR image, multiple pulse trains are transmitted and received, each with multiple pulses of laser light. For example, a number of two or three or four or ten pulse trains per pixel could be considered.
  • the signal-to-noise ratio can be increased because each pulse train has several pulses.
  • the signal-to-noise ratio can be further increased because an even larger number of pulses are used.
  • different pulse trains are coded differently. This makes it possible to emit a second pulse train before the first pulse train sent out beforehand is received. In other words, it is possible that more than a single pulse train propagates around the device at a particular time.
  • FIG. 2 illustrates aspects relating to the laser scanner 101.
  • the laser scanner 101 comprises a laser light source 1 1 1.
  • the laser light source 1 1 1 may be a diode laser.
  • the laser light source 11 may be a vertical-cavity surface-emitting laser (VCSEL).
  • the laser light source 1 1 1 emits laser light 191, which is deflected by the deflection unit 1 12 by a certain deflection angle.
  • a collimator optics for the laser light 191 may be disposed in the beam path between the laser light source 11 and the deflector unit 12 (English, pre-scanner optics).
  • the collimator optics for the laser light 191 could also be arranged in the beam path behind the deflection unit 112 (English, post-scanner optics).
  • each diverter unit may have a corresponding associated degree of freedom of movement corresponding to an associated scan axis.
  • a scanner system In order to implement multiple scan axes, in some examples it would be possible to have more than one diverter unit (not shown in FIG. 2). Then, the laser light 191 can sequentially pass through the various deflection units. Each diverter unit may have a corresponding associated degree of freedom of movement corresponding to an associated scan axis. Sometimes such an arrangement is called a scanner system.
  • the pixel is determined based on the first distance value from block 5003 and based on the second distance value from block 5004. This is possible because both distance values are associated with the same angular range and therefore with the same object.
  • a higher measurement accuracy can be achieved. For example, an average could be formed.
  • a standard deviation could be taken into account as measurement inaccuracy.
  • FIG. Figure 5 illustrates aspects relating to a LIDAR image 199.
  • the LIDAR image includes pixels 196 (in the example of Figure 5, only nine pixels 196 are shown, however, the LIDAR image could have a larger number of pixels, for example not less than 1000 pixels or not less than 1,000,000 pixels).
  • the pulses 205 have a certain length 251 (defined, for example, as the half-width of the pulses 205).
  • the pulses 205 of the pulse trains may have a length in the range of 200 ps to 10 ns, optionally in the range of 200 ps to 4 ns, more optionally in the range of 500 ps to 2 ns.
  • Such a pulse duration may have advantages in terms of the expected number of photons in the reflected laser light 192 for typical powers of the laser light source 11 and typical measurement distances.
  • Block 5014 it is checked whether a new coding should be selected by re-iterating block 501 1; or whether by direct re-iteration of block 5012 directly the pulse train according to the current coding can be sent out.
  • Block 5014 thus allows the repeated selection of different encodings - e.g. according to the same coding scheme, if block 5010 is not also repeated (which would be possible, although it is shown differently in FIG. 10).

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
EP17768797.7A 2016-09-19 2017-09-19 Codierte laserlicht-pulssequenzen für lidar Withdrawn EP3516418A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016011299.9A DE102016011299A1 (de) 2016-09-19 2016-09-19 Codierte Laserlicht-Pulssequenzen für LIDAR
PCT/EP2017/073574 WO2018050906A2 (de) 2016-09-19 2017-09-19 Codierte laserlicht-pulssequenzen für lidar

Publications (1)

Publication Number Publication Date
EP3516418A2 true EP3516418A2 (de) 2019-07-31

Family

ID=59901539

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17768797.7A Withdrawn EP3516418A2 (de) 2016-09-19 2017-09-19 Codierte laserlicht-pulssequenzen für lidar

Country Status (5)

Country Link
US (1) US20190353787A1 (OSRAM)
EP (1) EP3516418A2 (OSRAM)
JP (1) JP2019529916A (OSRAM)
DE (1) DE102016011299A1 (OSRAM)
WO (1) WO2018050906A2 (OSRAM)

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Also Published As

Publication number Publication date
WO2018050906A3 (de) 2018-05-11
JP2019529916A (ja) 2019-10-17
DE102016011299A1 (de) 2018-03-22
WO2018050906A2 (de) 2018-03-22
US20190353787A1 (en) 2019-11-21

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