EP4073542A1 - Einrichtung und verfahren zum erzeugen von testdaten zum testen einer distanzbestimmung bei einer optischen laufzeitmessung - Google Patents
Einrichtung und verfahren zum erzeugen von testdaten zum testen einer distanzbestimmung bei einer optischen laufzeitmessungInfo
- Publication number
- EP4073542A1 EP4073542A1 EP20780992.2A EP20780992A EP4073542A1 EP 4073542 A1 EP4073542 A1 EP 4073542A1 EP 20780992 A EP20780992 A EP 20780992A EP 4073542 A1 EP4073542 A1 EP 4073542A1
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- EP
- European Patent Office
- Prior art keywords
- test
- time
- sequence
- events
- testing
- 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.)
- Pending
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 227
- 238000005259 measurement Methods 0.000 title claims abstract description 67
- 230000003287 optical effect Effects 0.000 title claims abstract description 54
- 238000000034 method Methods 0.000 title claims description 15
- 238000001514 detection method Methods 0.000 claims description 21
- 230000002123 temporal effect Effects 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 7
- 230000007257 malfunction Effects 0.000 description 9
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001161 time-correlated single photon counting Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000023077 detection of light stimulus Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Classifications
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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
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
Definitions
- the present invention relates generally to a device for generating test data for testing a distance determination in an optical transit time measurement, a measuring device for testing a distance determination in an optical transit time measurement and a method for generating test data for testing a distance determination in an optical transit time measurement.
- various methods for optical transit time measurement are known which can be based on the so-called time-of-flight principle, in which the transit time of a light signal that is emitted and reflected by an object is measured in order to determine the distance to the object based on the transit time.
- LIDAR systems in the motor vehicle environment typically have to meet at least one safety requirement level in accordance with IS026262 ASIL B (D) when determining distance in order to enable autonomous driving functions. Therefore, security analyzes are typically carried out that test various possible effects that can lead to a malfunction of the system.
- the present invention provides a device for generating test data for testing a distance determination in an optical transit time measurement, comprising: a test pattern generator which is set up to generate a time sequence of test events in order to this to provide a test histogram channel for generating time-correlated test histogram data for testing the distance determination in the optical transit time measurement.
- the present invention provides a measuring device for testing a distance determination in an optical transit time measurement, comprising: a device according to the first aspect; and at least one test histogram channel which is set up to receive the time sequence of test events generated by the test pattern generator and to generate time-correlated test histogram data based thereon.
- the present invention provides a method for generating test data for testing a distance determination in an optical transit time measurement, comprising:
- some exemplary embodiments relate to a device for generating test data for testing a distance determination in an optical transit time measurement, comprising: a test pattern generator which is configured to generate a time sequence of test events in order to add them to a test histogram channel to provide time-correlated test histogram data for testing the distance determination in the optical transit time measurement.
- LIDAR systems in the motor vehicle environment typically have to meet at least one safety requirement level in accordance with IS026262 ASIL B (D) when determining distance in order to enable autonomous driving functions.
- IS026262 ASIL B (D) IS026262 ASIL B
- LIDAR systems there can be various causes for malfunctions in the distance determination. It is therefore fundamentally desirable to provide simple and reliable test methods for determining distance in LIDAR systems.
- a possible cause of a malfunction in a distance determination in an optical transit time measurement can be an incorrect time scale and / or an incorrect time reference point of the system.
- An incorrect timescale can result in incorrectly scaled distances; z.
- an incorrect scaling factor that deviates by a factor of two can result in a distance determination of 20 m instead of 10 m.
- an incorrect time scale can be caused by an incorrect configuration of a time-to-digital converter (also called “TDC”, time-to-digital converter).
- an incorrect configuration of the data processing units can be the cause
- An incorrect time reference point can result in a constant distance offset, for example 15 m instead of 10 m, 25 m instead of 20 m, etc.
- an incorrect time reference point can be caused by incorrect determination of the start time of the optical transit time measurement
- Another possible cause of a malfunction in the distance determination can be incorrect data processing in the case of a peak detection, which uses measurement data to determine a distance to an object which reflects the emitted light. Therefore, in some exemplary embodiments, the device is used in a LIDAR system or the like and, for example, used in the motor vehicle environment, without the invention being restricted to these cases.
- generating test data can therefore include generating electrical signals at different predetermined times, which simulate a detection of light reflected back during an optical transit time measurement.
- testing a distance determination can include that distances that were determined based on the generated test data are compared with nominal distances that were determined from the predetermined times.
- a deviation between the determined distances and the nominal distances can be an indicator of a malfunction in the distance determination.
- this is advantageous since it enables the peak detection to be checked regularly in order to ensure error-free functionality.
- the optical transit time measurement is based on the so-called TCSPC (time correlated single photon counting) measurement principle, in particular in exemplary embodiments which are based on LIDAR.
- Light pulses are periodically emitted, which are typically a few nanoseconds long and mark a starting point in time for a measurement.
- the light reflected from objects or backscattered light is detected by a light-detecting receiving element (e.g. a single photon avalanche diode (SPAD)), with light also being used in a short period of time before the light pulse is emitted can be detected.
- the measurement time is divided into a large number of short time intervals (e.g. 30 ps).
- a point in time can then be assigned to each time interval, which corresponds to a time interval from the start point (e.g. a point in time of 15 ps can be assigned to a first time interval for time intervals of 30 ps and a point in time of 45 ps can be assigned to a second time interval, etc.).
- the light reaches the light-detecting receiving element at different times. It generates an electrical signal in the light-detecting receiving element.
- a time-to-digital converter also called "TDC", time-to-digital converter
- the electrical signal can then be assigned to one of the time intervals.
- LIDAR data can typically contain signal contributions from backscattering, light reflection from objects, ambient light, interfering light signals from other light sources in the vicinity and the like.
- a test pattern generator can generate a time sequence of test events.
- the time sequence can have several electrical signals that are generated at predetermined times, and the electrical signals can correspond to the test events.
- the generated time sequence of test events is synchronized with a start time (time of emission of the light pulse) of the optical transit time measurement, so that the distance determination can be tested in parallel with a normal measurement.
- the distance determination can be tested independently of a normal measurement (eg in standby mode).
- the generated temporal sequence of test events can in principle change over time, ie a generated temporal sequence can differ from another generated temporal sequence.
- the time sequence of test events can be generated based on at least one input parameter that is accessible to the test pattern generator.
- the test events are identical, that is to say the electrical signals are identical, without the invention being restricted in this regard.
- the number of test events is preferably in the generated temporal sequence of test events constant, but in some Aussper approximately examples the number of temporal sequence to temporal sequence can differ un.
- the test pattern generator can in principle be an electronic circuit or an electronic circuit.
- the electronic circuit can contain electronic cal components, digital storage elements, signal inputs (to receive analog and / or digital signals), signal outputs (to output analog and / or digital signals or electrical signals) and the like in order to carry out the functions described herein .
- the electronic circuit can be implemented by an FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), a microprocessor or the like.
- the test pattern generator can work with a resolution in the nanosecond range in the time domain.
- a test histogram channel can generate time-correlated test histogram data.
- time-correlated histogram data are data that are generated based on the electrical signals of the light-detecting receiving elements within the (associated) measurement time.
- time-correlated test histogram data are generated analogously to this, which were generated based on a generated time sequence of test events (electrical signals of the test pattern generator (generated time sequence of test events)), and for testing a distance determination at an optical transit time measurement is used.
- the test histogram channel can generate the time-correlated test histogram data based on the generated time sequence of test events in parallel with the normal measurement, without the invention being restricted in this regard.
- the test histogram channel can basically have the same functionality and configuration as a normal histogram channel.
- the test histogram channel can have a time-to-digital converter.
- the test histogram channel can in principle be an electronic circuit or an electronic circuit.
- the electronic circuit can contain electronic components, digital storage elements, signal inputs (to receive analog and / or digital signals), signal outputs (to receive analog and / or digital signals or time-correlated histogram data) and the like to perform the functions described herein.
- the electronic circuit can be implemented by an FPGA (Field Programmable Gate Array), DSP (digital signal processor), a microprocessor or the like.
- a time interval between two points in time of two test events following one another in time in the generated time sequence of test events is based on a time resolution of the optical transit time measurement.
- a time resolution of the optical transit time measurement can correspond to a minimum time interval between two electrical signals (events) that can still be clearly distinguished.
- the time resolution can be limited by the length of time of the electrical signals that are generated by light-detecting receiving elements in response to the incidence of light.
- the time resolution can be limited by a time-to-digital converter.
- the time resolution can be limited by the data processing.
- the time resolution must therefore be taken into account in some exemplary embodiments when generating the time sequence of test events.
- the time interval between two points in time of two chronologically successive test events in the generated time sequence of test events can consequently be greater in some exemplary embodiments than the time resolution of the optical transit time measurement.
- the time resolution corresponds to a distance resolution of the optical transit time measurement over the speed of light.
- the distance resolution in some embodiments in a LIDAR system can be 10 cm.
- the time interval between two points in time of two successive test events in the generated time sequence of test events can be, for example, 50 cm. This allows a larger distance range to be tested in the LIDAR measurement.
- the time sequence of test events is further generated based on at least one input parameter.
- the input parameters can be transferred to the test pattern generator via signal inputs.
- An input parameter can be, for example, an image counter, a row or column index, or a system time.
- the input parameters can in principle be represented by analog and / or digital signals. In some exemplary embodiments, the number of test events and the times can therefore be coded based on the input parameters and generated accordingly.
- the points in time of the time sequence can be encoded externally in a hash generator based on the input parameters.
- the coding can be present, for example, as a binary sequence (sequence of bits) and transferred via a signal input to the test pattern generator, which generates the chronological sequence of test events based on the binary sequence obtained.
- the hash generator can also be integrated into the test pattern generator. In principle, the input parameters are therefore known or specified to the test pattern generator.
- Generating the temporal sequence of test events based on the input parameters allows the temporal sequence to change from time to time, whereby a large part of the possible times or time intervals can be tested over a certain period of time. This allows the entire system to be tested, malfunctions in the determination of the distance to be discovered and reliability to be increased.
- a system for an optical transit time measurement in particular a LIDAR system, as provided herein, can in some exemplary embodiments have a receiving system, each of the light-detecting receiving elements being set up to detect light and to generate an electrical signal in response thereto.
- the light-detecting receiving elements are arranged in columns and in rows in the receiving matrix (as is fundamentally known), with some exemplary embodiments, without restricting the generality, being provided with the same number of light-detecting receiving elements in each row.
- the receiving system comprises several histogram channels, one histogram channel being connected to the light-detecting receiving elements in a column or one histogram channel being connected to the light-detecting receiving elements in a row.
- each of the histogram channels is set up to generate the time-correlated histogram data based on the electrical signals of the light-detecting receiving elements.
- the input parameter is an image counter.
- an image counter can be the number of measurements carried out up to this point in time.
- a measurement corresponds to the emission of one or more light pulses and the recording of time-correlated histogram data.
- the input parameter is a row index of a reception matrix.
- a system for optical transit time measurement can have a receiving system with a receiving matrix.
- the row index can correspond to a row of the receiving matrix.
- the input parameter is a system time.
- a system time can be a time that is set in the system for the optical transit time measurement. In other exemplary embodiments, the system time can be a time that has passed since the system was commissioned or with regard to other reference times.
- the device comprises a hash generator which is set up to generate a bit vector from the input parameters and to apply a hash function to this in order to generate a binary sequence.
- the hash generator can receive the input parameters and generate a bit vector from the input parameters.
- the bit vector can be a series or combination of binary sequences which represent the input parameters.
- the hash generator can apply a hash function to this bit vector, which is known in principle, in order to generate a binary sequence.
- the points in time of the chronological sequence of test events are coded, the points in time clearly proceeding from the binary sequence.
- the number of bits in the bit vector is preferably greater (for example 64 bits) than the number of bits in the binary sequence (for example 8 or 16 bits), without the invention being restricted to these cases.
- the hash generator can in principle be an electronic circuit or an electronic circuit.
- the electronic circuit may contain electronic components, digital storage elements, signal inputs (to receive analog and / or digital signals), signal outputs (to output analog and / or digital signals) and the like in order to carry out the functions described herein
- the circuit can be implemented by an FPGA (Field Programmable Gate Array), DSP (digital signal processor), a microprocessor or the like.
- the hash generator can be integrated into the test pattern generator.
- the time sequence of test events is further generated based on the binary sequence, as explained above.
- test events are identical in terms of the time sequence of test events.
- each test event is assigned the same relevance for testing the determination of the distance.
- a first example of the coding of the points in time includes the generation of a binary sequence of two bits, which is determined from a bit vector from the input parameters via a hash function.
- the time interval between possible test events corresponds without loss of generality to a distance of 1 m.
- no test event is generated and at 1 m a synchronization event (first test event) is generated.
- the two bits can then be used to encode four other possible test events:
- a second example of the coding of the points in time includes the consideration of the time resolution (distance resolution) of the system, an image counter, a line index and a synchronization event.
- the time resolution of the system can be, for example, 10 cm.
- the time interval between two points in time can be, for example, 0.5 m.
- a first test event is generated without loss of generality at 1 m (synchronization event).
- the line index can assume 100 values in a reception matrix, for example.
- a third test event can be generated in the distance range of 8 m - 58 m.
- the distance shift can also be set relative to the previous test event.
- a third example of the coding of the points in time includes the generation of a binary sequence of 16 bits, which is determined from a bit vector from the input parameters using a hash function.
- the first 8 bits form a first hash vector and the second 8 bits form a second hash vector.
- the time resolution of the system can be, for example, 10 cm.
- the time interval between two points in time can be, for example, 0.5 m.
- a synchronization event (first test event) is generated at 1 m.
- the first and the second hash vector each encode 256 points in time. Accordingly a second test event in the distance range from 1.5 m - 129.5 m and a third test event in the distance range from 130 m - 258 m.
- Some exemplary embodiments relate to a measuring device for testing a distance determination in an optical transit time measurement, comprising: a device as described herein; and at least one test histogram channel which is set up to receive the time sequence of test events generated by the test pattern generator and to generate time-correlated test histogram data based thereon.
- the measuring device can in principle be part of a system for optical transit time measurement, which is set up to test the determination of the distance of the optical transit time measurement.
- at least one test histogram channel can be included for generating time-correlated test histogram data in order to ensure continuous testing of the distance determination.
- the test histogram channel provides the generated time-correlated test histogram data to a peak detection unit, which determines them from distances.
- the peak detection unit can use time-correlated (test) histogram data in some exemplary embodiments based on signal levels and / or signal shapes of different signal contributions, points in time of signal contributions and / or similar points in time or distances, which is known in principle.
- the time-correlated test histogram data are analyzed by the peak detection unit like the time-correlated histogram data of a normal measurement.
- the peak detection unit outputs the determined distances from the corresponding time-correlated (test) histogram data to a test unit.
- the peak detection unit can in principle be an electronic circuit or an electronic circuit.
- the electronic circuit can electronic cal components, digital storage elements, signal inputs (to receive analog and / or digital signals), signal outputs (to receive analog and / or digital signals output) and the like to perform the functions described herein.
- the electronic circuit can be implemented by an FPGA (Field Programmable Gate Array), DSP (digital signal processor), a microprocessor or the like.
- the peak detection unit is implemented by software, the signal inputs in such exemplary embodiments corresponding to the parameters / attributes of a software function / method.
- the determination of the distances then corresponds to an execution of a sequence of commands for the execution of certain arithmetic operations on a computer, so that the distances are available after all commands have been processed.
- the peak detection unit is also implemented by a mixture of hardware- and software-based components, to which the functionalities described herein are appropriately distributed.
- the measuring device further comprises a test unit which is set up to receive the distances determined by the peak detection unit and to obtain points in time of the chronological sequence of test events in order to determine nominal distances from these points in time.
- the test unit can in principle be an electronic circuit or an electronic circuit.
- the electronic circuit may contain electronic components, digital storage elements, signal inputs (to receive analog and / or digital signals), signal outputs (to output analog and / or digital signals) and the like in order to carry out the functions described herein
- the circuit can be implemented by an FPGA (Field Programmable Gate Array), DSP (digital signal processor), a microprocessor or the like.
- the test unit is implemented by software, the signal inputs in such exemplary embodiments corresponding to the parameters / attributes of a software function / method.
- the determination of the nominal distances corresponds to an execution of a sequence of commands for carrying out certain arithmetic operations on a computer, so that the distances are available after all commands have been processed.
- the peak detection unit is also implemented by a mixture of hardware- and software-based components, to which the functionalities described herein are appropriately distributed.
- the test unit can receive the determined distances (which were determined from the time-correlated test histogram data) from the peak detection unit at a signal input.
- the test unit can receive the points in time of the chronological sequence of test events from the test pattern generator.
- the test unit can receive the input parameters and the points in time of the chronological sequence of test events therefrom.
- the test unit can receive a binary sequence from a hash generator and from this can receive the times of the chronological sequence of test events.
- the test unit can determine nominal distances from the points in time obtained in the chronological sequence of test events.
- the nominal distances correspond to the distances specified by the points in time of the chronological sequence of test events.
- a deviation between the determined distances from the peak detection unit and the nominal distances allows conclusions to be drawn about malfunctions when determining the distance in the optical transit time measurement.
- the test unit is therefore further set up to generate an error signal based on a discrepancy between the determined distances and the nominal distances.
- the error signal can indicate whether the deviation between the determined distances from the peak detection unit and the nominal distances lies within a tolerance range.
- the tolerance range can be determined experimentally, gained from experience or from the system parameters (jitter, time resolution, etc.) or the like.
- the error signal is generated due to a deviation that lies outside a tolerance range.
- the testing of the distance determination of the optical transit time measurement based on a time sequence of test events can discover various malfunctions of the system, e.g. B .:
- Some exemplary embodiments relate to a method for generating test data for testing a distance determination in an optical transit time measurement, including:
- Fig.l illustrates a coding of the points in time of a time sequence of test events
- FIG. 2 illustrates in a block diagram an embodiment of a system for an optical transit time measurement
- Fig. 3 illustrates in a flowchart an embodiment of a method for generating test data for testing a distance determination in an optical transit time measurement.
- Fig.l illustrates the coding of the points in time of the chronological sequence of test events.
- the horizontal axis is a distance (time).
- the vertical axis is dimensionless and only serves to illustrate the points in time.
- the vertical lines show the distance (point in time) at which a test event is generated.
- a binary sequence of three bits is generated by a hash generator (not shown).
- the binary sequence was determined by applying a hash function to a bit vector generated from an image counter and a line index.
- the first bit of the binary sequence is equal to 0, the second and third bit are each equal to 1.
- the time interval between the test events is constant and corresponds to a distance of 1 m Test event is generated and at 1 m a synchronization event (first test event) is generated.
- a second test event is generated at 3 m, a third test event at 4 m and a fourth test event at 6 m.
- FIG. 2 illustrates in a block diagram the exemplary embodiment of the system 1 for optical transit time measurement.
- the system 1 for the optical transit time measurement is a LIDAR system and operates as follows: a pulse generator 2 emits an electronic start signal to start the optical transit time measurement. In response to the electronic start signal, a transmission system 3 sends out a light pulse which is reflected on an object 4. The reflected light reaches a receiving system 5, which has a receiving matrix (not shown) with light-detecting receiving elements (here SPADs) arranged in 128 rows and 256 columns. In response to the incident light, the light-detecting receiving elements generate electrical signals that form a histogram channel
- the histogram channel 6 receives.
- the histogram channel 6 also receives the electronic start signal for synchronization and generates time-correlated histogram data based on the received electrical signals.
- a device 7 In parallel with the optical transit time measurement, a device 7 generates a chronological sequence of test events.
- the test events are identical and are generated at times according to FIG. 1.
- the device 7 receives the electronic start signal to a test pattern generator 8 for synchronization.
- the device
- the 7 further has a hash generator 9 which generates the binary sequence from FIG. 1 based on an image counter and a line index.
- the hash generator 9 passes the binary sequence to the test pattern generator 8, which generates the chronological sequence of test events based on the binary sequence. This is transferred from the test pattern generator 8 to a test histogram channel 10 which, based on the time sequence of test events obtained, generates time-correlated test histogram data.
- the test histogram channel 10 receives the electronic start signal for synchronization.
- a switch 11 switches between the time-correlated histogram data and the time-correlated test histogram data when the image counter has increased again by four. If the switch 11 is the time correlated Lets histogram data through, these are transferred to a peak detection unit 12, which determines object distances from the time-correlated histogram data. Another changeover switch 13 switches the determined object distances to a processor 14, which generates a three-dimensional image of the object 4 from the object distances.
- the switch 11 allows the time-correlated test histogram data to pass, these are transferred to the peak detection unit 12, which determines distances from the time-correlated test histogram data.
- the switch switches the certain distances to a test unit 15.
- the test unit 15 receives the times of the chronological sequence of test events from the test pattern generator and uses them to determine nominal distances.
- the test unit 15 compares the determined distances and the nominal distances and outputs an error signal.
- Fig. 3 illustrates in a flowchart the embodiment for the method 20 for generating test data for testing the distance determination in the optical transit time measurement.
- a time sequence of test events is generated in order to provide them to a test histogram channel for generating time-correlated test histogram data for testing the distance determination in the optical transit time measurement, as set out herein.
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Abstract
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102019219330.7A DE102019219330A1 (de) | 2019-12-11 | 2019-12-11 | Einrichtung zum Erzeugen von Testdaten zum Testen einer Distanzbestimmung bei einer optischen Laufzeitmessung, Messeinrichtung zum Testen einer Distanzbestimmung bei einer optischen Laufzeitmessung und Verfahren zum Erzeugen von Testdaten zum Testen einer Distanzbestimmung bei einer optischen Laufzeitmessung |
PCT/EP2020/076839 WO2021115652A1 (de) | 2019-12-11 | 2020-09-25 | Einrichtung und verfahren zum erzeugen von testdaten zum testen einer distanzbestimmung bei einer optischen laufzeitmessung |
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EP4073542A1 true EP4073542A1 (de) | 2022-10-19 |
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EP20780992.2A Pending EP4073542A1 (de) | 2019-12-11 | 2020-09-25 | Einrichtung und verfahren zum erzeugen von testdaten zum testen einer distanzbestimmung bei einer optischen laufzeitmessung |
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US (1) | US20230003853A1 (de) |
EP (1) | EP4073542A1 (de) |
JP (1) | JP7486843B2 (de) |
KR (1) | KR20220101209A (de) |
CN (1) | CN114787653A (de) |
CA (1) | CA3162936A1 (de) |
DE (1) | DE102019219330A1 (de) |
IL (1) | IL293697A (de) |
WO (1) | WO2021115652A1 (de) |
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JP2005156495A (ja) | 2003-11-28 | 2005-06-16 | Agilent Technol Inc | 時間間隔測定器および補正量決定方法 |
ES2563169T3 (es) * | 2008-11-20 | 2016-03-11 | Mbda Uk Limited | Generador de escenarios de blancos |
US8072361B2 (en) | 2010-01-08 | 2011-12-06 | Infineon Technologies Ag | Time-to-digital converter with built-in self test |
JP5106583B2 (ja) | 2010-06-09 | 2012-12-26 | 株式会社半導体理工学研究センター | 時間デジタル変換回路、及びその校正方法 |
GB2520232A (en) * | 2013-08-06 | 2015-05-20 | Univ Edinburgh | Multiple Event Time to Digital Converter |
EP3168641B1 (de) | 2015-11-11 | 2020-06-03 | Ibeo Automotive Systems GmbH | Verfahren und vorrichtung zur optischen distanzmessung |
EP3355133B1 (de) * | 2017-01-25 | 2019-10-30 | ams AG | Verfahren zur kalibrierung eines zeit-digital-wandlersystems sowie zeit-digital-wandlersystem |
US11105925B2 (en) * | 2017-03-01 | 2021-08-31 | Ouster, Inc. | Accurate photo detector measurements for LIDAR |
JP6888216B2 (ja) | 2017-08-31 | 2021-06-16 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | 物体までの距離を測定するための装置および方法 |
JP6911674B2 (ja) | 2017-09-26 | 2021-07-28 | 株式会社リコー | 時間測定装置、測距装置、移動体装置、時間測定方法及び測距方法 |
DE102017222974A1 (de) | 2017-12-15 | 2019-06-19 | Ibeo Automotive Systems GmbH | Anordnung und Verfahren zur Ermittlung einer Entfernung wenigstens eines Objekts mit Lichtsignalen |
DE102018201220A1 (de) * | 2018-01-26 | 2019-08-01 | Osram Gmbh | Abstandsdetektionssystem, Verfahren für ein Abstandsdetektionssystem und Fahrzeug |
JP2020159921A (ja) | 2019-03-27 | 2020-10-01 | ソニーセミコンダクタソリューションズ株式会社 | 受光装置、受光装置の評価方法、及び、受光装置の駆動方法 |
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2019
- 2019-12-11 DE DE102019219330.7A patent/DE102019219330A1/de active Pending
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2020
- 2020-09-25 WO PCT/EP2020/076839 patent/WO2021115652A1/de unknown
- 2020-09-25 CA CA3162936A patent/CA3162936A1/en active Pending
- 2020-09-25 IL IL293697A patent/IL293697A/en unknown
- 2020-09-25 KR KR1020227022975A patent/KR20220101209A/ko unknown
- 2020-09-25 JP JP2022534775A patent/JP7486843B2/ja active Active
- 2020-09-25 EP EP20780992.2A patent/EP4073542A1/de active Pending
- 2020-09-25 US US17/783,915 patent/US20230003853A1/en active Pending
- 2020-09-25 CN CN202080085856.7A patent/CN114787653A/zh active Pending
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JP2023505364A (ja) | 2023-02-08 |
IL293697A (en) | 2022-08-01 |
CA3162936A1 (en) | 2021-06-17 |
KR20220101209A (ko) | 2022-07-19 |
JP7486843B2 (ja) | 2024-05-20 |
WO2021115652A1 (de) | 2021-06-17 |
DE102019219330A1 (de) | 2021-06-17 |
CN114787653A (zh) | 2022-07-22 |
US20230003853A1 (en) | 2023-01-05 |
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