JP2020504305A - 高周波パルス発射を用いる高分解能ライダ - Google Patents
高周波パルス発射を用いる高分解能ライダ Download PDFInfo
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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
- G01S7/483—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
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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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
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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
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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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
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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
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- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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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
- G01S7/483—Details of pulse systems
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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
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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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
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- G01S7/4861—Circuits for detection, sampling, integration or read-out
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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
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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
- G01S17/46—Indirect determination of position data
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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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
- G01S7/483—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
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Abstract
Description
本出願は、参照によって本明細書に完全に組み入れる、2017年1月5日に出願された「HIGH RESOLUTION LiDAR USING HIGH FREQUENCY PULSE FIRING」と題する米国仮特許出願第62/442,912号、および2017年12月28日に出願された「HIGH RESOLUTION LiDAR USING HIGH FREQUENCY PULSE FIRING」と題する米国非仮特許出願第15/857,563号の優先権を主張する。
1.光パルスを送信するように構成された光源と;
光路に沿って垂直方向および水平方向の少なくとも一方に光パルスを操向するように構成されたビームステアリング装置と;
ビームステアリング装置に結合され、複数の検出素子を含み、散乱光を検出するように構成された光検出器であって、散乱光は、光パルスが光路内の物体を照明することに基づいて発生する光検出器と;
光源および光検出器に電気的に結合された電気的処理計算デバイスであって、
散乱光の位置プロファイルを取得し;
取得した位置プロファイルに基づいて、ビームステアリング装置の動きに関するデータを取得し;
取得したデータに基づいて、送信された光パルスと検出された散乱光との相関を判定するように構成された電気的処理計算デバイスとを含む、光検出測距(ライダ)走査システム。
2.電気的処理計算デバイスは、物体までの距離を判定するようにさらに構成される、項目1に記載のライダ走査システム。
3.位置プロファイルは、複数の検出素子のうちの1つの検出素子が散乱光および関連する信号強度を検出したかどうかを示す、項目1または2に記載のライダ走査システム。
4.電気的処理計算デバイスは、位置プロファイルに基づいて散乱光の到達領域の中心を判定するようにさらに構成される、項目1〜3のいずれか1つに記載のライダ走査システム。
5.電気的処理計算デバイスは、到達領域の中心に基づいてシフト距離を判定するようにさらに構成される、項目4に記載のライダ走査システム。
6.電気的処理計算デバイスは、シフト距離に基づいてシフト角度を判定するようにさらに構成される、項目5に記載のライダ走査システム。
7.電気的処理計算デバイスは、シフト角度に基づいて、送信されたパルスの移動時間を判定するようにさらに構成される、項目6に記載のライダ走査システム。
8.電気的処理計算デバイスは:
光パルスを送信した時間と散乱光を検出した時間とに基づいて候補移動時間を判定し;
候補移動時間をシフト角度に基づいて判定した移動時間と比較し;
比較に基づいて、送信された光パルスと検出された散乱光との相関を判定し;
候補時間に基づいて物体までの距離を計算するようにさらに構成される、項目6に記載のライダ走査システム。
9.電気的処理計算デバイスは:
散乱光に関する情報に基づいて候補移動時間を判定し;
候補移動時間をシフト角度に基づいて判定した移動時間と比較し;
比較に基づいて、送信された光パルスと検出された散乱光との相関を判定し;
候補時間に基づいて物体までの距離を計算するようにさらに構成される、項目6に記載のライダ走査システム。
10.情報は、幾何形状、角度、電気位相、電気周波数、またはこれらのいずれかの組合せを含む、項目8に記載のライダ走査システム。
11.光源は、システムの設計仕様による最も遠くの物体に光パルスが到達するための飛行往復時間に要する時間よりも短い時間間隔で、光パルスを連続して送信するように構成される、項目1〜10のいずれか1つに記載のライダ走査システム。
12.集めた散乱光を焦点に向けるように構成された集光装置をさらに含む、項目1〜11のいずれか1つに記載のライダ走査システム。
13.光検出器は焦点にまたは焦点に近接して配設される、項目1〜12のいずれか1つに記載のライダ走査システム。
14.送信されたパルスは符号化情報を含む、項目1〜13のいずれか1つに記載のライダ走査システム。
15.光源と、ビームステアリング装置と、複数の検出素子を有する光検出器とを含む光検出測距(ライダ)システムを操作するためのコンピュータにより実行される方法であって:
光源を用いて光パルスを送信する工程と;
ビームステアリング装置を用いて、光路に沿って垂直方向および水平方向の少なくとも一方に光パルスを操向する工程と;
光検出器を用いて、光パルスが光路内の物体を照明することに基づいて発生した散乱光を検出する工程と;
散乱光の位置プロファイルを取得する工程と;
取得した位置プロファイルに基づいて、光検出器の動きに関するデータを取得する工程と;
取得したデータに基づいて、送信された光パルスと検出された散乱光との相関を判定する工程とを含む方法。
Claims (15)
- 光検出測距(ライダ)走査システムであって:
光パルスを送信するように構成された光源と;
光路に沿って垂直方向および水平方向の少なくとも一方に光パルスを操向するように構成されたビームステアリング装置と;
ビームステアリング装置に結合され、複数の検出素子を含み、散乱光を検出するように構成された光検出器であって、散乱光は、光パルスが光路内の物体を照明することに基づいて発生する光検出器と;
光源および光検出器に電気的に結合された電気的処理計算デバイスであって、
散乱光の位置プロファイルを取得し;
取得した位置プロファイルに基づいて、ビームステアリング装置の動きに関するデータを取得し;
取得したデータに基づいて、送信された光パルスと検出された散乱光との相関を判定するように構成された電気的処理計算デバイスとを含む、前記光検出測距(ライダ)走査システム。 - 電気的処理計算デバイスは、物体までの距離を判定するようにさらに構成される、請求項1に記載のライダ走査システム。
- 位置プロファイルは、複数の検出素子のうちの1つの検出素子が散乱光および関連する信号強度を検出したかどうかを示す、請求項1に記載のライダ走査システム。
- 電気的処理計算デバイスは、位置プロファイルに基づいて散乱光の到達領域の中心を判定するようにさらに構成される、請求項1に記載のライダ走査システム。
- 電気的処理計算デバイスは、到達領域の中心に基づいてシフト距離を判定するようにさらに構成される、請求項4に記載のライダ走査システム。
- 電気的処理計算デバイスは、シフト距離に基づいてシフト角度を判定するようにさらに構成される、請求項5に記載のライダ走査システム。
- 電気的処理計算デバイスは、シフト角度に基づいて、送信されたパルスの移動時間を判定するようにさらに構成される、請求項6に記載のライダ走査システム。
- 電気的処理計算デバイスは:
光パルスを送信した時間と散乱光を検出した時間とに基づいて候補移動時間を判定し;
候補移動時間をシフト角度に基づいて判定した移動時間と比較し;
比較に基づいて、送信された光パルスと検出された散乱光との相関を判定し;
候補時間に基づいて物体までの距離を計算するようにさらに構成される、請求項6に記載のライダ走査システム。 - 電気的処理計算デバイスは:
散乱光に関する情報に基づいて候補移動時間を判定し;
候補移動時間をシフト角度に基づいて判定した移動時間と比較し;
比較に基づいて、送信された光パルスと検出された散乱光との相関を判定し;
候補時間に基づいて物体までの距離を計算するようにさらに構成される、請求項6に記載のライダ走査システム。 - 情報は、幾何形状、角度、電気位相、電気周波数、またはこれらのいずれかの組合せを含む、請求項8に記載のライダ走査システム。
- 光源は、システムの設計仕様による最も遠くの物体に光パルスが到達するための飛行往復時間に要する時間よりも短い時間間隔で、光パルスを連続して送信するように構成される、請求項1に記載のライダ走査システム。
- 集めた散乱光を焦点に向けるように構成された集光装置をさらに含む、請求項1に記載のライダ走査システム。
- 光検出器は焦点にまたは焦点に近接して配設される、請求項1に記載のライダ走査システム。
- 送信されたパルスは符号化情報を含む、請求項1に記載のライダ走査システム。
- 光源と、ビームステアリング装置と、複数の検出素子を有する光検出器とを含む光検出測距(ライダ)システムを操作するためのコンピュータにより実行される方法であって:
光源を用いて光パルスを送信する工程と;
ビームステアリング装置を用いて、光路に沿って垂直方向および水平方向の少なくとも一方に光パルスを操向する工程と;
光検出器を用いて、光パルスが光路内の物体を照明することに基づいて発生した散乱光を検出する工程と;
散乱光の位置プロファイルを取得する工程と;
取得した位置プロファイルに基づいて、光検出器の動きに関するデータを取得する工程と;
取得したデータに基づいて、送信された光パルスと検出された散乱光との相関を判定する工程とを含む前記方法。
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JP7465312B2 (ja) | 2024-04-10 |
CN110520757B (zh) | 2023-11-03 |
CN117348018A (zh) | 2024-01-05 |
EP3566076A4 (en) | 2020-08-19 |
US11054508B2 (en) | 2021-07-06 |
US20210356567A1 (en) | 2021-11-18 |
WO2018129409A1 (en) | 2018-07-12 |
JP7123941B2 (ja) | 2022-08-23 |
CN110520757A (zh) | 2019-11-29 |
KR102634749B1 (ko) | 2024-02-08 |
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EP3566076A1 (en) | 2019-11-13 |
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