JP2023535649A - 光検出および距離測定のためのビーム変位装置 - Google Patents
光検出および距離測定のためのビーム変位装置 Download PDFInfo
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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
- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
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- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
-
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- 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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- 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
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- 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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- 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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- G01S7/4818—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
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4916—Receivers using self-mixing in the laser cavity
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4917—Receivers superposing optical signals in a photodetector, e.g. optical heterodyne detection
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- G01S7/499—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using polarisation effects
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- 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
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- 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)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Aviation & Aerospace Engineering (AREA)
Abstract
Description
本出願は、2020年9月4日付で出願された米国仮出願第63/074,834号と2020年9月4日付で出願された米国仮出願第63/074,837号についての優先権を主張する2021年9月1日付で出願された米国特許出願第17/463,860号についての優先権を主張する。米国特許出願第17/463,860号、第63/074,834号および第63/074,837号は、本明細書に参照として含まれる。
Claims (15)
- 送信ビームを放出するように構成される送信機と、
リターンビームを受信するように構成される受信ピクセルと、
前記送信ビームをターゲットに向け、前記リターンビームを前記受信ピクセルに向けるように構成される回転ミラーと、
前記受信ピクセルと前記回転ミラーとの間に配置され、前記送信機と前記受信ピクセルとの間の間隔を補償するために前記リターンビームに変位を導入するように構成されるビーム変位装置と、を含む
LIDARシステム。 - 前記ビーム変位装置は、前記回転ミラーから反射される送信ビームとリターンビームとの間の反射角度の差を補償するように構成される
請求項1に記載のLIDARシステム。 - 前記ビーム変位装置は、複屈折材料を含むビーム変位エレメントを含み、
前記送信ビームは、前記送信ビームが前記ビーム変位エレメントに出会うときに第1偏光配向を有し、
前記複屈折材料は、前記送信ビームの前記第1偏光配向に直交する前記リターンビームの第2偏光配向に前記変位を導入する
請求項1に記載のLIDARシステム。 - 前記ビーム変位装置は、前記送信機と前記ビーム変位エレメントとの間に配置されるビーム回転子を含み、
前記ビーム回転子は、前記送信ビームの送信偏光が前記ビーム変位エレメントの光軸に垂直になるように前記送信ビームの送信偏光を回転させるように構成される
請求項3に記載のLIDARシステム。 - 前記ビーム回転子は、スイッチャブル(Switchable)ビーム回転子であり、
前記回転ミラーは、正規動作(Regular Operation)中に第1方向および第2反対方向に回転するように構成され、
前記スイッチャブルビーム回転子は、前記回転ミラーが前記第1方向に回転するときに第1遅延値で駆動され、前記回転ミラーが前記第2反対方向に回転するときに第2遅延値で駆動される
請求項4に記載のLIDARシステム。 - 前記第1遅延値は、0度であり、
前記第2遅延値は、90度である
請求項5に記載のLIDARシステム。 - 前記ビーム変位装置は、前記ビーム変位エレメントと前記回転ミラーとの間に配置される波長板を含む
請求項4に記載のLIDARシステム。 - 前記波長板は、1/4波長板である
請求項7に記載のLIDARシステム。 - 前記ビーム変位装置は、前記ビーム変位エレメントと前記回転ミラーとの間に配置されるレンズを含み、
前記レンズは、前記送信ビームをコリメート(Collimate)するように構成される
請求項4に記載のLIDARシステム。 - 前記ビーム変位装置は、前記送信機および前記受信ピクセルを非同軸(Non-Coaxial)にするように構成される
請求項1に記載のLIDARシステム。 - 前記リターンビームは、ターゲットから反射される前記送信ビームである
請求項1に記載のLIDARシステム。 - 前記送信ビームは、近赤外線波長を有し、
前記リターンビームは、前記近赤外線波長を有する
請求項1に記載のLIDARシステム。 - 前記受信ピクセルの出力に応答して自律車両を制御するように構成される1つ以上のプロセッサをさらに含む
請求項1に記載のLIDARシステム。 - 請求項1ないし請求項13のいずれか一項に記載のLIDARシステムを含む
自律車両制御システム。 - 請求項1ないし請求項13のいずれか一項に記載のLIDARシステムを含む
自律車両。
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JP2024021164A JP2024040463A (ja) | 2020-09-04 | 2024-02-15 | 光検出および距離測定のためのビーム変位装置 |
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Application Number | Priority Date | Filing Date | Title |
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US202063074834P | 2020-09-04 | 2020-09-04 | |
US202063074837P | 2020-09-04 | 2020-09-04 | |
US63/074,834 | 2020-09-04 | ||
US63/074,837 | 2020-09-04 | ||
US17/463,860 US11675063B2 (en) | 2020-09-04 | 2021-09-01 | Beam displacement apparatus for light detection and ranging |
US17/463,860 | 2021-09-01 | ||
PCT/US2021/048924 WO2022051543A1 (en) | 2020-09-04 | 2021-09-02 | Beam displacement apparatus for light detection and ranging |
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JP2023515009A Active JP7442249B2 (ja) | 2020-09-04 | 2021-09-02 | 光検出および距離測定のためのビーム変位装置 |
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Country Status (7)
Country | Link |
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US (4) | US11435454B2 (ja) |
EP (2) | EP4208732A1 (ja) |
JP (3) | JP7454806B2 (ja) |
KR (3) | KR102599320B1 (ja) |
CN (2) | CN116490796B (ja) |
CA (2) | CA3191678A1 (ja) |
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