JP6874165B2 - LiDARシステムのための動作方法および制御ユニット、LiDARシステム、ならびに動作装置 - Google Patents
LiDARシステムのための動作方法および制御ユニット、LiDARシステム、ならびに動作装置 Download PDFInfo
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- JP6874165B2 JP6874165B2 JP2019567610A JP2019567610A JP6874165B2 JP 6874165 B2 JP6874165 B2 JP 6874165B2 JP 2019567610 A JP2019567610 A JP 2019567610A JP 2019567610 A JP2019567610 A JP 2019567610A JP 6874165 B2 JP6874165 B2 JP 6874165B2
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- ttot
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- 238000011017 operating method Methods 0.000 title description 2
- 238000001514 detection method Methods 0.000 claims description 45
- 238000000034 method Methods 0.000 claims description 27
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 13
- 238000010801 machine learning Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 15
- 238000011156 evaluation Methods 0.000 description 8
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000005284 excitation Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Images
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
- 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
-
- 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
- G01S17/88—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
-
- 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
- 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
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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)
Description
ttot<tmin≦(1+x)・ttot (I)
を満たす場合に、特に適切な条件が、本発明による動作方法において生じ、
この場合、ttotは、SPADベースの検出器素子の不感時間を表し、tminは、時間的にすぐに、または直接に連続する1次光の送信パルスの最小時間間隔を表し、xは、少なくとも一時的に、一定の正の値、特にゼロとは異なる値を表す。
Claims (12)
- パルスシーケンス符号化して動作可能なSPADベースの検出器素子(22)によって形成されたLiDARシステム(1)の動作方法において、
SPADベースの検出器素子(22)の不感時間(ttot)を検出し、
1次光(57)の送信パルス(57−1,...,57−4)の最小時間間隔(tmin)を、わずかに不感時間(ttot)を超えるように決定および/または定める動作方法において、
前記SPADベースの検出器素子(22)の不感時間(ttot)を、前記LiDARシステム(1)の通常動作時に、繰り返し検出することを特徴とする、
動作方法。 - 請求項1に記載の動作方法において、
前記1次光(57)の送信パルス(57−1,...,57−4)の最小時間間隔(tmin)が一定の値を有する動作方法。 - 請求項1または2に記載の動作方法において、
前記1次光(57)の送信パルス(57−1,...,57−4)の最小時間間隔(tmin)が、前記SPADベースの検出器素子(22)の不感時間(ttot)に対して次の関係(I)
ttot<tmin≦(1+x)・ttot (I)
を満たし、
ttotが、前記SPADベースの検出器素子(22)の不感時間を表し、tminが、1次光(57)の送信パルス(57−1,...,57−4)の最小時間間隔を表し、xが、一定の正の値を表す動作方法。 - 請求項3に記載の動作方法において、 値xがx≦0.3の関係を満たす動作方法。
- 請求項4に記載の動作方法において、値xがx≦0.2の関係を満たす動作方法。
- 請求項5に記載の動作方法において、値xがx≦0.1の関係を満たす動作方法。
- 請求項6に記載の動作方法において、値xがx=0.1の関係を満たす動作方法。
- 請求項1〜7のいずれか一項に記載の動作方法において、
前記SPADベースの検出器素子(22)の不感時間(ttot)を、機械学習の方法に関連して検出する動作方法。 - LiDARシステム(1)のための制御ユニット(40)において、
請求項1〜8のいずれか一項に記載の動作方法を実施するように構成されている制御ユニット(40)。 - 視野(50)をパルスシーケンス符号化して光学的に検出するためのLiDARシステム(1)において、
1次光(57)を供給し、視野(50)内へ送信するための送信光学系(60)と、
視野(50)から2次光(58)を受信するための受信光学系(30)であって、少なくとも1つのSPADベースの検出器素子(22)を介して2次光(58)を検出可能な検出装置(20)を備える受信光学系(30)と、
SPADベースの検出器素子(22)の不感時間(ttot)に基づいて、送信光学系(60)および/または受信光学系(30)の動作を制御するための請求項9に記載の制御ユニット(40)を備えるLiDARシステム(1)。 - 視野(50)を光学的に検出するための請求項10に記載のLiDARシステム(1)を備える運転装置。
- 視野(50)を光学的に検出するための請求項10に記載のLiDARシステム(1)を備える車両。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017209643.8 | 2017-06-08 | ||
DE102017209643.8A DE102017209643A1 (de) | 2017-06-08 | 2017-06-08 | Betriebsverfahren und Steuereinheit für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung |
PCT/EP2018/061962 WO2018224234A1 (de) | 2017-06-08 | 2018-05-09 | Betriebsverfahren und steuereinheit für ein lidar-system, lidar-system und arbeitsvorrichtung |
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JP2020522710A JP2020522710A (ja) | 2020-07-30 |
JP6874165B2 true JP6874165B2 (ja) | 2021-05-19 |
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Country Status (7)
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US (1) | US11579262B2 (ja) |
EP (1) | EP3635437B1 (ja) |
JP (1) | JP6874165B2 (ja) |
KR (1) | KR102612267B1 (ja) |
CN (1) | CN110720048B (ja) |
DE (1) | DE102017209643A1 (ja) |
WO (1) | WO2018224234A1 (ja) |
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WO2020239084A1 (zh) * | 2019-05-31 | 2020-12-03 | 深圳市速腾聚创科技有限公司 | 一种多脉冲激光雷达系统抗干扰处理方法及装置 |
CN114235173B (zh) * | 2021-11-17 | 2024-04-09 | 自然资源部第二海洋研究所 | 一种光子计数星载海洋激光雷达探测仿真方法 |
EP4198569A1 (en) * | 2021-12-20 | 2023-06-21 | Aptiv Technologies Limited | Lidar device, system and method |
CN114594493B (zh) * | 2022-01-13 | 2023-03-21 | 杭州宏景智驾科技有限公司 | 激光雷达系统及其环境光感知方法 |
CN115399681B (zh) * | 2022-09-19 | 2024-04-05 | 上海集成电路制造创新中心有限公司 | 传感器、机器人和扫地机 |
CN115390084B (zh) * | 2022-10-27 | 2023-02-28 | 合肥量芯科技有限公司 | 一种基于窄脉冲激光器的长距离测距方法 |
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2017
- 2017-06-08 DE DE102017209643.8A patent/DE102017209643A1/de not_active Ceased
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2018
- 2018-05-09 KR KR1020207000147A patent/KR102612267B1/ko active IP Right Grant
- 2018-05-09 EP EP18723818.3A patent/EP3635437B1/de active Active
- 2018-05-09 CN CN201880037825.7A patent/CN110720048B/zh active Active
- 2018-05-09 WO PCT/EP2018/061962 patent/WO2018224234A1/de unknown
- 2018-05-09 JP JP2019567610A patent/JP6874165B2/ja active Active
- 2018-05-09 US US16/620,014 patent/US11579262B2/en active Active
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Publication number | Publication date |
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CN110720048A (zh) | 2020-01-21 |
CN110720048B (zh) | 2023-10-10 |
KR20200016930A (ko) | 2020-02-17 |
WO2018224234A1 (de) | 2018-12-13 |
US11579262B2 (en) | 2023-02-14 |
US20210080544A1 (en) | 2021-03-18 |
EP3635437A1 (de) | 2020-04-15 |
DE102017209643A1 (de) | 2018-12-13 |
KR102612267B1 (ko) | 2023-12-12 |
EP3635437B1 (de) | 2022-08-03 |
JP2020522710A (ja) | 2020-07-30 |
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