JP7208052B2 - 光学的測距装置 - Google Patents
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- 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
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
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- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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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
- 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
- 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
- G01S7/483—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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- H01L31/08—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors
- H01L31/10—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors characterised by potential barriers, e.g. phototransistors
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
- H01L31/08—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors
- H01L31/10—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors characterised by potential barriers, e.g. phototransistors
- H01L31/101—Devices sensitive to infrared, visible or ultraviolet radiation
- H01L31/102—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier
- H01L31/107—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier the potential barrier working in avalanche mode, e.g. avalanche photodiodes
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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
- G01S17/88—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
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Description
数式(4)又はCmax(i)で表される累積確率は、ノイズ成分のみのヒストグラムにおいてヒストグラム値の最大値がi以下になる確率である。この確率は、反射信号を含むヒストグラムにおいてヒストグラム値のピーク値がiであったときにノイズ成分ではない確率であり、すなわちピークが反射信号であることの信頼性を表す。そこで、反射信号を検出する際のノイズの確率分布において、ヒストグラム回路30で検出された反射信号のピーク値に対応する累積確率を検出の信頼度として出力する構成としてもよい。
Claims (10)
- 光の伝搬時間に基づいて距離を測定する光学的測距装置であって、
パルス状の出力光を測定対象物へ向けて繰り返し投光する投光手段と、
光を受光して受光信号として出力するフォトンカウント型受光素子を含む受光手段と、
前記受光信号において閾値を超える信号成分を前記測定対象物における前記出力光の反射による反射信号として弁別する信号弁別手段と、
前記反射信号に基づいて前記測定対象物までの前記出力光の往復伝搬時間を推定する伝搬推定手段と、
前記受光信号に含まれるノイズの確率分布から求められる基準レベルと当該確率分布における累積確率が所定値となる境界レベルとの関係に基づいて、前記信号弁別手段において前記反射信号を弁別する際に前記受光信号から実際に求めた基準レベルに対応する境界レベルを前記閾値として設定する閾値設定手段と、
を備えることを特徴とする光学的測距装置。 - 請求項1に記載の光学的測距装置であって、
前記受光信号に含まれるノイズの確率分布に対する前記基準レベルと前記境界レベルとの関係を予め求めて記憶させた変換データベースを備え、
前記閾値設定手段では、前記変換データベースを参照して前記受光信号から実際に求めた基準レベルに対応する境界レベルを前記閾値として設定することを特徴とする光学的測距装置。 - 請求項1又は2に記載の光学的測距装置であって、
前記受光信号のノイズの確率分布を推定する確率分布推定手段をさらに備えることを特徴とする光学的測距装置。 - 請求項1~3のいずれか1項に記載の光学的測距装置であって、
前記受光信号のノイズの確率分布は、前記受光信号の波形の最大値の確率分布であることを特徴とする光学的測距装置。 - 請求項1に記載の光学的測距装置であって、
前記境界レベルは、前記受光信号に含まれるノイズの確率分布において基準レベルと当該基準レベルの平方根に所定の係数を乗じた値とを加算した値であることを特徴とする光学的測距装置。 - 光の伝搬時間に基づいて距離を測定する光学的測距装置であって、
パルス状の出力光を測定対象物へ向けて繰り返し投光する投光手段と、
光を受光して受光信号として出力するフォトンカウント型受光素子を含む受光手段と、
前記受光信号に含まれる前記測定対象物における前記出力光の反射による反射信号に基づいて前記測定対象物までの前記出力光の往復伝搬時間を推定する伝搬推定手段と、
前記受光信号に含まれるノイズの確率分布において前記反射信号に対応する累積確率を検出の信頼度として出力する信頼度出力手段と、
を備えることを特徴とする光学的測距装置。 - 請求項6に記載の光学的測距装置であって、
前記受光信号に含まれるノイズの確率分布に対する基準レベル毎に当該基準レベルに対応するノイズの確率分布を予め求めて記憶させた変換データベースを備え、
前記信頼度出力手段では、前記反射信号を検出する際に前記受光信号から実際に求めた基準レベルに対応する前記変換データベースを参照して、前記反射信号に対応する累積確率を検出の信頼度として出力することを特徴とする光学的測距装置。 - 請求項6又は7に記載の光学的測距装置であって、
前記受光信号のノイズの確率分布を推定する確率分布推定手段をさらに備えることを特徴とする光学的測距装置。 - 請求項6~8のいずれか1項に記載の光学的測距装置であって、
前記受光信号のノイズの確率分布は、前記受光信号の波形の最大値の確率分布であることを特徴とする光学的測距装置。 - 請求項1~9のいずれか1項に記載の光学的測距装置であって、
前記基準レベルは、前記受光信号の平均値であることを特徴とする光学的測距装置。
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JP2019025312A JP7208052B2 (ja) | 2019-02-15 | 2019-02-15 | 光学的測距装置 |
CN202080013994.4A CN113424077A (zh) | 2019-02-15 | 2020-02-12 | 光学测距装置 |
PCT/JP2020/005342 WO2020166609A1 (ja) | 2019-02-15 | 2020-02-12 | 光学的測距装置 |
US17/401,014 US20210373156A1 (en) | 2019-02-15 | 2021-08-12 | Optical distance measuring apparatus |
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US20240004070A1 (en) * | 2020-11-30 | 2024-01-04 | Hokuyo Automatic Co., Ltd. | Optical rangefinder and optical rangefinding method |
CN115144863A (zh) * | 2021-03-31 | 2022-10-04 | 上海禾赛科技有限公司 | 确定噪声水平的方法、激光雷达以及测距方法 |
JP2023106153A (ja) * | 2022-01-20 | 2023-08-01 | ソニーセミコンダクタソリューションズ株式会社 | 測距装置 |
WO2023150920A1 (en) * | 2022-02-09 | 2023-08-17 | Huawei Technologies Co., Ltd. | Methods and apparatus for single-shot time-of-flight ranging with background light rejection |
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