KR102898863B1 - Lidar 시스템 및 방법 - Google Patents

Lidar 시스템 및 방법

Info

Publication number
KR102898863B1
KR102898863B1 KR1020217015025A KR20217015025A KR102898863B1 KR 102898863 B1 KR102898863 B1 KR 102898863B1 KR 1020217015025 A KR1020217015025 A KR 1020217015025A KR 20217015025 A KR20217015025 A KR 20217015025A KR 102898863 B1 KR102898863 B1 KR 102898863B1
Authority
KR
South Korea
Prior art keywords
delete delete
light
lidar system
photodetector
sensor
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.)
Active
Application number
KR1020217015025A
Other languages
English (en)
Korean (ko)
Other versions
KR20210089172A (ko
Inventor
로넨 에셀
이단 바키쉬
샤하르 레비
오렌 로젠즈윅
마티트야후 샤니
유발 이팟
아미트 스테인버그
오렌 나탄 샤미르
Original Assignee
이노비즈 테크놀로지스 엘티디
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 이노비즈 테크놀로지스 엘티디 filed Critical 이노비즈 테크놀로지스 엘티디
Publication of KR20210089172A publication Critical patent/KR20210089172A/ko
Application granted granted Critical
Publication of KR102898863B1 publication Critical patent/KR102898863B1/ko
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/0017—Devices integrating an element dedicated to another function
    • B60Q1/0023—Devices integrating an element dedicated to another function the element being a sensor, e.g. distance sensor, camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • 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
    • G01S17/003—Bistatic lidar systems; Multistatic lidar systems
    • 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
    • G01S7/4804—Auxiliary means for detecting or identifying lidar signals or the like, e.g. laser illuminators
    • 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
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • 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
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • 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
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • 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
    • 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
    • G01S7/51—Display arrangements
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
    • 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
    • H—ELECTRICITY
    • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
    • H10F—INORGANIC SEMICONDUCTOR DEVICES SENSITIVE TO INFRARED RADIATION, LIGHT, ELECTROMAGNETIC RADIATION OF SHORTER WAVELENGTH OR CORPUSCULAR RADIATION
    • H10F30/00—Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors
    • H10F30/20—Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors
    • H10F30/21—Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation
    • H10F30/22—Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation the devices having only one potential barrier, e.g. photodiodes
    • H10F30/225—Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation the devices having only one potential barrier, e.g. photodiodes the potential barrier working in avalanche mode, e.g. avalanche photodiodes

Landscapes

  • 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)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
KR1020217015025A 2018-10-19 2019-10-17 Lidar 시스템 및 방법 Active KR102898863B1 (ko)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201862747761P 2018-10-19 2018-10-19
US62/747,761 2018-10-19
US201862754055P 2018-11-01 2018-11-01
US62/754,055 2018-11-01
PCT/IB2019/001459 WO2020148567A2 (en) 2018-10-19 2019-10-17 Lidar systems and methods

Publications (2)

Publication Number Publication Date
KR20210089172A KR20210089172A (ko) 2021-07-15
KR102898863B1 true KR102898863B1 (ko) 2025-12-10

Family

ID=70554111

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020217015025A Active KR102898863B1 (ko) 2018-10-19 2019-10-17 Lidar 시스템 및 방법

Country Status (6)

Country Link
US (2) US12372659B2 (https=)
EP (2) EP3867668A2 (https=)
JP (1) JP7453220B2 (https=)
KR (1) KR102898863B1 (https=)
CN (1) CN112969937A (https=)
WO (1) WO2020148567A2 (https=)

Families Citing this family (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10816666B2 (en) 2017-11-21 2020-10-27 Magna Electronics Inc. Vehicle sensing system with calibration/fusion of point cloud partitions
EP3906428B1 (en) * 2019-01-03 2025-10-01 Volkswagen Aktiengesellschaft System, method, and components providing compressive active range sampling
US20200249332A1 (en) * 2019-02-06 2020-08-06 Ford Global Technologies, Llc Online Extrinsic Miscalibration Detection Between Sensors
DE112020002939T5 (de) * 2019-06-20 2022-03-03 Koito Manufacturing Co., Ltd. Fahrzeugleuchte und Verfahren zur Steuerung von Fahrzeugleuchten
US11431417B2 (en) * 2019-09-26 2022-08-30 Raytheon Company Methods and apparatus for reception of low photon density optical signals
KR102351785B1 (ko) * 2020-02-06 2022-01-18 주식회사 루트로닉 조직의 기능적 영상 획득 장치 및 이의 생성 방법
US11598878B2 (en) * 2020-04-07 2023-03-07 Teledyne Scientific & Imaging, Llc Vision-cued random-access lidar system and method for localization and navigation
US11802970B2 (en) * 2020-07-08 2023-10-31 Aptiv Technologies Limited Alternating power-level scanning for time-of-flight lidar systems
DE102020120542A1 (de) * 2020-08-04 2022-02-10 Valeo Schalter Und Sensoren Gmbh Erzeugen eines Messdatensatzes mittels eines aktiven Sensorsystems
US20220050183A1 (en) * 2020-08-12 2022-02-17 Beijing Voyager Technology Co., Ltd. Intertwined detector array for an optical sensing system
CN115989427A (zh) * 2020-08-24 2023-04-18 应诺维思科技有限公司 在确保眼睛安全的同时进行多个同时激光束的发射和照明
US11828854B2 (en) * 2020-09-09 2023-11-28 WeRide Corp. Automatic LIDAR performance monitoring and maintenance for autonomous driving
JP2022048470A (ja) * 2020-09-15 2022-03-28 株式会社日立国際電気 点検装置
DE102020211784A1 (de) 2020-09-21 2022-03-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Optische messvorrichtung zur ortsaufgelösten abstandsbestimmung
US20220113405A1 (en) * 2020-10-14 2022-04-14 Argo AI, LLC Multi-Detector Lidar Systems and Methods
CN114488176A (zh) * 2020-10-23 2022-05-13 睿镞科技(北京)有限责任公司 3d图像传感器测距系统及使用该系统进行测距的方法
KR20240004882A (ko) 2021-05-14 2024-01-11 모셔널 에이디 엘엘씨 실리콘 광전자 증배관 기반 lidar
CN115372944A (zh) * 2021-05-20 2022-11-22 北京图森智途科技有限公司 点云数据的处理方法、电子设备及存储介质
US20230003861A1 (en) * 2021-06-30 2023-01-05 Seagate Technology Llc Lidar with segmented photodiode
US20230084560A1 (en) * 2021-09-12 2023-03-16 James Thomas O'Keeffe Distributed lidar with shared light emitter
CN113917488A (zh) * 2021-09-24 2022-01-11 深圳裹动智驾科技有限公司 全景调频连续波激光雷达及车辆
US11435451B1 (en) 2021-10-14 2022-09-06 Motional Ad Llc SiPM based sensor for low level fusion
US11428791B1 (en) 2021-10-14 2022-08-30 Motional Ad Llc Dual-mode silicon photomultiplier based LiDAR
US12190607B2 (en) * 2021-10-21 2025-01-07 Ford Global Technologies, Llc System and method for simultaneous online LIDAR intensity calibration and road marking change detection
US12613321B2 (en) 2021-12-24 2026-04-28 Y.E. Hub Armenia LLC Lidar system and a method of calibrating the LIDAR system
US20230204781A1 (en) * 2021-12-28 2023-06-29 Nio Technology (Anhui) Co., Ltd. Time of flight cameras using passive image sensors and existing light sources
CN116540246A (zh) * 2022-02-03 2023-08-04 欧宝士株式会社 距离测量装置、自动门系统、开闭系统以及距离测量方法
EP4249950B1 (de) 2022-03-25 2024-03-13 Sick Ag Erfassung und abstandsbestimmung eines objekts
EP4249949B1 (de) 2022-03-25 2024-03-13 Sick Ag Erfassung und abstandsbestimmung eines objekts
CN119630981A (zh) * 2022-08-21 2025-03-14 应诺维思科技有限公司 用于更新lidar系统中的点云的系统和方法
CN115561772B (zh) * 2022-08-26 2023-08-29 东莞理工学院 一种基于视觉区域导向性的激光雷达驾驶环境认知系统
WO2024161170A2 (en) * 2022-10-18 2024-08-08 Innoviz Technologies Ltd. Detector for short range detection
CN115825971B (zh) * 2022-11-29 2025-12-16 深圳奥锐达科技有限公司 一种基于spad芯片的扫描式激光雷达
JP2025541454A (ja) * 2022-12-23 2025-12-18 ライフ テクノロジーズ コーポレーション フローサイトメトリのための単一光子アバランシェダイオードを実装するための方法及びシステム
CN116430362A (zh) * 2023-06-01 2023-07-14 深圳市镭神智能系统有限公司 一种激光雷达接收电路和激光雷达
KR20250007912A (ko) * 2023-07-06 2025-01-14 하나옵트로닉스 주식회사 라이다 시스템
WO2025121594A1 (ko) * 2023-12-06 2025-06-12 주식회사 엘엑스세미콘 이미지 센서 및 그 제어 방법
KR102790407B1 (ko) 2024-06-12 2025-04-01 재단법인 지능형자동차부품진흥원 라이다 이상 감지 방법 및 장치와 이를 위한 데이터 생성 방법 및 장치

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018091970A1 (en) * 2016-11-16 2018-05-24 Innoviz Technologies Ltd. Lidar systems and methods

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4694295A (en) * 1986-05-15 1987-09-15 Miller Brett A Vehicle blind spot detector
JPH09197045A (ja) * 1996-01-24 1997-07-31 Nissan Motor Co Ltd 車両用レーダ装置
ES2158827B1 (es) * 2000-02-18 2002-03-16 Fico Mirrors Sa Dispositivo de deteccion de presencia de objetos.
CN1474161A (zh) 2003-08-12 2004-02-11 西北大学 确定三维物体表面坐标和颜色的方法及装置
US8786682B2 (en) 2009-03-05 2014-07-22 Primesense Ltd. Reference image techniques for three-dimensional sensing
US9204129B2 (en) * 2010-09-15 2015-12-01 Perceptron, Inc. Non-contact sensing system having MEMS-based light source
DE112015001741T5 (de) * 2014-04-08 2016-12-29 Tk Holdings Inc. System und Verfahren für Nachtvisionsobjektdetektion und Fahrerassistenz
WO2017095817A1 (en) * 2015-11-30 2017-06-08 Luminar Technologies, Inc. Lidar system with distributed laser and multiple sensor heads and pulsed laser for lidar system
WO2017200896A2 (en) 2016-05-18 2017-11-23 James O'keeffe A dynamically steered lidar adapted to vehicle shape
US11623558B2 (en) 2016-09-15 2023-04-11 Koito Manufacturing Co., Ltd. Sensor system
US20180113216A1 (en) 2016-10-25 2018-04-26 Innoviz Technologies Ltd. Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Active Optical Scanning of a Scene
US20180081037A1 (en) 2016-09-20 2018-03-22 Innoviz Technologies Ltd. Methods Circuits Assemblies Devices Systems and Functionally Associated Machine Executable Code for Controllably Steering an Optical Beam
KR102554215B1 (ko) * 2016-09-20 2023-07-11 이노비즈 테크놀로지스 엘티디 Lidar 시스템 및 방법
WO2018055513A2 (en) * 2016-09-20 2018-03-29 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for light detection and ranging based scanning
US20180100928A1 (en) 2016-10-09 2018-04-12 Innoviz Technologies Ltd. Methods circuits devices assemblies systems and functionally associated machine executable code for active scene scanning
US20180081038A1 (en) 2016-09-21 2018-03-22 Innoviz Technologies Ltd. Methods Circuits Devices Assemblies Systems and Functionally Associated Machine Executable Code for Light Detection and Ranging Based Scanning
US10379540B2 (en) 2016-10-17 2019-08-13 Waymo Llc Light detection and ranging (LIDAR) device having multiple receivers
US10520592B2 (en) * 2016-12-31 2019-12-31 Waymo Llc Light detection and ranging (LIDAR) device with an off-axis receiver
WO2018127789A1 (en) * 2017-01-03 2018-07-12 Innoviz Technologies Ltd. Lidar systems and methods for detection and classification of objects
KR102609223B1 (ko) * 2017-03-01 2023-12-06 아우스터, 인크. 라이더를 위한 정확한 광검출기 측정
CN107132519A (zh) * 2017-06-30 2017-09-05 深圳市镭神智能系统有限公司 一种激光雷达光路系统
KR102634870B1 (ko) 2017-11-15 2024-02-13 옵시스 테크 엘티디 잡음 적응형 솔리드-스테이트 lidar 시스템
US10627516B2 (en) * 2018-07-19 2020-04-21 Luminar Technologies, Inc. Adjustable pulse characteristics for ground detection in lidar systems

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018091970A1 (en) * 2016-11-16 2018-05-24 Innoviz Technologies Ltd. Lidar systems and methods

Also Published As

Publication number Publication date
JP7453220B2 (ja) 2024-03-19
KR20210089172A (ko) 2021-07-15
US20250327933A1 (en) 2025-10-23
US20210389467A1 (en) 2021-12-16
WO2020148567A3 (en) 2020-10-01
JP2022505485A (ja) 2022-01-14
CN112969937A (zh) 2021-06-15
EP4700436A2 (en) 2026-02-25
US12372659B2 (en) 2025-07-29
EP3867668A2 (en) 2021-08-25
WO2020148567A2 (en) 2020-07-23

Similar Documents

Publication Publication Date Title
KR102898863B1 (ko) Lidar 시스템 및 방법
US20250172674A1 (en) Systems and methods for photodiode-based detection
US20210025997A1 (en) Lidar systems and methods with internal light calibration
CN114008483B (zh) 用于飞行时间光学感测的系统和方法
KR102793661B1 (ko) 가열 요소를 갖는 전기 광학 시스템
US12553993B2 (en) Flash LIDAR having nonuniform light modulation
US20220075027A1 (en) Resonant laser driver for a lidar system
US20240230906A9 (en) Lidar systems and methods for generating a variable density point cloud
WO2019234503A2 (en) Mems mirror with resistor for determining a position of the mirror
US20220163633A1 (en) System and method for repositioning a light deflector
US20220276348A1 (en) Systems and methods for eye-safe lidar

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

A201 Request for examination
E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

D13-X000 Search requested

St.27 status event code: A-1-2-D10-D13-srh-X000

E902 Notification of reason for refusal
PE0902 Notice of grounds for rejection

St.27 status event code: A-1-2-D10-D21-exm-PE0902

E13-X000 Pre-grant limitation requested

St.27 status event code: A-2-3-E10-E13-lim-X000

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

D22 Grant of ip right intended

Free format text: ST27 STATUS EVENT CODE: A-1-2-D10-D22-EXM-PE0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PE0701 Decision of registration

St.27 status event code: A-1-2-D10-D22-exm-PE0701

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

F11 Ip right granted following substantive examination

Free format text: ST27 STATUS EVENT CODE: A-2-4-F10-F11-EXM-PR0701 (AS PROVIDED BY THE NATIONAL OFFICE)

PR0701 Registration of establishment

St.27 status event code: A-2-4-F10-F11-exm-PR0701

PR1002 Payment of registration fee

St.27 status event code: A-2-2-U10-U12-oth-PR1002

Fee payment year number: 1

U12 Designation fee paid

Free format text: ST27 STATUS EVENT CODE: A-2-2-U10-U12-OTH-PR1002 (AS PROVIDED BY THE NATIONAL OFFICE)

Year of fee payment: 1

PG1601 Publication of registration

St.27 status event code: A-4-4-Q10-Q13-nap-PG1601

Q13 Ip right document published

Free format text: ST27 STATUS EVENT CODE: A-4-4-Q10-Q13-NAP-PG1601 (AS PROVIDED BY THE NATIONAL OFFICE)