KR20190046557A - LIDAR apparatus, LIDAR signal processing apparatus and method - Google Patents

LIDAR apparatus, LIDAR signal processing apparatus and method Download PDF

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Publication number
KR20190046557A
KR20190046557A KR1020170140484A KR20170140484A KR20190046557A KR 20190046557 A KR20190046557 A KR 20190046557A KR 1020170140484 A KR1020170140484 A KR 1020170140484A KR 20170140484 A KR20170140484 A KR 20170140484A KR 20190046557 A KR20190046557 A KR 20190046557A
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South Korea
Prior art keywords
reference value
detection reference
light amount
light
laser diode
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KR1020170140484A
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Korean (ko)
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KR102086026B1 (en
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정형균
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현대오트론 주식회사
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483Details of pulse systems
    • G01S7/484Transmitters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • G01S17/10Systems determining position data of a target for measuring distance only using transmission of interrupted pulse-modulated waves
    • G01S17/936
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01JMEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRA-RED, VISIBLE OR ULTRA-VIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00Photometry, e.g. photographic exposure meter
    • G01J1/42Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J2001/4266Photometry, e.g. photographic exposure meter using electric radiation detectors for measuring solar light

Abstract

The present invention relates to a LiDAR device and an apparatus for processing a LiDAR signal and a method thereof. More specifically, the apparatus for processing a LiDAR signal comprises: a solar light quantity discrimination unit discriminating the quantity of solar light sensed by using an illuminance sensor of a vehicle; and a detection reference value adjustment unit lowering a detection reference value for removing noise of reflected waves when the quantity of light is lower than the reference value, and raising the detection reference value when the quantity of light is higher than the reference value.

Description

[0001] DESCRIPTION [0002] LIDAR apparatus, LIDAR signal processing apparatus and method [

The present invention relates to a lidar apparatus, a lidaral signal processing apparatus and method, and more particularly to an apparatus for measuring a distance and a shape to an object to be measured by using optical means.

Light Detection And Ranging (LIDAR) is a method of measuring the physical properties such as the distance, concentration, velocity, and shape of a measurement object from the time, intensity, frequency, and polarization state of a scattered or reflected laser .

This is similar to RADAR (Radio Detection And Ranging), which uses a microwave to observe the round trip time to an object, but differs from radar using radio waves. In this regard, It is also called.

The Lidar device is mainly composed of an airplane that emits laser pulses from satellites or aircraft and receives backscattered pulses from atmospheric particles at the ground station. It has been used to measure the presence and movement of smoke, aerosols, cloud particles, etc., and to analyze the distribution of airborne dust particles or air pollution.

However, in recent years, both transmission systems and receiving systems have been installed on the ground to perform obstacle detection, terrain modeling, and ground acquisition, , Civilian mobile robots, intelligent automobiles, and unmanned automobiles.

In general, an infrared laser with a wavelength of 905 nm is used for the ladder, and a band pass filter is included in the front optical system of the sensor in order to reduce malfunction caused by an external light source. However, sunlight has a broad spectrum from ultraviolet rays of less than 200nm to infrared rays of more than 2.4um, and includes infrared rays of 905nm wavelength mainly used in Lada's laser.

Therefore, due to the characteristics of the lidar used in the outdoor, it is directly affected by the sunlight, and when the sunlight is not prepared for the strong condition, the lidar has an abnormal operation.

In order to remove sunlight noise, the conventional technique increases a threshold value, which is a True / False criterion of a received signal, to increase the output of the laser diode so as not to deteriorate the object detection performance. However, when the output of the laser diode is increased, there is a problem that the temperature is increased due to the increase of current consumption, the performance of the laser diode is deteriorated due to the increased temperature, and the lifetime is reduced.

It is an object of the present invention to substantially obviate various problems caused by the limitations and disadvantages of the prior art, and it is an object of the present invention to provide an illuminance sensor The threshold level can be controlled according to the solar noise level by using the output of the photodetector. Thus, the problem of heat generation of the laser diode is solved, and the maximum measurement distance is improved through efficient use. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a laser diode device capable of reducing the power consumption and increasing the lifetime of the laser diode, , And a signal processing apparatus and method. However, these problems are exemplary and do not limit the scope of the present invention.

According to an aspect of the present invention, there is provided an apparatus for processing a signal of a lattice according to an embodiment of the present invention, comprising: a solar light amount discrimination unit discriminating an amount of solar light sensed by using an illuminance sensor of a vehicle; And a detection reference value adjuster for adjusting the detection reference value for removing noise from the reflected waves when the light amount is lower than the reference value and for adjusting the detection reference value upward when the light amount is higher than the reference value.

When the detection reference value is adjusted downward, the LIDAR signal processing apparatus lowers the output of the laser light generated in the laser diode, raises the output of the laser light generated in the laser diode when the detection reference value is adjusted upward, And a control unit for controlling an output value of the output unit.

The LIDAR signal processing apparatus may further include a communication unit for connecting the illuminance sensor of the vehicle to the solar photodetector.

The LIDAR signal processing apparatus may further include a detector for detecting a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object.

Meanwhile, a Lada signal processing method according to an embodiment of the present invention includes a solar light amount discrimination step of discriminating an amount of solar light sensed using a vehicle illuminance sensor; And a detection reference value adjusting step of adjusting the detection reference value for removing noise from the reflected waves when the light amount is lower than the reference value and adjusting the detection reference value upward when the light amount is higher than the reference value.

The LIDAR signal processing method may further include, after the detection reference value adjustment step, lowering the output of the laser beam generated in the laser diode when the detection reference value is adjusted downward, and, when the detection reference value is adjusted upward, And an output value control step of increasing the output of the light and controlling the output value of the laser diode.

The LIDAR signal processing method may further include a communication step of transmitting an amount of sunlight sensed by the illuminance sensor of the vehicle to the solar light amount discrimination unit prior to the solar light amount discrimination step.

The LIDAR signal processing method may further include detecting a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object.

According to another aspect of the present invention, there is provided a ladder device including: a laser diode for generating laser light; A photodiode for receiving the reflected wave reflected from the object by the laser light; A solar light quantity discrimination unit for discriminating the quantity of solar light sensed by using the illuminance sensor of the vehicle; A detection reference value adjuster that adjusts a detection reference value for removing noise from reflected waves when the light amount is lower than a reference value and adjusts the detection reference value upward when the light amount is higher than a reference value; A control unit for lowering the output of the laser light generated by the laser diode when the detection reference value is adjusted downward and raising the output of the laser light generated by the laser diode when the detection reference value is adjusted upward, A communication unit for connecting the illuminance sensor of the vehicle to the solar light amount control unit; And a bandpass filter formed on a front surface of the photodiode on which the reflected wave is received to remove noise caused by external noise or a solar light source.

According to the present invention, an output of a laser diode outputs an appropriate laser power in accordance with a surrounding environment, thereby solving the problem of heat generation of the laser diode, and improving the maximum measurement distance and power consumption through efficient use The lifetime of the battery can be increased.

Thus, the problem of heat generation of the laser diode is solved, the maximum measurement distance is improved through efficient use, and the effect of reducing the physical size of the Lada device manufactured for high output can be obtained.

FIG. 1 is a configuration diagram illustrating a structure of a Lada signal processing apparatus according to an embodiment of the present invention. Referring to FIG.
FIG. 2 is a conceptual diagram illustrating a difference in detection of an object according to the intensity of sunlight using a Lada signal processing apparatus according to an exemplary embodiment of the present invention. Referring to FIG.
FIGS. 3A and 3B are graphs showing a detection reference value according to the intensity of the received pulse wave and the sunlight of the LIDAR signal processing apparatus according to the embodiment of the present invention. FIG.
4 is a flowchart illustrating a method of processing a Lada signal according to an embodiment of the present invention.
5 is a flowchart illustrating a method of processing a Lada signal according to another embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be understood, however, that the invention is not limited to the disclosed embodiments, but may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, Is provided to fully inform the user. In addition, for convenience of explanation, components may be exaggerated or reduced in size.

However, it should be understood that the following embodiments are provided so that those skilled in the art will be able to fully understand the present invention, and that various modifications may be made without departing from the scope of the present invention. It is not.

FIG. 1 is a configuration diagram illustrating a structure of a Lada signal processing apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram of a Lada signal processing apparatus according to an embodiment of the present invention. And FIG.

1, the LIDAR signal processing apparatus 100 according to an embodiment of the present invention includes a solar light amount determination unit 10, a detection reference value adjustment unit 20, a control unit 30, (40) and a detector (50).

As shown in FIG. 1, the solar light amount determining unit 10 can determine the light amount of sunlight sensed by using the illuminance sensor IS of the vehicle.

The solar light amount discrimination unit 10 is formed in the Lada signal processing apparatus, and the solar light sensed by the illuminance sensor IS of the vehicle can be received by the communication unit 40 to be described later. The light intensity of the received sunlight can be detected to determine the intensity of the sensed sunlight. The amount of light can be calculated numerically based on the day when the sunlight is strongest and the sunlight is weakest in all four seasons.

1, the detection reference value adjuster 20 adjusts the detection reference value for removing noise from reflected waves to be lowered when the light amount is lower than the reference value, and when the light amount is higher than the reference value, Can be adjusted upward.

The detection reference value adjuster 20 can adjust the detection reference value according to the amount of light when the solar light amount determining unit 10 calculates the light amount from sunlight sensed by the vehicle illuminance sensor IS. At this time, the detection reference value can be adjusted upward to prevent the sunlight noise from being detected when the light intensity is high, and the power consumption to be output is reduced when the light intensity is low due to weak sunlight, LD), the detection reference value can be adjusted downward.

More specifically, for example, as shown in FIG. 2, when the intensity of sunlight is high and the amount of light is high, solar noise is included in addition to the reflected wave reflected from the object, and malfunction or the object is not detected .

1, when the detection reference value is adjusted downward, the control unit 30 lowers the output of laser light generated in the laser diode LD, and when the detection reference value is adjusted upward, The output of the laser diode LD can be controlled by raising the output of the laser light.

When the detection reference value is adjusted upward because the intensity of the sunlight is strong due to strong intensity of sunlight, the controller 30 controls the reflector so that the reflected wave received by the object can be discriminated over the detection reference value, The output value of the pulse wave applied from the laser diode LD can be increased so as to exceed the detection reference value.

On the other hand, in order to reduce the power consumption of the reflected wave reflected by the object and to improve the performance of the laser diode (LD) when the detection reference value is adjusted down due to the low intensity of the sunlight and the light amount is low, The output value of the pulse wave applied can be lowered.

As shown in FIG. 1, the communication unit 40 may connect the illuminance sensor IS of the vehicle to the solar photodetector 10.

More specifically, the communication unit 40 communicates with the illuminance sensor IS of the vehicle or the control module (BCM) of the vehicle so as to transmit the light quantity to the solar photodetector unit 10 of the LADAR signal processing apparatus 1000 Can be connected.

The communication unit 40 is an apparatus for connecting the LADIS signal processing apparatus 1000 to the illuminance sensor IS of the vehicle and may include a device connected to a wired communication network such as a serial line, a power line, an Ethernet, In addition, it may include a device connected to each other through a network, and may include a remote communication network such as TRS, WiMAX, 2G, 3G, 4G, 5G, and satellite, a short- And a variety of communication devices that can be connected to and receive input from a near / far range, wired / wireless device.

Although not shown, the amount of light can be received using an illuminance sensor (IC) of a remote or nearby vehicle in addition to the vehicle in which the LIDAR signal processing apparatus 1000 is installed.

As shown in Fig. 1, the detection unit 50 can detect a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object.

The detection unit 50 can detect only the pulse springs formed higher than the detection reference value adjusted by the detection reference value adjustment unit 20 among the pulse waves received from the photodiode PD, The reflected wave can be detected and detected.

1, a ladder apparatus 1000 according to an embodiment of the present invention includes a laser diode (LD), a photodiode (PD), a solar photodetector 10, a detection reference value adjuster 20 ), A control unit 30, a communication unit 40, and a bandpass filter 60.

The laser diode (LD) may be a semiconductor laser having two electrodes for laser operation. More specifically, the laser diode (LD) is composed of three layers, and the active layer, GaAs, may be formed in a shape sandwiched by Al x Ga 1 -x As. The refractive index n1 of the GaAs and the refractive index n2 of the Al x Ga 1 -x As can be designed to store light generated in the active layer, and the generated light can be emitted from the side of the active layer. In addition, the thickness of the active layer can be made smaller than the wavelength of light that is generated, and it is different from the excitation caused by light or electrons. have.

Thus, the pulse wave generated in the laser diode LD can be transmitted toward the object through the optical system. More specifically, the optical system may be a combination of a reflection mirror, a lens, and a prism for transmitting light energy by using reflection and refraction of light.

The photodiode PD can receive the reflected wave reflected from the object by the laser light, and convert the reflected wave into an electric signal.

More specifically, a photodiode (PD) is a semiconductor that converts an optical signal into an electric current path, and has a PN junction or a PIN structure. When light of sufficient photon energy strikes the diode, a moving electron and a positive charge hole are generated When electrons are active and absorbing in the depletion region of the junction, such a carrier can flow through the raised field of the depletion layer to produce a photocurrent.

The band pass filter 60 may be formed on the front surface of the photodiode PD on which the reflected wave is received in order to remove noise due to external noise or a solar light source, The component can be removed and output.

4 is a flowchart illustrating a method of processing a Lada signal according to an embodiment of the present invention.

As shown in FIG. 4, the LIDAR signal processing method according to an embodiment of the present invention may include a step of discriminating the amount of sunlight (S10) and a step of adjusting a detection reference value (S20).

As shown in FIG. 4, the solar light amount discrimination step S10 can discriminate the amount of sunlight sensed by using the illuminance sensor IS of the vehicle.

More specifically, for example, the solar light amount determination step S10 is a step of determining the amount of sun light detected by the illuminance sensor IS of the vehicle by the solar light amount determination unit 10 to detect the light amount of the sun light, Can be distinguished. At this time, the light amount of sunlight can be calculated by using the maximum value and the minimum value using the big data continuously stored according to the place and time.

The detection reference value adjusting step (S20) adjusts the detection reference value for removing the noise among the reflected waves when the light amount is lower than the reference value, and upwardly adjusts the detection reference value when the light amount is higher than the reference value.

As described above, the detection reference value adjustment step (S20) can adjust the detection reference value upward to prevent sunlight noise from being detected when the intensity of sunlight is high and the amount of light is high. As the sunlight intensity is low and the light amount is low The output power consumption can be reduced and the detection reference value can be adjusted down to improve the performance of the laser diode (LD).

5 is a flowchart illustrating a method of processing a Lada signal according to another embodiment of the present invention.

5, the LADIA signal processing method according to the embodiment of the present invention includes the steps of determining a solar photodetection amount S10, a detection reference value adjustment step S20, a communication step S30, an output value control step S40), and a detecting step (S50).

As shown in FIG. 5, the communication step S30 may transmit the light amount of the sunlight sensed by the vehicle illuminance sensor IS to the solar light amount discrimination unit 10 before the solar light amount discrimination step S10 .

The output value control step S40 lowers the output of the laser light emitted from the laser diode LD when the detection reference value is adjusted downward after the detection reference value adjustment step S20 and when the detection reference value is adjusted upward, The output of the laser diode LD can be controlled by increasing the output of the laser light generated by the laser diode LD.

The detecting step (S50) can detect a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object.

More specifically, for example, in the communication step S30, the communication unit 40 of the LADAR signal processing apparatus 1000 transmits / receives data to / from a vehicle illuminance sensor IS, a vehicle control module BCM, And the like.

The solar light amount discrimination step S10 is a step of discriminating the sun light intensity detected by the illuminance sensor IS of the vehicle from the illuminance sensor IS of the vehicle through the communication unit 30, So that the intensity can be determined.

The detection reference value adjustment step (S20) adjusts the detection reference value so that the sunlight noise is not detected when the light intensity determined in the solar light amount determination step (S10) is high, and when the light intensity is low And the detection reference value can be adjusted downward to increase the performance of the laser diode (LD).

The output value control step S40 is a step of controlling the output value of the pulse wave applied from the laser diode LD so that, when the detection reference value is adjusted upward in the detection reference value adjustment step S20, the reflected wave reflected on the object exceeds the detection reference value And the output value of the pulse wave applied from the laser diode (LD) can be controlled so as to reduce the power consumption and increase the performance of the laser diode (LD) when the detection reference value is adjusted downward.

The detection step S50 may detect only the pulse springs formed higher than the detection reference value adjusted by the detection reference value adjustment section 20 and recognize the detected pulse wave as a reflected wave reflected from the object to detect the object .

FIGS. 3A and 3B are graphs showing a detection reference value according to the intensity of the received pulse wave and the sunlight of the LIDAR signal processing apparatus according to the embodiment of the present invention. FIG.

3A and 3B, the received pulse wave is a pulse wave received from the photodiode PD. The pulse wave applied from the laser diode LD is reflected by the object, Or received noise due to ambient light or the like.

As shown in FIGS. 3A and 3B, when the amount of light is calculated by the solar light amount determining unit 10 from the sunlight sensed by the illuminance sensor IS of the vehicle of FIG. 1, the detection reference value is adjusted If the intensity of the light is high, it is adjusted upward. If the intensity of the light is low, the intensity of the light can be adjusted downward.

That is, the reflected wave received from the photodiode PD is combined with the detection reference value received from the illuminance sensor IS of the vehicle to detect the object.

Specifically, for example, as shown in FIG. 3A, when the detection reference value in FIG. 3A is normal and the sunlight is weak, the reflected wave reflected from the object in the received pulse wave can be easily discriminated beyond the detection reference value.

Also, if the light amount of the sunlight is detected to be low and the detection reference value is low, power consumption can be reduced with a low laser output, and the lifetime of the LADO signal processing apparatus 1000 can be increased.

On the other hand, as shown in FIG. 3B, if the detection reference value in FIG. 3B is the same as in FIG. 3A, but the sunlight is strong, the solar noise or various noise is detected in addition to the reflected wave of the object, .

At this time, when the detection reference value of 3b is upward and the sunlight is strong, the reflected wave reflected from the object in the received pulse wave can be discriminated beyond the detection reference value. At this time, It is possible to effectively use power by using an appropriate laser output and to increase the lifetime of the laser signal processing apparatus 1000.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10: Solar light quantity discrimination unit
20: Detection threshold value adjusting section
30:
40:
50:
60: Bandpass filter
LD: laser diode
PD: Photodiode
IS: Vehicle illuminance sensor
100: signal processing device
1000:

Claims (9)

  1. A solar light quantity discrimination unit for discriminating the quantity of solar light sensed by using the illuminance sensor of the vehicle; And
    A detection reference value adjuster that adjusts a detection reference value for removing noise from reflected waves when the light amount is lower than a reference value and adjusts the detection reference value upward when the light amount is higher than a reference value;
    And a signal processing unit for processing the signal.
  2. The method according to claim 1,
    A control unit for lowering the output of the laser beam generated by the laser diode when the detection reference value is adjusted downward and raising the output of the laser beam generated by the laser diode when the detection reference value is adjusted upward;
    And a signal processing unit for processing the signal.
  3. The method according to claim 1,
    A communication unit for connecting the illuminance sensor of the vehicle to the solar photodetector;
    And a signal processing unit for processing the signal.
  4. The method according to claim 1,
    A detector for detecting a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object;
    And a signal processing unit for processing the signal.
  5. A solar light amount discrimination step of discriminating the light amount of solar light sensed by using the illuminance sensor of the vehicle; And
    Adjusting a detection reference value for removing noise from reflected waves when the light amount is lower than a reference value and adjusting the detection reference value upward when the light amount is higher than a reference value;
    / RTI >
  6. 6. The method of claim 5,
    After the detection reference value adjustment step,
    An output value control step of lowering the output of the laser light generated in the laser diode when the detection reference value is adjusted downward and raising the output of the laser light generated in the laser diode when the detection reference value is adjusted upward and controlling the output value of the laser diode;
    ≪ / RTI >
  7. 6. The method of claim 5,
    Prior to the solar photodetection step,
    A communication step of transmitting the light amount of sunlight sensed by the illuminance sensor of the vehicle to the solar light amount discrimination unit;
    ≪ / RTI >
  8. 6. The method of claim 5,
    A detecting step of detecting a reflected wave having a wavelength higher than the detection reference value so that the reflected wave can be recognized as an object;
    ≪ / RTI >
  9. A laser diode for generating laser light;
    A photodiode for receiving the reflected wave reflected from the object by the laser light;
    A solar light quantity discrimination unit for discriminating the quantity of solar light sensed by using the illuminance sensor of the vehicle;
    A detection reference value adjuster that adjusts a detection reference value for removing noise from reflected waves when the light amount is lower than a reference value and adjusts the detection reference value upward when the light amount is higher than a reference value;
    A control unit for lowering the output of the laser light generated by the laser diode when the detection reference value is adjusted downward and raising the output of the laser light generated by the laser diode when the detection reference value is adjusted upward,
    A communication unit for connecting the illuminance sensor of the vehicle to the solar light amount control unit; And
    A band-pass filter formed on a front surface of the photodiode in which the reflected wave is received to remove noise caused by external noise or a solar light source;
    Lt; / RTI >
KR1020170140484A 2017-10-26 2017-10-26 LIDAR apparatus, LIDAR signal processing apparatus and method KR102086026B1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07200988A (en) * 1993-12-28 1995-08-04 Nippon Signal Co Ltd:The Vehicle detector
KR19990069209A (en) * 1998-02-05 1999-09-06 이-렌 라이 Noise reduction method of laser range finder receiver
JP2002182146A (en) * 2000-12-11 2002-06-26 Minolta Co Ltd Light quantity controller
JP2015049266A (en) * 2013-08-30 2015-03-16 株式会社リコー Image forming apparatus, vehicle, and control method of image forming apparatus
WO2016002401A1 (en) * 2014-07-01 2016-01-07 株式会社リコー Display device and vehicle
KR20160045159A (en) * 2014-10-16 2016-04-27 현대자동차주식회사 Light Emitting Apparatus for Vehicle
KR20170093608A (en) * 2016-02-05 2017-08-16 삼성전자주식회사 Vehicle and recognizing method of vehicle's position based on map
KR20170108564A (en) * 2016-03-18 2017-09-27 한국오므론전장주식회사 System and method for detecting vehicle invasion using image

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07200988A (en) * 1993-12-28 1995-08-04 Nippon Signal Co Ltd:The Vehicle detector
KR19990069209A (en) * 1998-02-05 1999-09-06 이-렌 라이 Noise reduction method of laser range finder receiver
JP2002182146A (en) * 2000-12-11 2002-06-26 Minolta Co Ltd Light quantity controller
JP2015049266A (en) * 2013-08-30 2015-03-16 株式会社リコー Image forming apparatus, vehicle, and control method of image forming apparatus
WO2016002401A1 (en) * 2014-07-01 2016-01-07 株式会社リコー Display device and vehicle
KR20160045159A (en) * 2014-10-16 2016-04-27 현대자동차주식회사 Light Emitting Apparatus for Vehicle
KR20170093608A (en) * 2016-02-05 2017-08-16 삼성전자주식회사 Vehicle and recognizing method of vehicle's position based on map
KR20170108564A (en) * 2016-03-18 2017-09-27 한국오므론전장주식회사 System and method for detecting vehicle invasion using image

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