KR20220082849A - 장면까지의 거리들을 결정하기 위한 방법 및 디바이스 - Google Patents

장면까지의 거리들을 결정하기 위한 방법 및 디바이스 Download PDF

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Publication number
KR20220082849A
KR20220082849A KR1020227013614A KR20227013614A KR20220082849A KR 20220082849 A KR20220082849 A KR 20220082849A KR 1020227013614 A KR1020227013614 A KR 1020227013614A KR 20227013614 A KR20227013614 A KR 20227013614A KR 20220082849 A KR20220082849 A KR 20220082849A
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South Korea
Prior art keywords
detection time
laser light
max
time windows
reflected laser
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KR1020227013614A
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English (en)
Korean (ko)
Inventor
릭 파센
더크 반 다이크
스틴 반데비엘레
닉 반 덴 브로엑
Original Assignee
제노마틱스 엔브이
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Publication of KR20220082849A publication Critical patent/KR20220082849A/ko
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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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • 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
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • 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
    • 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
    • B60W2420/52—
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals

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)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Optics & Photonics (AREA)
  • Aviation & Aerospace Engineering (AREA)
KR1020227013614A 2019-09-25 2020-09-23 장면까지의 거리들을 결정하기 위한 방법 및 디바이스 Withdrawn KR20220082849A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19199701.4A EP3798673A1 (en) 2019-09-25 2019-09-25 Method and device for determining distances to a scene
EP19199701.4 2019-09-25
PCT/EP2020/076455 WO2021058494A1 (en) 2019-09-25 2020-09-23 Method and device for determining distances to a scene

Publications (1)

Publication Number Publication Date
KR20220082849A true KR20220082849A (ko) 2022-06-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020227013614A Withdrawn KR20220082849A (ko) 2019-09-25 2020-09-23 장면까지의 거리들을 결정하기 위한 방법 및 디바이스

Country Status (6)

Country Link
US (1) US20220326358A1 (https=)
EP (2) EP3798673A1 (https=)
JP (1) JP2022551427A (https=)
KR (1) KR20220082849A (https=)
CN (1) CN114730009A (https=)
WO (1) WO2021058494A1 (https=)

Cited By (1)

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KR102791616B1 (ko) * 2024-07-31 2025-04-08 한화시스템 주식회사 레이다 추적자원 최적화 시스템 및 방법

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WO2022022432A1 (zh) * 2020-07-31 2022-02-03 宁波飞芯电子科技有限公司 探测装置及方法
WO2023104438A1 (en) * 2021-12-09 2023-06-15 Sony Semiconductor Solutions Corporation Electronic device and method
EP4469827A4 (en) * 2022-01-30 2026-02-11 Ouster Inc Overlapping sub-beaches with no power
CN116990774B (zh) * 2023-07-05 2025-08-19 西安理工大学 一种混合激光脉冲序列的自适应分离方法
CN116982609B (zh) * 2023-08-03 2025-10-10 华南农业大学 基于作物处方图的喷雾方法、系统和计算机设备
CN118191860B (zh) * 2024-05-16 2024-08-02 天津宜科自动化股份有限公司 一种基于脉冲的多周期测量方法、电子设备及存储介质

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US9874630B2 (en) * 2015-01-30 2018-01-23 Microsoft Technology Licensing, Llc Extended range gated time of flight camera
CN107615093B (zh) * 2015-05-28 2021-07-06 新唐科技日本株式会社 测距摄像装置、其测距方法以及固体摄像装置
JP6406449B2 (ja) * 2015-06-24 2018-10-17 株式会社村田製作所 距離センサ
JP6701199B2 (ja) * 2015-07-31 2020-05-27 パナソニック株式会社 測距撮像装置
EP3159711A1 (en) * 2015-10-23 2017-04-26 Xenomatix NV System and method for determining a distance to an object
CN108474849B (zh) * 2016-02-17 2021-12-21 松下知识产权经营株式会社 距离测量装置
EP3301477A1 (en) * 2016-10-03 2018-04-04 Xenomatix NV System for determining a distance to an object
JP2018185179A (ja) * 2017-04-25 2018-11-22 株式会社リコー 測距装置、監視装置、３次元計測装置、移動体、ロボット及び測距方法
KR102677519B1 (ko) * 2017-12-15 2024-06-20 제노마틱스 엔브이 물체까지의 거리를 결정하기 위한 시스템 및 방법
US11002836B2 (en) * 2018-05-14 2021-05-11 Rockwell Automation Technologies, Inc. Permutation of measuring capacitors in a time-of-flight sensor
CN110087060B (zh) * 2019-03-11 2020-12-01 歌尔光学科技有限公司 深度相机的快门触发时刻调整方法、装置和设备
CN110221274B (zh) * 2019-05-09 2021-04-30 奥比中光科技集团股份有限公司 时间飞行深度相机及多频调制解调的距离测量方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102791616B1 (ko) * 2024-07-31 2025-04-08 한화시스템 주식회사 레이다 추적자원 최적화 시스템 및 방법

Also Published As

Publication number Publication date
EP4034910A1 (en) 2022-08-03
WO2021058494A1 (en) 2021-04-01
JP2022551427A (ja) 2022-12-09
EP3798673A1 (en) 2021-03-31
CN114730009A (zh) 2022-07-08
EP4034910B1 (en) 2025-06-18
US20220326358A1 (en) 2022-10-13

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