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
  • 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
  • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
  • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
  • 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
  • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
  • G01S7/4813—Housing arrangements
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• • 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
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9315—Monitoring blind spots
• • 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
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
  • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
  • G01S2013/9327—Sensor installation details
  • G01S2013/93274—Sensor installation details on the side of the vehicles

Definitions

• the present invention is generally related to object detection systems. More particularly, the present invention is directed toward vehicle-mounted object detection systems utilizing laser diodes as an emitter source. BACKGROUND ART
• Object detection systems have been developed to alert motor vehicle operators to the presence of another moving vehicle in a monitored zone that extends behind the side mounted vehicle mirror.
• the monitored zone of interest is commonly referred to as the "blind spot.”
• Conventional side object detection (SOD) systems use an optical transmitter to transmit detection beams through a transmitter lens into the monitored zone, a receiver to receive detection beams that pass through a receiver lens after being reflected from an object in the monitored zone, and a system board that contains electronic hardware and software for generally controlling the system, including processing the received signals.
• the system board is electrically coupled to a vehicle electrical bus.
• multiple detection or sensing beams are transmitted into the monitored detection zone from a light source that uses multiple edge emitting laser diodes.
• One or more photodetectors are aimed into the monitored zone so that they will receive any reflection of the detection beams from an object in the monitored zone.
• Such systems typically use triangulation or phase shifts in the received reflections to discriminate between light reflected from objects within the monitored zone and light emanating from beyond the boundaries of the monitored zone. Examples of such systems are disclosed in U.S. Pat. Nos. 5,463,384 and 6,377, 167, the contents of which are incorporated by reference.
• Laser-type infrared light sources are preferred for many SOD systems, particularly edge emitting laser diodes.
• edge emitting laser diodes produce a diffuse, elliptical beam, the reflections of which are very difficult to detect and analyze. Thus, it is difficult to accurately define object detection zones and, thereby, reduce false detections in SOD systems that use edge emitting laser diodes.
• edge emitting laser diodes themselves are relatively expensive and have relatively slow response times. Because of the orientation of the emitted beam, edge emitter laser diodes cannot be mounted in standard surface mount packages, further adding to the cost of their use in SOD systems. The high cost and low performance of edge emitting laser diodes results in a higher overall cost and diminished functionality for these prior art SOD systems which has greatly limited their SOD systems market penetration.
• the present invention is directed toward an object detection system that includes an optical transmitter and an optical receiver.
• a system board is electrically coupled to the optical transmitter and receiver.
• the system board includes logic functional to cause the transmitter to generate optical signals, to cause the receiver to receive the optical signals when reflected from a detected object, and to process the received optical signals.
• the optical transmitter includes a transmitter circuit board with an emitter module that includes a plurality of vertical cavity surface emitting laser (VCSEL) chips.
• the optical transmitter includes at least one light pipe positioned over the emitter module such that the light pipe extends away from the transmitter circuit board to direct the optical signals toward a transmitter lens.
• VCSEL vertical cavity surface emitting laser
• the plurality of VCSEL chips are positioned on the transmitter circuit board in a pre-defined two dimensional VCSEL chip array.
• Each VCSEL chip has a plurality of VCSEL diodes mounted on a substrate in a surface mount package and positioned on the substrates in a pre-defined two dimensional VCSEL diode array.
• the VCSEL chip array has a reciprocal geometry that allows the transmitter board to be used in either a right or left side vehicle location by rotating the transmitter board 180 degrees.
• the surface mount package includes an integral ceramic heat dissipating element.
• the VCSEL diodes are electrically pulsed at a duty cycle of less than 1.5% to accommodate the lower power dissipation capabilities of the surface mount package.
• Fig. 1 is a top view of a vehicle positioned on a multi-lane highway, further illustrating zones extending from the vehicle side view mirrors monitored by an SOD system in accordance with the present invention.
• FIG. 2 is a system block diagram of a preferred embodiment of an SOD system in accordance with the present invention.
• FIG. 3(a)-(c) each contain side, edge, and top views of three different embodiments of VCSEL chips packaged in surface mount packages in accordance with the present invention.
• FIGs. 4(a)-(e) are top views of different embodiments of VCSEL diode arrays in accordance with the present invention.
• FIG. 5 is perspective view showing multiple detection beams emitted from the transmitter of an SOD system to define a monitored zone in accordance with the present invention.
• Fig. 6(a) is a plan view of an SOD system emitter module containing an array of VCSEL chips arranged in a reciprocal geometry and functional to generate multiple detection beams as shown in Fig. 5.
• Fig. 6(b) is a plan view of SOD system receiver containing an array of photodetectors arranged in a reciprocal geometry and functional to received detection beams reflected from an object in the monitored zone.
• Figs. 7(a)-7(e) are, respectively, top, oblique, front, side, and bottom views of one embodiment of a fiber optic interface for the emitter and receiver boards of the present invention.
• the present invention is directed toward an object detection system for a motor vehicle.
• the embodiment described herein is for side object detection (SOD).
• SOD side object detection
• the basic concept of SOD is illustrated in Fig. 1.
• the SOD system functions to provide information to the driver of a host vehicle 102 regarding the presence of one or more vehicles in adjacent detection zones 104 and 106 (sometimes referred to as monitored zones) that are monitored by SOD systems or units 108 and 110.
• the detection zones 104 and 106 are defined by boundaries 104(a-d) and 106(a-d).
• the monitored zones 104 and 106 encompass the so-called "blind spots" or areas which the driver of a vehicle 102 cannot see directly or through the inside and outside rearview mirrors.
• a monitored zone 104 and 106 of approximately 4 to 25 ft is desired in order to adequately cover the driver-side and passenger-side blind spots as measured from the side rearview mirrors.
• the emitter and detector units of the SOD systems 108 and 110 are preferably mounted in, or on, the vehicle's outside rearview mirrors.
• a three-dimensional array of multiple optical beams (sometimes referred to as detection beams) are transmitted from the SOD systems 108 and 110 into the zones 104 and 106.
• the detection beams are preferably generated by an array of multiple vertical cavity surface emitting laser (VCSEL) diodes arranged in an array of multiple VCSEL chips.
• VCSEL vertical cavity surface emitting laser
• Return signals corresponding to reflected detection beams are mixed with a phase controlled reference signal of the same frequency that is set to be 90 degrees out of phase with the returned signal that emanates from within a monitored zone boundary range. This produces a zero output from the mixer at the zone boundary because the signals are in phase quadrature in such a situation.
• a returned signal from an object within the monitored zone (closer than the range boundary) will produce a positively signed signal from the mixer, while a negatively signed signal is produced if the detected beam is from an object outside the monitored zone (beyond the range boundary).
• the magnitude of phase shift in the returned signal can be used to determine the distance to the detected object, such a calculation is not necessary for purposes of SOD in the vehicle blind spot. Because the speed of light is substantially constant, the returned light signal will be phase shifted by 1.97 ns for every foot of range to the detected object. Therefore, the size of the detection zone can be altered simply by looking for particular magnitudes of phase shifts in the reflected signals.
• the vertical cavity surface emitting laser (VCSEL) diode is a relatively new type of laser diode.
• a VCSEL diode (sometimes simply referred to as a "VCSEL") produces a forwardly directed beam of substantially coherent light.
• the beam from a VCSEL diode is directed from the top surface of the diode, away from the diode mounting surface.
• a single VCSEL diode is mounted on a substrate.
• a single VSCEL is a very low power device that is operated in a continuous mode or with a high duty cycle to produce visible illumination.
• the usable power output of a VCSEL is a function of the ability of the VCSEL package (and any associated heat sinking) to dissipate heat and its vulnerability to damage due to overheating.
• most VCSEL diodes in conventional application are packaged in metal cans for enhanced heat dissipation.
• a VCSEL in conventional packaging is not suited for use in an SOD system. Relative to an edge emitting laser diode, a VCSEL is a lower power device with a faster response time.
• FIG. 2 a diagram of one embodiment of an object detection system for a vehicle is shown.
• the system 200 is managed by a microcontroller 202 that communicates with the vehicle through a vehicle interface 203.
• the microcontroller 202 is driven by a clock 205.
• a transmitter module 204 having a set of emitters and associated drivers is used to produce infrared optical detection beams that are focused through a lens 206 toward an area in which it is desired to detect a reflecting object 208.
• the transmitter 204 preferably include an array of VCSEL chips, with each VCSEL incorporating an array of VCSEL diodes.
• the detection beams reflected from the object 208 pass through a receiving lens 210 which directs the reflected beams to a receiver module 212 having a set of photodetectors and associated amplifiers.
• the circuitry to control the emitter module 204 and to process the signals from the receiver module 212 is contained within a field programmable gate array (FPGA) 214.
• the gate array 214 is provided with a reference clock 207.
• the gate array 214 also functions to provide an interface between the transmitter (emitter) module 204 and receiver module 212 and the microprocessor 202.
• the gate array 214 further functions to produce a local oscillator (LO) signal that is combined with the receiver 212 signals in an analog mixer 216 to generate an intermediate frequency (IF) signal.
• LO local oscillator
• a low pass filter 218 and high gain amplifier/limiter 220 are used to further condition the IF signal so that the output of the amplifier/limiter 220 provides a detection/no detection data signal that can be processed by the microcontroller 202.
• a lens test emitter 222 and a lens test receiver 224 may be provided to allow ambient conditions and lens clarity to be monitored and evaluated.
• FIG. 3(a)-(c) mechanical diagrams of preferred VCSEL surface mount packages 302, 304 and 306 for use in the emitter module 204 of an object detection system are shown.
• the Al surface mount package 302 shown in FIG. 3(a) has a rectangular base 238 and a substantially circular dome 310.
• the VCSEL element 312 extends above the base 308 and into the dome 310.
• the electrical contact 314 for VCSEL element 312 is connected to the top of the VCSEL 312 in the dome 310.
• the A2 surface mount package 304 shown in FIG. 3(b) is similar to the Al package 302 in that it has a rectangular base 316 and a VCSEL element 318 that extends into a dome 320.
• the dome 320 has a substantially flat upper surface 322 that helps produce a more collimated, coherent laser beam.
• the A3 surface mount package 306 shown in FIG. 3(c) also has a rectangular base 324 with a flattened dome 326.
• the A3 package 306 uses a VCSEL element 328 that has its electrical connections provided within the rectangular base 324. All of the packages 302, 304 and 306 can be manufactured with integral ceramic heat sinks to improve there heat dissipation characteristics.
• the VCSEL element 312, 318, or 328 can be a single VCSEL diode or an array of VCSEL diodes on a single substrate, as shown in Figs.
• the surface mount package (302, 304 or 306) for each VCSEL element is a standard LED surface mount package with a ceramic substrate to provide integral heat sinking.
• a standard LED surface mount package with a ceramic substrate to provide integral heat sinking is the ULM850-7T-TN-HSMDCA from ULM Photonics GMBH.
• Each VCSEL array 402, 404, 406, 408 and 409 has a chip identifier portion 410 and bonding areas 412 for providing electrical contacts to the chip.
• the array 402 has five VCSEL diodes 414 arranged like the five dots on a standard die to form a 2X2+1 array measuring approximately 420 ⁇ m on each side.
• the VCSEL apertures 414 have a diameter of approximately 50 ⁇ m. Tests performed on array 402 indicate that it could be operated in a constant wave manner with a power level of at least 150 mW, or in a pulsed manner at 500 mW with a duty cycle of less than 1.5% without sustaining any damage. Thus, by pulsing the VCSEL diode array with a low duty cycle, a higher intensity beam can be achieved without damaging the VCSEL.
• the array 404 uses six VCSEL diodes 414 arranged peripherally around a seventh central VCSEL diode 414 to form an array approximately 516 ⁇ m x 516 ⁇ m in size.
• the third array 406 also uses six VCSEL diodes 414 arranged around a seventh central VCSEL diode 414.
• the third array 406 is fabricated on a larger substrate that is approximately 670 ⁇ m x 670 ⁇ m such that the power dissipation capabilities of the array 406 are increased. While the power dissipation capabilities of the third array 406 are increased with respect to the second array 404 due to the increased area of the substrate, those skilled in the art will readily appreciate that the increased size also results in increased cost.
• the fourth array 408 uses nine VCSEL diodes 414 arranged in a 3X3 array on a substrate of approximately the same size as the second array 404.
• Arrays 404, 406 and 408 are capable of providing an optical power in a monitored zone of at least 700 mW when operated in a pulsed mode with a duty cycle less than 1.5%.
• Array 409 consists of three VCSEL diodes in a row on a 670 ⁇ m x 170 ⁇ m substrate that and is capable of producing 300 mW limited duration pulses without sustaining damage. While the VCSEL diode arrays 402, 404, 406, 408 and 409 of Figs.
• FIG. 5 a diagram of a monitored detection zone definition in accordance with a preferred embodiment of the present invention is shown, utilizing seven emitted detection beams.
• a detection zone 502 is established for both the left 502 and right sides 504 of the vehicle.
• seven beams 506-518 and 520-532 are individually aimed to insure proper coverage of the detection zones 502 and 504.
• Each zone 502 and 504 preferably contains at least one hi-beam 518 and 532 that is aimed vertically above beams 506-516 and 520-530 to insure that objects suspended a certain height above the road surface, such as the bottom of a truck bed supported between a pair of wheels, are detected.
• the hi-beams 518 and 532 are preferably aimed toward the most distant point of the detection zones 502 and 504 to insure that objects in the center of the detection zones are detected.
• FIG. 6(a) and (b) preferred array geometries for an emitter (transmitter) module board 602 and receiver module board 604 for producing and receiving the detection beam patterns of FIG. 5 are shown.
• the emitting elements 606, which can be either single VCSEL diodes or VCSEL chips having an array of VCSEL diodes (as in the preferred embodiment), are arranged in a staggered up/down relationship to insure proper coverage of the desired detection zone.
• the hi-beam is provided by offsetting one emitting element 608 from the other elements 606.
• the geometry of the receiver module board 604 which is identical to the emitter module geometry 602, uses photodetectors 610 arranged in pattern that corresponds to the pattern of the emitting elements 606.
• An offset photodetector 612 is also provided that corresponds to the hi-beam emitter element 608.
• the emitter and receiver boards 602 and 604 can be flex boards that bend to allow the beams to be directed by mounting the boards on a curved mounting surface.
• the VCSEL chips can be surface mounted directly on a planar printed circuit board with light pipes or other optics (see Fig. 7) to present the detection beams in the desired orientation.
• a reference emitter 614 and receiver 616 are provided for calibration purposes.
• the detection beams have a nominal wavelength of 850 nm and provide a minimum optical power in the detection zone of 700 mw.
• the VCSEL chips are driven with current pulses of 1 to 1.2 amps at a 1.2% duty cycle with a nominal pulse duration of 270 ns.
• a suitable VCSEL diode for such operation is available from ULM Photonics GMBH.
• the corresponding photodetectors can be SD 150- 14-002 VCSEL monitor photodiodes also available from ULM Photonics GMBH.
• the mechanical and electrical arrangement of the optical and electronic components will provide at least 120 - 150db of optical and electrical isolation between the transmitter and receiver.
• FIGs. 7(a)-(e) perspective views of a preferred fiber optic interface 702 for the emitter and receiver boards of Figs. 6(a) and (b) are shown.
• the fiber optic interface 702 includes multiple light pipes 704 arranged in a pattern corresponding to the geometry of the emitter and detector arrays shown on Figs. 6(a) and 6(b). This allows the emitters and detectors to be mounted on a less expensive flat board while retaining their ability to be individually focused on or directed toward a lens center.
• the VCSEL chip array defined on the transmitter module board 602 has a reciprocal geometry as shown in Fig. 6(a) so that a single board 602 can be used for either right or left side SOD systems simply by rotating the orientation of the board 180 degrees.

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• Physics & Mathematics (AREA)
• Engineering & Computer Science (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Electromagnetism (AREA)
• Optical Radar Systems And Details Thereof (AREA)
• Geophysics And Detection Of Objects (AREA)

Priority Applications (4)

Applications Claiming Priority (2)

Related Child Applications (1)

Publications (2)

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Cited By (20)

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• 2005
  • 2005-10-14 KR KR1020077010913A patent/KR20070065439A/ko not_active Ceased
  • 2005-10-14 EP EP05815400A patent/EP1800255A4/en not_active Withdrawn
  • 2005-10-14 JP JP2007536978A patent/JP2008517279A/ja active Pending
  • 2005-10-14 BR BRPI0516486-9A patent/BRPI0516486A/pt not_active Application Discontinuation
  • 2005-10-14 WO PCT/US2005/037189 patent/WO2006044758A2/en not_active Ceased
  • 2005-10-14 CN CNA2005800432911A patent/CN101080733A/zh active Pending
• 2007
  • 2007-04-13 US US11/735,315 patent/US7777173B2/en not_active Expired - Fee Related

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