WO2015043584A1 - Verfahren zur bestimmung des abstandes eines objektes mit-tels eines polarisationsmodulierten sendelichtstrahls - Google Patents
Verfahren zur bestimmung des abstandes eines objektes mit-tels eines polarisationsmodulierten sendelichtstrahls Download PDFInfo
- Publication number
- WO2015043584A1 WO2015043584A1 PCT/DE2014/200358 DE2014200358W WO2015043584A1 WO 2015043584 A1 WO2015043584 A1 WO 2015043584A1 DE 2014200358 W DE2014200358 W DE 2014200358W WO 2015043584 A1 WO2015043584 A1 WO 2015043584A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- polarization
- light sources
- light
- light beam
- pulse
- Prior art date
Links
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
- 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
- G01S7/499—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using polarisation effects
-
- 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
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple 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
- G01S7/484—Transmitters
Definitions
- the invention relates to methods for determining the distance of an object by means of a polarization-modulated transmission ⁇ light beam according to the preamble of claim 1.
- Be propagated today's vehicles with assistance and Safe ⁇ care systems such as. Navigation systems, ACC (adaptive cruise control), lane assistance systems, Traffic Sign ⁇ chenerkennung etc. equipped.
- the function of many of these systems requires the determination of a distance to an Whether ⁇ ject in the surroundings of the vehicle, for example.
- known methods such as ultrasound, infrared, laser, radar, lidar, etc., are used, in which a coded signal is usually transmitted and the distance to the object is calculated on the basis of the transit time of the reflected signal.
- a generic method is described in EP 0911645 Bl, in which by means of an optical device the distance and / or speed of an object by means of a polarization-modulated transmitted light beam are ge ⁇ measure.
- This optical device comprises a laser diode for generating a polarized along the transmitted light beam whose plane of polarization changes by means of a polarization- ⁇ onsmodulators between a first polarization state and a second polarization state in accordance with a binary control signal.
- the beam scattered back to the object than Empfangslicht- transmitted light beam is converted by a polarization detector in an amplitude modulated light beam to generate therefrom by means of a detector, an electrical ⁇ signals are available, which with the polarization modulator controlling binary control signal is compared. From the phase shift between these two signals, the distance and / or the speed of the object are determined.
- Such a method for determining the distance of an object involved by means of a polarization-modulated transmitting light ⁇ beam, wherein the on the object reflected transmission light ⁇ beam as a reception light beam from a Polarisationsanaly- sator received and whose output signal is fed to an evaluation unit for determining the spacing characterized according to the invention characterized in that
- the polarization analyzer is formed with at least the number of light sources corresponding polarization filters whose polarization plane is in each case a polarization ⁇ level of the light beams adjusted accordingly.
- the polarization-modulated transmission ⁇ light beam is generated by at least two light beams with this inventive method, which are differently polarized and each operated with a defined pulse-pause pattern.
- the transmitted light beam is generated which is reflected on an object whose distance is to be measured and received as a received light beam from the polarization analyzer.
- the most significant advantage of such a method is DA rin that the light output of the polarization-modulated transmitted light beam is kept constant at a high level who can ⁇ and thereby it is ⁇ reichbar a high signal / noise ratio useful.
- the light sources are operated with disjunctively phase-shifted pulse-pause patterns. As a result, the transmitted light beam only has the polarization planes generated by the respective light sources.
- At least two light sources are operated with non-disjunctive phase-shifted pulse-pause patterns.
- the transmit beam has also generated by the superposition of the polarization planes of these two light sources polarization plane on ⁇ addition to the planes of polarization of the light sources.
- a PWM pattern or a PPM pattern can be used as a pulse-pause pattern for further development.
- a PWM pattern leads to a Pulse width modulation of the light sources, a PPM pattern to a pulse-pause modulation.
- the light beams of the light sources can be linearly polarized, circularly or elliptically polarized.
- two light sources are used, the light beams are linearly polarized and the polarization planes are at an angle of 90 ° to each other.
- the inventive method can be realized with a low design cost.
- Figure 2 is a schematic representation of the polarization ⁇ plane of the light sources used in the apparatus of Figure 1;
- FIG. 3 shows a pulse-pause pattern for controlling the light sources used in the device according to FIG. 1
- FIG. 4 shows a further pulse-pause pattern for controlling the light sources used in the device according to FIG.
- This device 1 shows a device 1 of a vehicle for loading ⁇ humor a distance to an object 10, which may, for example, be a preceding vehicle.
- This device 1 comprises three laser diodes D1, D2 and D3, each of which generates a linearly polarized light beam LI, L2 L3.
- These three laser diodes D1, D2 and D3 are arranged in such a way that their polarization planes E1, E2 and E3 each extend offset by 120 ° relative to one another, as is schematically illustrated in FIG.
- the polarization plane E2 ⁇ the Laser diode D2 with respect to the polarization plane of the laser diode Dl El is rotated by 120 ° and the polarization plane of the laser diode D3 E3 by a further 120 °.
- Each of these three laser diodes Dl, D2 and D3 is provided with a
- Pulsed-pause pattern driven these three pulse-pause patterns Ml, M2 and M3 generated by a control unit S and these laser diodes Dl, D2 and D3 are supplied.
- a first pulse-pause pattern is shown in FIG. 3, wherein an identical pattern is used for all three laser diodes D1, D2 and D3, but they are phase-shifted with respect to one another such that these three laser diodes D1, D2 and D3 each at a time only one laser diode is active.
- These three pulse-pause patterns Ml, M2 and M3 are thus phase-shifted with respect to each other disjointly.
- the three light beams LI, L2 and L3 of the laser diodes D1, D2 and D3 are collected and overlaid by an optical system Ol to a transmitted light beam LS, which is now polarization modulated.
- This light beam LS thus has the three polar ⁇ tion levels El, E2 and E3, which alternate in accordance with the light ⁇ pulses of the light beams LI, L2 and L3.
- the transmitted light beam LS is reflected at the object 10 and impinges as a received light beam LE on a second optical system 02 of the device 1.
- the received light beam LE which is parallelized by the optical system 02 is directed to a polarization analyzer comprising polarization filters PI, P2 and P3.
- the polarization ⁇ direction of the polarization filter PI is on the polarisati ⁇ onsebene El of the laser diode Dl
- the polarization direction of the polarization filter P2 is on the plane of polarization E2 of the laser diode D2
- the polarization direction of the Polarisati ⁇ onsfilters P3 is tuned or adapted to the polarization E3.
- Light LP1, LP2 and LP3 are each fed to a detector K1, K2 and K3, which generate therefrom signals a1, a2 and a3 which are fed to an evaluation unit A.
- the control unit S which include the pulse-pause model Ml, M2 and M3 and so likewise the evaluation unit A via a line Lt supplied who ⁇ is A means of this evaluation unit determines the distance of the object 10 on the basis of the zeitli ⁇ chen phase shift between these signals.
- the pulse-pause patterns M1, M2 and M3 according to FIG. 3 it is also possible to use a pulse-pause pattern M4, M5 and M6 according to FIG. 4, which also represent an identical pulse-pause pattern, but to form the individual ones Pulse-pause patterns M4, M5 and M6 are mutually phase-shifted, so that the light pulses from each two laser diodes
- the transmitted light beam LS formed by these three light beams LI, L2 and L3 therefore has, in addition to the polarization planes El, E2 and E3, a further polarization plane generated by two superimposed light beams LI and L2 or LI and L3 or L2 and L3. This makes it possible for the existing polarizing filters
- PI, P2 and P3 are adjusted to these previously mentioned polarization planes or that, in addition to the polarization filters PI, P2 and P3, further polarization filters set to these newly formed polarization planes are used.
- the pulse-pause patterns illustrated in FIGS. 2 and 3 represent a PWM pattern, the laser diodes D1, D2 and D3 are therefore controlled pulse width modulated. Likewise, a control by means of a PPM pattern is possible. Besides ei ⁇ nem pulse-pause pattern with constant frame a pulse-pause pattern with non-constant frame can be used.
- light beams LI, L2 and L3 are used with linear polarized light.
- a "right-handed” or “left-handed” and / or “direction of rotation changing” Modula ⁇ tion process is possible.
- light sources are used with circularly and / or elliptically polarized light beams.
- pulse pauses patterns respectively To use variations with weighted distribution of the individual polarization planes.
- laser diodes are used which already generate linearly polarized light. It is also possible to use light sources with unpolarized, but monochromatic light and polarize this light with downstream polarizers linear or circular or elliptical. Finally, it is also possible, as an alternative, to set the desired polarization direction via an electric field by means of a so-called Pockels cell.
- three light sources Dl, D2 and D3 are used, which form the transmitted light ⁇ beam LS.
- a particularly simple construction of this device 1 results if, instead of the three light sources, only two light sources, for example two laser diodes with two by 90 ° be used against each other twisted polarization planes.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112014002787.1T DE112014002787B4 (de) | 2013-09-26 | 2014-07-28 | Verfahren zur Bestimmung des Abstandes eines Objektes mittels eines polarisationsmodulierten Sendelichtstrahls |
US14/904,492 US9971025B2 (en) | 2013-09-26 | 2014-07-28 | Method for determining the distance of an object by means of a polarization-modulated transmission light beam |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102013219344.0 | 2013-09-26 | ||
DE102013219344.0A DE102013219344A1 (de) | 2013-09-26 | 2013-09-26 | Verfahren zur Bestimmung des Abstandes eines Objektes mittels eines polarisationsmodulierten Sendelichtstrahls |
Publications (1)
Publication Number | Publication Date |
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WO2015043584A1 true WO2015043584A1 (de) | 2015-04-02 |
Family
ID=51392032
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2014/200358 WO2015043584A1 (de) | 2013-09-26 | 2014-07-28 | Verfahren zur bestimmung des abstandes eines objektes mit-tels eines polarisationsmodulierten sendelichtstrahls |
Country Status (3)
Country | Link |
---|---|
US (1) | US9971025B2 (de) |
DE (2) | DE102013219344A1 (de) |
WO (1) | WO2015043584A1 (de) |
Cited By (2)
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DE102016201599A1 (de) * | 2016-02-03 | 2017-08-03 | pmdtechnologies ag | Lichtlaufzeitkamerasystem |
US10545238B1 (en) * | 2015-09-25 | 2020-01-28 | Apple Inc. | Combining laser pulse transmissions in LiDAR |
Families Citing this family (13)
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KR101795218B1 (ko) * | 2016-03-07 | 2017-11-08 | 현대자동차주식회사 | 차량용 조명 장치 |
DE102017204586A1 (de) * | 2017-03-20 | 2018-09-20 | Robert Bosch Gmbh | SPAD-basiertes LiDAR-System |
CN106918321A (zh) * | 2017-03-30 | 2017-07-04 | 西安邮电大学 | 一种利用图像上目标物视差进行测距的方法 |
DE102017205619A1 (de) | 2017-04-03 | 2018-10-04 | Robert Bosch Gmbh | LiDAR-System und Verfahren zum Betreiben eines LiDAR-Systems |
US11561084B2 (en) * | 2017-04-19 | 2023-01-24 | Arizona Board Of Regents On Behalf Of The University Of Arizona | Polarization sensitive devices, methods and applications |
DE102017211707A1 (de) | 2017-07-10 | 2019-01-10 | Robert Bosch Gmbh | Verfahren und LIDAR-Vorrichtung zum Abtasten eines Abtastbereiches mit mindestens zwei pulskodierten Strahlen |
CN113156459B (zh) * | 2020-01-03 | 2023-10-13 | 华为技术有限公司 | 一种tof深度传感模组和图像生成方法 |
DE102020100448A1 (de) * | 2020-01-10 | 2021-07-15 | Ifm Electronic Gmbh | Lichtlaufzeitkamerasystem und Verfahren zum Betreiben eines solchen |
DE102020107450A1 (de) | 2020-03-18 | 2021-09-23 | Audi Aktiengesellschaft | Lidar-Sensoreinrichtung für ein Kraftfahrzeug, Verfahren zum Betrieb einer Lidar-Sensoreinrichtung und Kraftfahrzeug |
TWI746313B (zh) * | 2020-12-15 | 2021-11-11 | 和碩聯合科技股份有限公司 | 距離偵測系統及距離偵測方法 |
WO2022237848A1 (zh) * | 2021-05-12 | 2022-11-17 | 武汉路特斯汽车有限公司 | 一种激光雷达集成盒、清洗装置及车辆 |
DE102021006106A1 (de) | 2021-12-11 | 2023-06-15 | Jenoptik Robot Gmbh | Stationäres Verkehrsüberwachungssystem zum Überwachen eines Erfassungsbereiches einer Verkehrsfläche und ausgebildet zur Kommunikation mit Fahrzeugen welche die Verkehrsfläche befahren, sowie Kraftfahrzeug |
DE102022127122A1 (de) | 2022-10-17 | 2024-04-18 | Bayerische Motoren Werke Aktiengesellschaft | LIDAR-System für ein Fahrassistenzsystem |
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DE4324308C1 (de) * | 1993-07-20 | 1994-12-22 | Bayerische Motoren Werke Ag | Verfahren zum Bestimmen der Sichtweite bei dichtem Nebel sowie Sichtweitensensor |
EP0911645B1 (de) | 1997-10-21 | 2005-06-22 | Thales | Optisches Messgerät zur Feststellung der Entfernung zu einem Objekt und/oder der Geschwindigkeit eines Objekts unter Verwendung von modulierter Polarisations |
EP1628141A1 (de) * | 2004-08-17 | 2006-02-22 | Robert Bosch Gmbh | Triangulationsverfahren mit Laserdioden und einer Mono-Kamera zur Abstandsbestimmung für Stop-and-Go Anwendungen für Kraftfahrzeuge |
EP2159603A1 (de) * | 2008-09-01 | 2010-03-03 | Sick Ag | Objektfeststellungsverfahren und Objektfeststellungssensor |
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DE4439298A1 (de) * | 1994-11-07 | 1996-06-13 | Rudolf Prof Dr Ing Schwarte | 3D-Kamera nach Laufzeitverfahren |
DE19834583C1 (de) * | 1998-07-31 | 1999-12-02 | Sivus Ges Fuer Verfahrens Umwe | Verfahren und Anordnung zur optischen Bestimmung einer Abstandskoordinate einer bewegten Partikel in einem transparenten Medium |
DE10016892B4 (de) | 1999-04-10 | 2006-03-23 | Leuze Electronic Gmbh & Co Kg | Optoelektronische Vorrichtung |
US7495748B1 (en) * | 2007-08-20 | 2009-02-24 | Sandia Corporation | Scannerless loss modulated flash color range imaging |
EP2260551A4 (de) * | 2008-03-31 | 2013-03-27 | Electro Scient Ind Inc | Kombination mehrerer laserstrahlen zur erreichung einer hohen wiederholungsrate und polarisierter laserstrahl mit hoher durchschnittsleistung |
JP5108676B2 (ja) * | 2008-08-13 | 2012-12-26 | 日立オートモティブシステムズ株式会社 | 可変容量形ポンプ装置 |
-
2013
- 2013-09-26 DE DE102013219344.0A patent/DE102013219344A1/de not_active Withdrawn
-
2014
- 2014-07-28 WO PCT/DE2014/200358 patent/WO2015043584A1/de active Application Filing
- 2014-07-28 US US14/904,492 patent/US9971025B2/en active Active
- 2014-07-28 DE DE112014002787.1T patent/DE112014002787B4/de active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4324308C1 (de) * | 1993-07-20 | 1994-12-22 | Bayerische Motoren Werke Ag | Verfahren zum Bestimmen der Sichtweite bei dichtem Nebel sowie Sichtweitensensor |
EP0911645B1 (de) | 1997-10-21 | 2005-06-22 | Thales | Optisches Messgerät zur Feststellung der Entfernung zu einem Objekt und/oder der Geschwindigkeit eines Objekts unter Verwendung von modulierter Polarisations |
EP1628141A1 (de) * | 2004-08-17 | 2006-02-22 | Robert Bosch Gmbh | Triangulationsverfahren mit Laserdioden und einer Mono-Kamera zur Abstandsbestimmung für Stop-and-Go Anwendungen für Kraftfahrzeuge |
EP2159603A1 (de) * | 2008-09-01 | 2010-03-03 | Sick Ag | Objektfeststellungsverfahren und Objektfeststellungssensor |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10545238B1 (en) * | 2015-09-25 | 2020-01-28 | Apple Inc. | Combining laser pulse transmissions in LiDAR |
US11226414B2 (en) | 2015-09-25 | 2022-01-18 | Apple Inc. | Combining laser pulse transmissions in LiDAR |
DE102016201599A1 (de) * | 2016-02-03 | 2017-08-03 | pmdtechnologies ag | Lichtlaufzeitkamerasystem |
Also Published As
Publication number | Publication date |
---|---|
DE102013219344A1 (de) | 2015-03-26 |
DE112014002787A5 (de) | 2016-03-10 |
US9971025B2 (en) | 2018-05-15 |
US20160187471A1 (en) | 2016-06-30 |
DE112014002787B4 (de) | 2023-03-09 |
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